A sound made by emergency vehicle sirens, contrasted with "yelp" which is higher-pitched and faster.
Origin
c. 1300, Middle English weilen, waylen, from Old Norse væla ("to wail"), from væ, vei, from Proto-Germanic *wai (whence also Old English wā ("woe") (English woe)), from Proto-Indo-European *wai.
The verb is first attested in the intransitive sense; the transitive sense developed in mid-14th c.. The noun came from the verb.
From Old Norse val ("choice"). Compare Icelandic velja ("to choose"). More at wale#Etymology 2.
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