An example of annoy is to repeatedly poke someone in the arm.
Connie liked to annoy her brother by using him as a leg rest.
Origin of annoy
From American Heritage Dictionary of the English Language, 5th Edition
- From Middle English annoien, anoien, enoien, from Anglo-Norman anuier, Old French enuier (“to molest, harm, tire”), from Late Latin inodiō (“cause aversion, make hateful”, vb.), from the phrase in odiō (“hated”), from Latin odium (“hatred”). Displaced native Middle English grillen (“to annoy, irritate”), from Old English grillan (see grill).