yowl
To make a long, loud, miserable cry of pain or anger.
To yowl means to make a long, loud, wailing cry of pain, distress, or anger. A cat stuck in a tree might yowl pitifully until someone rescues it. A dog that accidentally gets its paw stepped on might let out a sharp yowl that makes everyone in the room jump.
The sound is more drawn-out and mournful than a simple yelp or bark. Think of the difference between a quick “ouch!” and a long, miserable “owwwww!” that goes on and on. Cats are famous yowlers, especially when they're fighting with other cats or calling out at night. Their yowls can sound almost human, which is why they're so unsettling to hear in the dark.
People can yowl too, though we usually save the word for especially dramatic complaints or cries. If your little brother stubs his toe and dramatically cries about it for five minutes, someone might gently tease him about his yowling. The word captures not just the sound but the theatrical, attention-grabbing nature of the cry.