The Chewa language, also called Nyanja, is the official language of Malawi and is also found in Zambia, Mozambique, and Zimbabwe. Here's some vocabulary on dogs and cats from a dictionary of 1894:
Garu, a dog; Kagaru, a little dog; Tiagaru, little dogs
Barking, as of a dog, Kuua.
Bound, away, as a dog, Ku tamanga.
Gnaw, as a dog at a bone, Ku tafuna.
Lap, as a dog, Ku nyambita
Lick (and Taste). As a dog a dish, Ku nyambita.
Loll, As the tongue of a dog when heated with exertion, Ku turutsa lilume.
To move about quickly, as a dog or a kitten in play, Ku lumpa-lumpa.
Snarl, as a dog, Ku nyi-ndula.
To tear with violence, as a dog with his teeth, Ku ng'amba.
To wag the tail, as a dog, Ku gwedeza.
To creep along slowly and slyly, as a cat, Ku wenda. (I just saw Elizabeth try to ku wenda to the bird feeder this morning - curator)
To rub down, as a cat, Ku sisita.
Hiss, v. i. As a serpent, and as a kitten, Ku pepera
Kitten, re. Mwana wa mpaka, ana a mpaka.
-- from Laws, Robert. An English-Nyanja Dictionary of the Nyanja Language Spoken In British Central Africa. Edinburgh: published by James Thin, 1894. ("British Central Africa" is the outdated colonial name for the area.)