When you move your hand or hands to either say hi, bye or just to attract someone’s attention you tend to wave.
Example – I waved at him in the traffic today.
Stroke / Pet –
Using long hand movements in a loving way is stroking or petting. ( you pet animal fur)
Example – She stroked the puppy.
When you lightly touch someone to make someone laugh or prod someone that cause discomfort is tickling.
Example – I tickled him under the chin.
Touch someone lightly with an open hand.
Example – I gently pat the baby while he was sleepy.
When you use your open hand to hit someone.
Example – I slapped the mosquito.
When you use your close hand (fist) to hit someone or something. You also punch to show victory.
Example – John punched James face this morning.
When you are itchy you use your finger nails or finger tips to scratch.
Example – She scratched the insect bite.
Using your hand to pick something quickly.
Example – I grabbed a sandwich on my way back home.
Snap / Click –
Making a sound with your finger by rubbing your index finger against your thumb.
Example – I don’t like the sound of snapping.
To constantly touch something unconsciously without any particular reason.
Example – She fiddled with her hair throughout the meeting this morning.
Since we use our hands for almost everything try to use these action verbs to talk about your hand movements as well.