The horses snorted and stamped their hooves impatiently.

Meaning: The horses were making noises and moving their feet because they were getting annoyed at having to wait.

Choice of Words: Snorted means to make a loud, sharp sound through the nose. Stamped means to bring one's foot down heavily on the ground. Impatiently means feeling or showing irritation or annoyance because of a delay or obstacle.

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Related Expressions