The raindrops danced a joyful dance on the windowsill.
Meaning: This means the raindrops were moving happily and rhythmically on the windowsill.
Choice of Words: Danced means to move rhythmically to music. Joyful means full of happiness and delight. When you put them together, "Danced a joyful dance" describes a lively and cheerful movement.
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Related Expressions