A low, moaning sound; usually, a deep, mournful sound uttered in pain or great distress; sometimes, an expression of strong disapprobation; as, the remark was received with groans.
source: Webster 1913
verb
indicate pain, discomfort, or displeasure
The students groaned when the professor got out the exam booklets. The ancient door soughed when opened.
source: WordNet 3.0
To give forth a low, moaning sound in breathing; to utter a groan, as in pain, in sorrow, or in derision; to moan.