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Scamp
Affectionate Nuance
The term 'scamp' often carries a loving or affectionate tone when describing playful young people. 
Not Harsh Criticism
'Scamp' isn’t used for severe misbehavior; it's for mild, cheeky actions that aren’t taken too seriously. 
Playful Annoyance
Using 'scamp' can express mock annoyance, showing you're not really upset with the mischief. 