Yes, yipe is in the scrabble dictionary

...and is worth 9 points by itself.

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Yipe Definition

interjection

Informal Used to express surprise, fear, or dismay.
from The American Heritage Dictionary of the English Language, 4th Edition

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Top Words by points

Points

yipe

9

2 letter words with YIPE

Points

pe

4

pi

4

ye

5

3 letter words with YIPE

Points

pie

5

pye

8

yep

8

yip

8

4 letter words with YIPE

Points

yipe

9

Found 8 words in 0.10825 seconds