A wank
When you have sex, like you're trying to be cool, but it's really just a bunch of loud noises and you don't know what you're doing.
He said he was going to wank, but it was just loud noises and a lot of sweat.
She said she was going to wank, but it was just her and a pillow.
He did a wank and it was just a bunch of loud noises and sweat.