Take something flat and squeeze it hard between two edges. It cannot stay flat: it draws together and comes out bent into small tight folds. That single squeeze is the whole word. Sometimes the folds are the point, as on the edge of a pie; sometimes the bite is the point, as on a metal sleeve round a wire; and sometimes it is a hand that has to fold up that way on a tiny hold.
From the word’s history
Middle English crimpen meant to be contracted or drawn together, from Middle Dutch crimpen and a Germanic root meaning to shrink or draw back. That old meaning is still the picture: whatever is crimped is pulled in on itself instead of lying flat.
中古英語 crimpen 的意思是「被拉在一起、縮起來」，來自中古荷蘭語 crimpen，再往上是日耳曼語「收縮、往回縮」的字根。這個老意思就是今天的畫面：被 crimp 過的東西，都是往內縮成一團，不再攤平。
Wiktionary, "crimp" (etymology 1)
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