Soak it in petrol, hold a match to it, and… WOOOOF!
Edge: A History of Violence by Steven Pinker
In sixteenth-century Paris, a popular form of entertainment was cat-burning, in which a cat was hoisted in a sling on a stage and slowly lowered into a fire. According to historian Norman Davies, "[T]he spectators, including kings and queens, shrieked with laughter as the animals, howling with pain, were singed, roasted, and finally carbonized."
And to think they say things have advanced since those days.
See also: Woof!