Does yaya ko means to dance?

Yaya kò?

It does mean to move along, get a move on, to mosey on,  get going – does not necessarily mean to dance

Men yon egzanp:

Mezanmi! Manyè yaya kò w non pou wè si w ta jwenn yon travay. – Geez! At least move around a bit to see if you can find a job.

Haitian Creole ↔ English Reference, Look up Haitian Creole and English Words