Vigorous is a related term of nippy.
As an adjective vigorous
is physically strong and active.
As a noun nippy is
(uk|dated) a waitress in a.
Physically strong and active.
Rapid of growth
(informal) Of the weather, rather cold.
(informal) fast; speedy
* Melanie Allen, Customer Relations Management (page 6)
- Gosh, it's a bit nippy today: I'd better wear my gloves.
- A Rolls Royce will not do if you need an economical, nippy car that is easy to park.