improvised

We could write messages or slogans on sheets of paper, which were read aloud and improvised and danced to.

It would have been playing things by the book, in a year the Dodgers successfully improvised at every other step.

Then you took the mop and improvised a song about it.

An improvised aluminum pipe to ingest drugs was also found in Liam’s hotel room, the outlet reported.

Sources who spoke to ABC News on the details of Payne's drug use say that "an improvised aluminum pipe to ingest drugs was also found in his hotel room."