There is a certain area on a dog's body that is referred to as the "saddle region." It vaguely consists of the back, sides and flanks. Rubbing or scratching a dog in the saddle region (the exact spot varies according to the individual pet) will cause the hind leg to simulate a scratching motion. This is called the "scratch reflex."
In other words.
the dog thinks it feels good
No. in other words, the dog likes what you are doing, therefore he shakes his legs to have an itch because your tickling him.
No. In other words it is a reflex reaction that the dog cannot help. Kind of like having your knee hit with that instrument that the doctors test reflexes with.
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