cat→paka[páka]
dog→mbwa[mbwa]
*mbwa is one syllable word. 'm' is pronounced like 'um' but lips should be closed while you pronounce and much shorter than one syllable.
**swahili words for animals have no difference between singular form and plural form, except ki-words like kipepeo(butterfly, pl. vipepeo) kipanga(hawk, pl. vipanga) and kifaru(rhinoceros, pl. vifaru).