Hi there,
to create that exact effect would require custom development as it requires Javascript and for the WP Menu function to output multiple copies of the menu label.
But a similar effect could be achieved with a little CSS:
.main-navigation .main-nav > ul > li:hover {
animation: .2s shake;
}
@keyframes shake {
0% { transform: skewX(-2deg); }
5% { transform: skewX(2deg); }
10% { transform: skewX(-2deg); }
15% { transform: skewX(2deg); }
20% { transform: skewX(0deg); }
100% { transform: skewX(0deg); }
}