Charley:

A more elaborate version of the chorus to "Colombo" that you quote:

Frigging in the rigging,
Wanking on the planking,
Buggery in the snuggery --
There's fuck-all else to do.

N.B. "Frig" in Britain means masturbate. No acrobatics required.

Nigel:

Aliter:

Little boy kneels by the sitting-room fire,
Little face flushed with abnormal desire.
"Meow! Meow!" Oh, what is that?
Christopher Robin is sodding the cat.

If limericks count, then there are many, e.g.,

A randy young fellow named Rand
Sat seeing the sights in the sand.
"My problem," said he,
"Is as hard as can be,
But I think I can take it in hand."