Do dogs get cold like people?

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I have a little terrier and he has pretty thin fur on his little belly. When it's winter I worry about taking him outside for long periods of time. Is it healthy for him? I have a little sweater for him, but he HATES it and always tries to tear it off. He is getting a little chubby since he's not getting as much exercise in the winter. What do you do with the more fragile dogs (i.e. not the really furry ones like huskies and german shephards) in the winter to give them exercise and keep them entertained??