I assume you'd like an original poem, using those four words. Please be aware that using a poem someone puts on here, for your homework, would technically be plagiarizing.
Now that that's out of the way, the easiest way to write a poem with waist, waste, manner, and manor in it would be to put those four words at the end of the lines, because they rhyme. I don't have a whole lot of other tips for you, other than when you write it, try reading it out loud. If it doesn't flow nicely when you say it, it's not going to be a very good poem to read.
A really easy type of poem you could write would be a limerick. A limerick works in AABBA form, meaning the first two lines rhyme with each other, the third and fourth lines rhyme, and the last line rhymes with the first two. The first two lines, along with the last, are usually longer than the third and fourth.
I'll write an example using your words.
She thought it a true, tragic waste, To have such a small, wasp-like waist. So she ate in a manner That cleaned out the manor, And fattened up quite post-haste.
You could write in another style, if you'd like, such as free form (which doesn't have to rhyme, it just has to flow), or haiku (three lines, the first and last have five syllables, the middle has seven), but a limerick is probably the easiest by far. Whatever works best for you, go for it.
Here are examples of the other two poetry styles I just mentioned.
Free form:
They laid to waste the manor, with fire and oil tied her waist to the stake, in rough manner burning it all to rid themselves of such a terrible witch.
Haiku:
Its waist was so small Its manner was a true waste Its manor, empty.
The Knight is dressed in a tunic made of coarse material ; he wears a suit of armor that is stained by rust. He has a horse which he take care of it better than himself.
