Your caterpillar is an American dagger moth caterpillar.
The caterpillar’s hairs can cause skin irritation …tho is not poisonous. It is said if it is handled your skin will itch and perhaps get a rash.
These caterpillars are white to yellow with the early or middle instars (stages) more yellow.
These are found east of the Rockies. The caterpillars feed on leaves of birch, elm, ash, hickory, maple, oak, poplar, walnut, willow, and other deciduous trees.