early 14c., "to estimate, calculate," from O.Fr. esmar, from L. aestimare "appraise" (see estimation); current meaning apparently developed from "esteem," to "calculate," through "calculate with a view to action" (c.1400), then "calculate the direction of a missile" (1570s). The noun is recorded from c.1400, originally "guess;" meaning "action of aiming" is from c.1430 (to take aim, originally make aim); that of "thing intended, purpose" is from 1620s. Related: Aimless (1620s).