1530s, "lascivious," from Latin lubricus "slippery, slimy, smooth," figuratively "seductive," from suffixed form of PIE root *sleubh- "to slip, slide" (see sleeve). Literal meaning "slippery, oily" is from 1650s in English; figurative sense of "shifty, elusive" is from 1640s. Also lubricious (1580s).

c. 1200, "brutish, sensual, debased;" late 14c., "in the manner of a beast," from beast + -ly (1). Weakened in British upper crust use to "awfully, exceedingly" by mid-19c. Beastly drunk is from 1794.

Beastly expresses that which is altogether unworthy of a man, especially that which is filthy and disgusting in conduct or manner of life. Bestial is applied chiefly to that which is carnal, sensual, lascivious: as, bestial vices or appetites. [Century Dictionary]

mid-15c., earlier staloun (c. 1300), "male horse kept for breeding purposes," from Anglo-French estaloun, Old French estalon "stallion, uncastrated male horse" (Modern French étalon), from Frankish *stal, cognate with Old High German stal "stable," from Proto-Germanic *stol-, from PIE root *stel- "to put, stand, put in order," with derivatives referring to a standing object or place. The notion is probably of a horse kept in a stable to service mares. Transferred sense of "robustly lascivious man" is attested from 1550s.

1640s, "pertaining to or derived from the senses" From Latin sensus (seesense (n.)) + -ous. Apparently coined by Milton to recover the not unfavorable original meaning of sensual and avoid the lascivious connotation the older word had acquired. It was popularized by Coleridge to "express in one word all that appertains to the perception, considered as passive and merely recipient" (1814), and OED reports that "evidence of its use in the intervening period is wanting." By 1870 sensuous, too, had started down the voluptuary path and come to mean "alive to the pleasures of the senses."  Related: Sensuously; sensuousness; sensuosity.

c. 1500, "resembling sauce" (a sense now obsolete), later, of persons, words, etc., "impertinent in speech or conduct, flippantly bold, cheeky" (1520s), from sauce (n.) + -y (2). The connecting notion is sauce in the figurative sense of "that which adds intensity, piquancy in words or actions."

Compare Skelton's have eaten sauce for "be abusive." Also compare sauce malapert "impertinence" (1520s), and sauce (n.) in its obsolete use as a vocative for "impudent person" (1530s).  In Shakespeare, with overtones of "wanton, lascivious," it was "a term of serious condemnation" [OED]. Also compare salty in similar senses.

1630s, "itching," later, and now exclusively, "having an itching desire for something" (1650s), especially "lascivious, inclined to lewd thoughts," (1746), from Latin prurientem (nominative pruriens), present participle of prurire "to itch; to long for, be wanton," which is perhaps related to pruna "glowing coals" (from PIE root *preus- "to freeze; to burn;" see freeze (v.)).

De Vaan suggests a source in PIE *preus-i-, *prus-no-"(cold and) wet; itching," source also of Welsh rhew, Breton rev, reo "frost," Sanskrit prushnuvanti "to (be)sprinkle, wet," and writes that "The meaning 'to be wet, itch' was metaphorically also applied to high temperatures, hence 'burning' in pruna." But it needn't be metaphorical: Cold damage to skin is called ice burn and the paradoxical sensation of burning when the skin contacts an extreme cold surface has long been noted. Related: Pruriently.

"harlot; bold, lascivious woman," early 14c., of uncertain origin. One theory connects it with Latin stuprata, fem. past participle of stuprare "have illicit sexual relations with," or Late Latin strupum "dishonor, violation." But evidence for this is wanting and others suggest Middle Dutch strompe "a stocking," or strompen "to stride, to stalk" (as a prostitute might a customer). The major sources don't seem to give much preference to any of these. Weekley notes "Gregory's Chronicle (c. 1450) has streppett in same sense." In 18c.-early 19c., often abbreviated as strum and also used as a verb, which led to some odd dictionary entries:

TO STRUM: to have carnal knowledge of a woman, also to play badly on the harpsichord or any other stringed instrument. [Capt. Francis Grose, "A Classical Dictionary of the Vulgar Tongue," 1785]

late 14c., satire, "one of a type of woodland deities part human or animal; demigod or spirit of the air or woods, companion of Bacchus," from Old French satire and directly from Latin satyrus, from Greek satyros, a word of unknown origin. "The etymology of [satyros] is unknown. A number of hypotheses have been proposed, but none of them makes sense ..." [Beekes].

In pre-Roman Greek art, a man-like being with the tail and ears of a horse; the conception of a being part man part goat is due to Roman sculptors, who seem to have assimilated them to the fauns of native mythology. In some English bibles the word is used curiously to translate Hebrew se'irim, a type of hairy monster superstitiously believed to inhabit deserts.

In Middle English the word could mean also a kind of ape supposed to live in Africa or Arabia (late 14c.), after a use of Greek satyros, and the name was later applied by zoologists to the orangutan (1690s). From 1781 as "very lecherous or lascivious person." Related: Satyress.