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caution (n.)

c. 1300, caucioun, "bail, guarantee, pledge," from Old French caution "security, surety" (13c.), from Latin cautionem (nominative cautio) "caution, care, foresight, precaution," noun of action from past participle stem of cavere "to be on one's guard" (from PIE root *keu- "to see, observe, perceive").

The Latin sense re-emerged in English as "prudence in regard to danger" (1650s). Meaning "word of warning, monitory advice" is from c. 1600. Meaning "anything which excites alarm or astonishment" is U.S. slang, 1835.

caution (v.)

"to warn, exhort to take heed," 1640s, from caution (n.). Related: Cautioned; cautioning.

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Definitions of caution
1
caution (n.)
the trait of being cautious; being attentive to possible danger;
a man of caution
Synonyms: cautiousness / carefulness
caution (n.)
a warning against certain acts;
Synonyms: caveat
caution (n.)
judiciousness in avoiding harm or danger;
he exercised caution in opening the door
Synonyms: precaution / care / forethought
caution (n.)
the trait of being circumspect and prudent;
Synonyms: circumspection
2
caution (v.)
warn strongly; put on guard;
Synonyms: admonish / monish
From wordnet.princeton.edu