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coxa (n.)

1706, "hip-joint," from Latin coxa "hip," which, according to de Vaan, is from PIE *koks-h- "limb, joint," and is cognate with Sanskrit kaksa-, Avestan kasa- "armpit," Old Irish coss "foot." As the first joint of the leg of an insect, crustacean or arachnid, by 1826. Cox for "thigh" was used in medical writings from c. 1400. Related: Coxalgia, coxitis.

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Definitions of coxa from WordNet

coxa (n.)
the ball-and-socket joint between the head of the femur and the acetabulum;
Synonyms: hip / hip joint / articulatio coxae
From wordnet.princeton.edu