Etymology
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Words related to escape

ex- 
word-forming element, in English meaning usually "out of, from," but also "upwards, completely, deprive of, without," and "former;" from Latin ex "out of, from within; from which time, since; according to; in regard to," from PIE *eghs "out" (source also of Gaulish ex-, Old Irish ess-, Old Church Slavonic izu, Russian iz). In some cases also from Greek cognate ex, ek. PIE *eghs had comparative form *eks-tero and superlative *eks-t(e)r-emo-. Often reduced to e- before -b-, -d-, -g-, consonantal -i-, -l-, -m-, -n-, -v- (as in elude, emerge, evaporate, etc.).
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cap (n.)

late Old English cæppe "hood, head-covering, cape," a general Germanic borrowing (compare Old Frisian and Middle Dutch kappe, Old High German chappa) from Late Latin cappa "a cape, hooded cloak" (source of Spanish capa, Old North French cape, French chape), a word of uncertain origin. Possibly a shortened from capitulare "headdress," from Latin caput "head" (from PIE root *kaput- "head").

The Late Latin word apparently originally meant "a woman's head-covering," but the sense was transferred to "hood of a cloak," then to "cloak" itself, though the various senses co-existed. Old English took in two forms of the Late Latin word, one meaning "head-covering," the other "ecclesiastical dress" (see cape (n.1)). In most Romance languages, a diminutive of Late Latin cappa has become the usual word for "head-covering" (such as French chapeau).

Meaning "soft, small, close-fitted head covering" in English is from early 13c., originally for women; extended to men late 14c. Extended to cap-like coverings on the ends of anything (such as hubcap) from mid-15c. Meaning "contraceptive device" is first recorded 1916.

Meaning "cap-shaped piece of copper lined with gunpowder and used to ignite a firearm" is by 1825, hence cap-gun (1855); extended to paper version used in toy pistols, 1872 (cap-pistol is from 1879).

Figurative thinking cap is from 1839 (considering cap is 1650s). Cap and bells (1781) was the insignia of a fool; cap and gown (1732) of a scholar. To set one's cap at or for (1773) means "use measures to gain the regard or affection of," usually in reference to a woman seeking a man's courtship.

escapable (adj.)
1864, from escape (v.) + -able.
escapade (n.)
1650s, "an escape from confinement," from French escapade (16c.) "a prank or trick," from Spanish escapada "a prank, flight, an escape," noun use of fem. past participle of escapar "to escape," from Vulgar Latin *excappare (see escape (v.)). Or perhaps the French word is via Italian scappata, from scappare, from the same Vulgar Latin source. Figurative sense (1814) implies a "breaking loose" from rules or restraints on behavior.
escapee (n.)
"escaped prisoner or convict," 1865, American English, from escape (v.) + -ee.
escapement (n.)
in watch- and clock-making, 1779 (from 1755 as scapement), based on French échappement (1716 in this sense); see escape (v.) + -ment.
escapist 

in the figurative sense, 1930 (adj.); 1933 (n.), from escape + -ist. By 1881 in a literal sense.

escapologist (n.)
performer who specializes in getting out of confinement, 1926; see escape + -ologist. Related: Escapology.
inescapable (adj.)
1792, from in- (1) "not, opposite of" + escapable (see escape (v.)). Related: Inescapably.
scape (v.)

early 13c., scapen, "to escape (siege, battle, etc.), depart from (confinement, etc.)," a shortened form of escape; frequent in prose up to late 17c. By late 14c. in the general sense "avoid death, peril, punishment, or other danger." Related: Scaped (sometimes 15c.-16c. with strong past tense scope); scaping. As a noun from c. 1300, "an escape."