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hesitation (n.)

c. 1400, from Old French hesitacion or directly from Latin haesitationem (nominative haesitatio) "a hesitation, stammering," figuratively "irresolution, uncertainty," noun of action from past participle stem of haesitare "stick fast, remain fixed; stammer in speech," figuratively "hesitate, be irresolute, be at a loss, be undecided," frequentative of haerere (past participle haesus, first person perfect indicative haesi) "to adhere, stick, cling."

This is said by Watkins to be from PIE root *ghais- "to adhere, hesitate" (source also of Lithuanian gaišti "to delay, tarry, be slow"), but some linguists reject the proposed connection; de Vaan offers no etymology.

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Definitions of hesitation from WordNet

hesitation (n.)
indecision in speech or action;
Synonyms: vacillation / wavering
hesitation (n.)
a certain degree of unwillingness;
after some hesitation he agreed
hesitation (n.)
the act of pausing uncertainly;
there was a hesitation in his speech
Synonyms: waver / falter / faltering
From wordnet.princeton.edu