1510s, "to shake slightly, jostle," apparently a frequentative of jog (v.), though attested earlier than it. As a noun from 1727. Related: Joggled; joggling. Carpentry and masonry sense "fit together with notches and projections" is from 1703, of unknown origin; also as a noun "a notch in a piece into which is fitted the projection of another piece; hence joggle-post, etc.
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