Etymology
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pilfer (v.)

"to steal in small quantities" (intrans.); "to steal or gain by petty theft" (trans.), 1540s, from pilfer (n.) "spoils, booty," c. 1400, from Old French pelfre "booty, spoils" (11c.), a word of unknown origin, possibly related to pelf. Related: Pilfered; pilfering. Pulfrour "a thief" is attested from mid-14c., implying earlier use.

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Definitions of pilfer

pilfer (v.)
make off with belongings of others;
Synonyms: cabbage / purloin / pinch / abstract / snarf / swipe / hook / sneak / filch / nobble / lift
From wordnet.princeton.edu