Etymology
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Words related to rejoin

re- 

word-forming element meaning "back, back from, back to the original place;" also "again, anew, once more," also conveying the notion of "undoing" or "backward," etc. (see sense evolution below), c. 1200, from Old French re- and directly from Latin re- an inseparable prefix meaning "again; back; anew, against."

Watkins (2000) describes this as a "Latin combining form conceivably from Indo-European *wret-, metathetical variant of *wert- "to turn." De Vaan says the "only acceptable etymology" for it is a 2004 explanation which reconstructs a root in PIE *ure "back."

In earliest Latin the prefix became red- before vowels and h-, a form preserved in redact, redeem, redolent, redundant, redintegrate, and, in disguise, render (v.). In some English words from French and Italian re- appears as ra- and the  following consonant is often doubled (see rally (v.1)).

The many meanings in the notion of "back" give re- its broad sense-range: "a turning back; opposition; restoration to a former state; "transition to an opposite state." From the extended senses in "again," re- becomes "repetition of an action," and in this sense it is extremely common as a formative element in English, applicable to any verb. OED writes that it is "impossible to attempt a complete record of all the forms resulting from its use," and adds that "The number of these is practically infinite ...."   

Often merely intensive, and in many of the older borrowings from French and Latin the precise sense of re- is forgotten, lost in secondary senses, or weakened beyond recognition, so that it has no apparent semantic content (receive, recommend, recover, reduce, recreate, refer, religion, remain, request, require). There seem to have been more such words in Middle English than after, e.g. recomfort (v.) "to comfort, console; encourage;" recourse (n.) "a process, way, course." Recover in Middle English also could mean "obtain, win" (happiness, a kingdom, etc.) with no notion of getting something back, also "gain the upper hand, overcome; arrive at;" also consider the legal sense of recovery as "obtain (property) by judgment or legal proceedings." 

And, due to sound changes and accent shifts, re- sometimes entirely loses its identity as a prefix (rebel, relic, remnant, restive, rest (n.2) "remainder," rally (v.1) "bring together"). In a few words it is reduced to r-, as in ransom (a doublet of redemption), rampart, etc.

It was used from Middle English in forming words from Germanic as well as Latin elements (rebuild, refill, reset, rewrite), and was used so even in Old French (regret, regard, reward, etc.).

Prefixed to a word beginning with e, re- is separated by a hyphen, as re-establish, re-estate, re-edify, etc. ; or else the second e has a dieresis over it: as, reëstablish, reëmbark, etc. The hyphen is also sometimes used to bring out emphatically the sense of repetition or iteration : as, sung and re-sung. The dieresis is not used over other vowels than e when re is prefixed : thus, reinforce, reunite, reabolish. [Century Dictionary, 1895]
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join (v.)
c. 1300, "to unite (things) into a whole, combine, put or bring together; juxtapose," also "unite, be joined" (intrans.), from joign-, stem of Old French joindre "join, connect, unite; have sexual intercourse with" (12c.), from Latin iungere "to join together, unite, yoke," from nasalized form of PIE root *yeug- "to join."

Meaning "unite, become associated, form an alliance" is from early 14c. Meaning "to unite (two persons) in marriage" is from mid-14c. Figuratively (of virtues, qualities, hearts, etc.) from late 14c. Of battles, "to begin," from late 14c. In Middle English join on (c. 1400) meant "to attack (someone), begin to fight with." Meaning "go to and accompany (someone)" is from 1713; that of "unite, form a junction with" is from 1702. Related: Joined; joining.

Join up "enlist in the army" is from 1916. Phrase if you can't beat them, join them is from 1953. To be joined at the hip figuratively ("always in close connection") is by 1986, from the literal sense in reference to "Siamese twins." In Middle English, join sometimes is short for enjoin.
*yeug- 

Proto-Indo-European root meaning "to join."

It forms all or part of: adjoin; adjust; conjoin; conjugal; conjugate; conjugation; conjunct; disjointed; enjoin; injunction; jugular; jostle; joust; join; joinder; joint; jointure; junction; juncture; junta; juxtapose; juxtaposition; rejoin (v.2) "to answer;" rejoinder; subjoin; subjugate; subjugation; subjunctive; syzygy; yoga; yoke; zeugma; zygoma; zygomatic; zygote.

It is the hypothetical source of/evidence for its existence is provided by: Sanskrit yugam "yoke," yunjati "binds, harnesses," yogah "union;" Hittite yugan "yoke;" Greek zygon "yoke," zeugnyanai "to join, unite;" Latin iungere "to join," iugum "yoke;" Old Church Slavonic igo, Old Welsh iou "yoke;" Lithuanian jungas "yoke," jungti "to fasten to a yoke;" Old English geoc "yoke."

rejoinder (n.)

mid-15c., in law, "the defendant's answer to the plaintiff's replication" (the fourth stage in the pleadings in an action at common law), from Old French noun use of rejoindre "to answer to a legal charge" (see rejoin (v.2)). For noun use of infinitive in French law terms, see waiver.