Etymology
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scamp (n.)

1782, "highway robber," probably from dialectal verb scamp "to roam" (1753, perhaps from 16c.), which is shortened from scamper. By 1808 in a general sense of "fugitive, vagabond, swindler, mean villain;" used in the affectionate sense of "rascal" since 1837.

scamp (v.)

"do in a hasty manner, perform in a slipshod or perfunctory way," 1837, probably from a dialect word, perhaps from a Scandinavian source (OED compares Old Norse skemma "to shorten, make shorter," from skammr "short; brief; lately"), or a blend of scant and skimp [Klein], or a back-formation from scamper. Related: Scamped; scamping.

updated on January 14, 2022

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Definitions of scamp from WordNet
1
scamp (v.)
perform hastily and carelessly;
2
scamp (n.)
one who is playfully mischievous;
Synonyms: imp / monkey / rascal / rapscallion / scalawag / scallywag
From wordnet.princeton.edu, not affiliated with etymonline.