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stray (v.)

c. 1300, a shortening of Old French estraier "wander about, roam, drift, run loose," said of animals, especially a horse without a master, also of persons, perhaps literally "go about the streets," from estree "route, highway," from Late Latin via strata "paved road" (see street). On another theory, the Old French word is from Vulgar Latin *estragare, a contraction of *estravagare, representing Latin extra vagari "to wander outside" (see extravagant). Figurative sense of "to wander from the path of rectitude" is attested from early 14c. Related: Strayed; straying.

stray (n.)

"domestic animal found wandering," early 13c., from Anglo-French noun use of Old French estraié "strayed, riderless," past-participle adjective from estraier "to roam, drift, run loose" (see stray (v.)).

stray (adj.)

c. 1600, of animals; 19c. of persons and things, from stray (n.) and in part a shortening of astray.

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Definitions of stray from WordNet
1
stray (v.)
move about aimlessly or without any destination, often in search of food or employment;
Synonyms: roll / wander / swan / tramp / roam / cast / ramble / rove / range / drift / vagabond
stray (v.)
wander from a direct course or at random;
The child strayed from the path and her parents lost sight of her
Synonyms: err / drift
stray (v.)
lose clarity or turn aside especially from the main subject of attention or course of argument in writing, thinking, or speaking;
Synonyms: digress / divagate / wander
2
stray (adj.)
not close together in time;
a few stray crumbs
Synonyms: isolated
stray (adj.)
(of an animal) having no home or having wandered away from home;
a stray dog
a stray calf
3
stray (n.)
an animal that has strayed (especially a domestic animal);
From wordnet.princeton.edu