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undertake (v.)

c. 1200, "to entrap;" c. 1300, "to set about (to do)," from under + take (v.). Similar formation in French entreprendre "to undertake," from entre "between, among" + prendre "to take." The under in this word may be the same one that also may form the first element of understand. Old English had underniman "to trap, accept" (cognate with Dutch ondernemen, German unternehmen).

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Definitions of undertake

undertake (v.)
enter upon an activity or enterprise;
Synonyms: set about / attempt
undertake (v.)
accept as a challenge;
Synonyms: tackle / take on
undertake (v.)
promise to do or accomplish;
Synonyms: guarantee
undertake (v.)
enter into a contractual arrangement;
Synonyms: contract
undertake (v.)
accept as a charge;
Synonyms: take in charge
From wordnet.princeton.edu