Etymology
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Words related to usurp

use (v.)
c. 1200, "employ for a purpose," from Old French user "employ, make use of, practice, frequent," from Vulgar Latin *usare "use," frequentative form of past participle stem of Latin uti "make use of, profit by, take advantage of, enjoy, apply, consume," in Old Latin oeti "use, employ, exercise, perform," of uncertain origin. Related: Used; using. Replaced Old English brucan (see brook (v.)). From late 14c. as "take advantage of."
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rapid (adj.)

1630s, "moving or doing quickly, capable of great speed," from French rapide (17c.) and directly from Latin rapidus "hasty, swift; snatching; fierce, impetuous," from rapere "hurry away, carry off, seize, plunder," from PIE root *rep- "to snatch" (source also of Greek ereptomai "devour," harpazein "snatch away," Lithuanian raplės "tongs").

Meaning "happening in a short time, coming quickly into existence" is from 1780. Related: Rapidly; rapidness. Rapid-fire (adj.) 1890 in reference to guns, figurative or transferred use by 1900; the noun phrase is by 1836. Rapid-transit first attested 1852, in reference to street railways; rapid eye movement, associated with a certain phase of sleep, is from 1906.

usurpation (n.)
late 14c., from Old French usurpacion, from Latin usurpationem (nominative usurpatio) "a taking into use," noun of action from past participle stem of usurpare (see usurp).
usurper (n.)
early 15c., agent noun from usurp (v.).