Etymology
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vagrancy (n.)

"life of idle begging," 1706, from vagrant + abstract noun suffix -cy. Earlier in a figurative sense, "mental wandering" (1640s). By late 18c. used in law as a catch-all for miscellaneous petty offenses against public order.

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Definitions of vagrancy

vagrancy (n.)
the state of wandering from place to place; having no permanent home or means of livelihood;
From wordnet.princeton.edu