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scamp (n.)

1782, "highway robber," probably from dialectal verb scamp "to roam" (1753, perhaps from 16c.), shortened from scamper. Used affectionately in sense "rascal" since 1808.

scamp (v.)

"do in a hasty manner," 1837, perhaps from a Scandinavian source (compare 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.

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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