'arrogate' originates from Latin, specifically the word 'arrogare', where the prefix 'ad-' (assimilated to 'ar-') meant 'to, toward' and 'rogare' meant 'to ask' or 'to propose'.

'arrogate' came into English from Latin 'arrogare' (used in legal and rhetorical contexts) and entered modern English in the 16th century, retaining the Latin form and sense.

Initially it had a sense tied to 'claim by asking or proposing' in Latin usage, but over time it evolved to the current sense 'to claim or appropriate (something) without justification'.