'articulate' originates from Latin, specifically the word 'articulatus', where the root 'articulus' meant 'joint' or 'small joint'.

'articulate' changed from Latin 'articulatus' (past participle of 'articulare') and entered English via Medieval Latin and Old French influence, eventually becoming the modern English 'articulate'.

Initially it meant 'having or divided into joints' or 'to join by joints'; over time the word's sense shifted metaphorically to 'express (something) clearly' and 'pronounce distinctly', which are its primary modern senses.