'baculoid' originates from Latin, specifically the word 'baculum', where 'bacul-' meant 'stick', combined with the suffix '-oid' from Greek 'eidos' meaning 'form' or 'shape'.

'baculoid' was formed in New Latin by combining Latin 'baculum' with Greek-derived suffix '-oid' and entered scientific English usage to mean 'stick-like' or 'rod-shaped'.

Initially it literally meant 'having the form of a stick', and over time it has retained that core sense while being applied descriptively in specialized biological and anatomical contexts.