'undercompensate' originates from the prefix 'under-' meaning 'below' or 'insufficient' and the verb 'compensate' from Latin 'compensare', meaning 'to weigh together'.

'compensare' transformed into the Old French word 'compensate', and eventually became the modern English word 'compensate'. The prefix 'under-' was added to form 'undercompensate'.

Initially, 'compensate' meant 'to weigh together', but over time it evolved into its current meaning of 'to make up for something'. 'Undercompensate' specifically refers to insufficient compensation.