The act of attempting something risky or daring; an adventure or bold undertaking.
From adventure (from Old French 'aventure' meaning 'chance happening') plus the suffix -ment indicating an action or result. The word evolved in Middle English to describe exciting journeys and risky ventures.
Adventurement is a wonderfully archaic word that reminds us how English speakers in the 1600s were obsessed with exploration—the word was especially popular during the age of sailing expeditions when people actually needed a noun for 'the state of going on an adventure.'
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