Relating to the number ten; based on or proceeding by tens, particularly used in mathematics and computing to describe base-10 number systems.
From Latin denarius (relating to ten) + -ary (suffix meaning 'relating to'). The term was adapted from the coin terminology to describe numerical systems based on groups of ten.
While 'decimal' and 'denary' both mean base-10 systems, denary is rarer and more technical—it's the kind of word mathematicians and computer scientists use to sound precise, though they'll usually just say 'decimal' in normal conversation!
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