To drive out, expel, or hurry someone along; to stir or thrust something quickly.
From Middle English 'firken,' possibly derived from Old Norse 'firkask' meaning 'to turn around' or related to 'fork.' The word is archaic and dialectal, appearing primarily in older English texts.
Shakespeare and other Renaissance writers used 'firk' as a vigor-filled verb meaning to thrust or push forcefully—it's one of those delightfully harsh-sounding old words that makes action sound more dramatic than modern alternatives.
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