To encourage or excite someone to action; to cause a physical or mental response; to create increased activity or interest.
From Latin 'stimulatus,' past participle of 'stimulare' (to prick or drive forward), from 'stimulus' (a pointed stick used to goad animals). The word originally referred to physically prodding animals into action.
The ancient Romans used the word 'stimulus' for the pointed stick they'd use to push oxen—so when we say something 'stimulates' us, we're using a metaphor from cattle-herding that's over 2,000 years old. Your nervous system even has 'stimuli' that trigger responses, just like those ancient goads.
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