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sloth (n.)[sloth 词源字典]: late 12c., "indolence, sluggishness," formed from Middle English slou, slowe (see slow (adj.)) + abstract formative -th (2). Replaced Old English slæwð "sloth, indolence." Sense of "slowness, tardiness" is from mid-14c. As one of the deadly sins, it translates Latin accidia.

The slow-moving mammal first so called 1610s, a translation of Portuguese preguiça "slowness, slothfulness," from Latin pigritia "laziness" (compare Spanish perezosa "slothful," also "the sloth").[sloth etymology, sloth origin, 英语词源]
tardy (adj.): 1520s, "slow," from Old French tardif "slow, late" (12c.), also the name of the snail character in the Roman de Renart, from Vulgar Latin *tardivus, from Latin tardus "slow, sluggish; late; dull, stupid," of unknown origin. Meaning "late" in English is from 1660s.
This word, not much used in English prose, is constantly employed in the U.S. and in Canada with reference to lateness in school-attendance. [Thornton, "American Glossary," 1912]
Related: Tardily; tardiness. Earlier form of the word in English was tardif, tardyve (late 15c.). Tardity "slowness of movement or action" is recorded in English from early 15c., from Old French tardete, from Latin tarditas.