The story
- Latin · borrowed fromarticulātus“distinct, articulated, jointed”
- English todayarticulate
The adjective is first attested in 1531, the verb in 1551; borrowed from Latin articulātus (“distinct, articulated, jointed”), perfect passive participle of articulō, see -ate (etymology 1, 2 and 3). Regular participial usage of the adjective up until Early Modern English.
Etymology from Wiktionary, CC BY-SA 4.0.