Many people mistakenly assume that the dates associated with word origin refer to first use of the word. They merely indicate the oldest known record of the word's use, in a document, for instance. The word itself is older, sometimes considerably older. Chances are that any word evolved from another already in use and with the same or a similar meaning. People who say, "They did not have that word in 1150" or the like are probably misunderstanding what the dates mean. The etymology is useful to gauge likely origin. The following are terms associated with the Middle Ages with standard definitions followed by etymolohy supplied by http://www.etymonline.com/ .
Key to abbreviations.
leman
A sweetheart or lover
archaic for "sweetheart, paramour," from M.E. leofman (c.1200), from O.E. leof "dear" + man "human being, person." Originally of either gender, though archaic usage tends to limit it to women.
merlon
A solid portion between two crenels in a battlement or crenelated wall.
"solid part of a battlement," 1704, from Fr. merlon, from It. merlone, aug. of merlo "battlement," perhaps a contraction of mergola, dim. of L. mergae "two-pronged pitchfork."
wicket
A small door or gate, especially one built into or near a larger one.
early 13c., "small door or gate," from Anglo-Fr. wiket, from O.N.Fr. wiket (Fr. guichet) "wicket, wicket gate," probably from P.Gmc. *wik- (cf. O.N. vik "nook") related to O.E. wican "to give way, yield" (see weak). The notion is of "something that turns." Cricket sense of "set of three sticks defended by the batsman" is recorded from 1733.
bard
One of an ancient Celtic order of minstrel poets who composed and recited verses celebrating the legendary exploits of chieftains and heroes.
mid-15c., from Scottish, from O.Celt. bardos "poet, singer," from PIE base *gwer- "to lift up the voice, praise." In historical times, a term of contempt among the Scots (who considered them itinerant troublemakers), but one of great respect among the Welsh.
"All vagabundis, fulis, bardis, scudlaris, and siclike idill pepill, sall be brint on the cheek." [local Scottish ordinance, c.1500]
Subsequently idealized by Scott in the more ancient sense of "lyric poet, singer." Poetic use of the word in English is from Gk. bardos, L. bardus, both from Gaulish. Bardolatry "worship of Shakespeare (the 'Bard of Avon')" first recorded 1901.
tabard
A tunic or capelike garment worn by a knight over his armor and emblazoned with his coat of arms.
mid-13c., from early Sp. tabardo and O.Fr. tabart (12c.), of unknown origin. Originally a coarse, sleeveless upper garment worn by peasants, later a knight's surcoat (hence the name of the tavern in "Canterbury Tales").
pavan
A slow, stately court dance of the 16th and 17th centuries, usually in duple meter.
"slow, stately dance," 1535, from Fr. pavane (1524), probably from Sp. pavana, from pavo "peacock" (from L. pavo), in ref. to the bird's courting movements. But some see an It. origin and trace the name to Padovana "Paduan." Possibly there was a merger of two distinct dance words.
mace
A heavy medieval war club with a spiked or flanged metal head, used to crush armor.
"heavy metal weapon with a spiked head," c.1300, from O.Fr. mace "a club, scepter," from V.L. *mattea (cf. It. mazza, Sp. maza "mace"), from L. mateola "a kind of mallet." The L. word probably is cognate with Skt. matyam "harrow, club," O.C.S. motyka "mattock," O.H.G. medela "plow."
seneschal
An official in a medieval noble household in charge of domestic arrangements and the administration of servants; a steward or major-domo.
1393, from O.Fr. seneschal, from Frankish Latin siniscalcus, from P.Gmc. *sini-skalk "senior servant;" first element cognate with L. senex "old" (see senile); second element deom P.Gmc. *skalkoz "servant" (cf. Goth. skalks, O.H.G. scalc, O.E. scealc; see marshal).
joust
A combat between two mounted knights or men-at-arms using lances; a tilting match.
c.1300, from O.Fr. joster "to joust, tilt," from V.L. juxtare "to approach, come together, meet," originally "be next to," from L. juxta "beside, near," related to jungere "join" (see jugular). The sport was popular with Anglo-Norman knights.
"These early tournaments were very rough affairs, in every sense, quite unlike the chivalrous contests of later days; the rival parties fought in groups, and it was considered not only fair but commendable to hold off until you saw some of your adversaries getting tired and then to join in the attack on them; the object was not to break a lance in the most approved style, but frankly to disable as many opponents as possible for the sake of obtaining their horses, arms, and ransoms."
[L.F. Salzman, "English Life in the Middle Ages," Oxford, 1950]
liege
A lord or sovereign to whom allegiance and service are due according to feudal law.
word used by a vassal to address his superior or lord in the feudal system, c.1300, from Anglo-Fr. lige (1292), from O.Fr. liege, perhaps from L.L. laeticus "cultivated by serfs," from laetus "serf," which probably is from a Gmc. source (cf. O.E. læt "half-freedman, serf;" O.H.G. laz, O.Fris. lethar "freedman"). Or the M.E. word may be directly from O.H.G. leidig "free." Hence, liege-man "a vassal sworn to the service and support of a lord, who in turn is obliged to protect him" (c.1350).
Crusade
Any of the military expeditions undertaken by European Christians in the 11th, 12th, and 13th centuries to recover the Holy Land from the Muslims.
1706, respelling of croisade (1577), from M.Fr. croisade, Sp. cruzada, both from M.L. cruciata, pp. of cruciare "to mark with a cross," from L. crux (gen. crucis) "cross." Figurative sense of "campaign against a public evil" is from 1786.
dungeon
A dark, often underground chamber or cell used to confine prisoners.
c.1300, from O.Fr. donjon "great tower of a castle," from Gallo-Romance *dominionem, from L.L. dominium, from L. dominus "master" (of the castle; see domain). Sense of "castle keep" led to "strong (underground) cell" in Eng. pre-1338.
hauberk
A long tunic made of chain mail.
c.1300, from O.Fr. hauberc, earlier holberc, from Frank. *halsberg, lit. "neck-cover" (cf. O.H.G. halsberc), from hals "neck" + bergan "to cover, protect."
pilgrim
A religious devotee who journeys to a shrine or sacred place.
c.1200, pilegrim, from O.Fr. pelegrin (11c.), from L. peregrinus "foreigner," from peregre (adv.) "from abroad," from per- "beyond" + agri, locative case of ager "country" (see acre). Change of first -r- to -l- in Romance languages by dissimilation.
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