'misarticulation' originates from the prefix 'mis-' meaning 'wrongly' and the word 'articulation' from Latin 'articulare', meaning 'to divide into joints'.

'articulare' transformed into the English word 'articulation', and with the addition of the prefix 'mis-', it became 'misarticulation'.

Initially, it meant 'to wrongly divide into joints', but over time it evolved into its current meaning of 'incorrect speech sound production'.