scamp
n.
1782, "highway robber," probably from dialectal verb scamp "to roam" (1753, perhaps from 16c.), shortened from scamper. Used affectionately in sense "rascal" since 1808.
v.
"do in a hasty manner," 1837, perhaps from a Scandinavian source (compare Old Norse skemma "to shorten, make shorter," from skammr "short; brief; lately"), or a blend of scant and skimp [Klein], or a back-formation from scamper. Related: Scamped; scamping.