c.1200, "to depart, go make off; turn away or aside;" c.1300, "to turn aside, deviate from a straight course;" in form from Old English sweorfan "to rub, scour, file away, grind away," but sense development is difficult to trace. The Old English word is from Proto-Germanic *swerb- (cf Old Norse sverfa "to scour, file," Old Saxon swebran "to wipe off"), from PIE root *swerbh- "to turn; wipe off." Cognate words in other Germanic languages (cognates: Old Frisian swerva "to creep," Middle Dutch swerven "to rove, roam, stray") suggests the sense of "go off, turn aside" might have existed in Old English, though unrecorded. Related: Swerved; swerving.

1741, from swerve, v..