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“soak” in Latin

Riddle & Arnold A Copious and Critical English–Latin Lexicon, 1864

soak v.
Transitively, macerare (to put a thing in water, in order to soften it, as flax, fish): aqua perfundere (to wet well with water, as corn): madefacere (general term, to make quite wet). To be soaked with rain, pluvia or imbre madefieri.
Intransitively, madefieri: madere: madescere.

Quick answer

What is the Latin word for soak?
The usual Latin words for “soak” are mācerō, madefaciō, madeō; also madēscō, pluvia. The right choice depends on the sense; see the distinctions below.

Entry from J. E. Riddle & T. K. Arnold, A Copious and Critical English–Latin Lexicon (rev. C. Anthon, New York: Harper, 1864), digitised by Fergus J. P. Walsh, CC BY-SA 4.0; Latin markup adapted by latindictionary.co.