Purloin (verb)

1. To steal something, especially something of little value or something that is not missed immediately.
2. To take something without permission or without intending to return it.
3. To take or make use of something for one's own benefit, especially without permission.

Origin:

From middle english purloignen, from old french purloigner, from latin purloinare ("to steal secretly"), from pur- ("privately") + loin ("far").

Examples:

1. He purloined a pen from the office supply cabinet.
2. She purloined some of the candy from the jar.
3. He purloined the idea for the project from a colleague.
4. The employee purloined the company's confidential documents.
5. The thief purloined the purse from the woman's shoulder.