An Etymological Dictionary of the German Language/Staupe
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Staupe, f., ‘rod, scourge,’ from MidHG. (MidG.) stûpe, ‘post to which a criminal is bound and beaten with rods’; hence stäupen, ‘to flog, scourge,’ which occurs in ModHG. only. Corresponding to OFris. stûpa, ‘public chastisement with the rod.’ Early history obscure.