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escape (v.): c. 1300, transitive and intransitive, "free oneself from confinement; extricate oneself from trouble; get away safely by flight (from battle, an enemy, etc.)," from Old North French escaper, Old French eschaper (12c., Modern French échapper), from Vulgar Latin *excappare, literally "get out of one's cape, leave a pursuer with just one's cape," from Latin ex- "out of" (see ex-) + Late Latin cappa "mantle" (see cap (n.)). Mid-14c., of things, "get or keep out of a person's grasp, elude (notice, perception, attention, etc.);" late 14c. as "avoid experiencing or suffering (something), avoid physical contact with; avoid (a consequence)." Related: Escaped; escaping.
touch (v.): late 13c., "make deliberate physical contact with," from Old French tochier "to touch, hit, knock; mention, deal with" (11c., Modern French toucher), from Vulgar Latin *toccare "to knock, strike" as a bell (source also of Spanish tocar, Italian toccare), perhaps of imitative origin. Related: Touched; touching.

From c. 1300 in transitive sense "bring into physical contact," also "pertain to." Other senses attested from 14c. are "perceive by physical contact, examine by sense of touch," also "be or come into physical contact with; come to rest on; border on, be contiguous with;" also "use the sense of touch," and "mention, describe." From early 14c. as "affect or move mentally or emotionally," with notion of to "touch" the heart or mind. Also from early 14c. as "have sexual contact with." Meaning "to get or borrow money" first recorded 1760. Touch-and-go (adj.) is recorded from 1812, apparently from the name of a tag-like game, first recorded 1650s. Touch football is first attested 1933. Touch-me-not (1590s) translates Latin noli-me-tangere.