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Judith laughed at me recently for calling her slippers slippers. "No silly" she said "no slip", and demonstrated how they were in fact non-slip footwear. I've noticed this conundrum myself (particularly when I was pregnant with her and bought a pair precisely to stop me slipping) so googled the etymology.
In case you're now wondering, it is from 'slip' but refers to being able to slip the slipper on.
In case you're now wondering, it is from 'slip' but refers to being able to slip the slipper on.