Squirrels are members of the family Sciuridae, a family that includes small or medium-size rodents. The squirrel family includes tree squirrels, ground squirrels, chipmunks, marmots (including woodchucks), flying squirrels, and prairie dogs amongst other rodents. Squirrels are indigenous to the Americas, Eurasia, and Africa, and were introduced by humans to Australia. The earliest known squirrels date from the Eocene period and are most closely related to the mountain beaver and to the dormouse among other living rodent families.

That word "squirrel", first attested in 1327, comes from the Anglo-Norman esquirel which is from the Old French escurel, the reflex of a Latin word sciurus. This Latin word was borrowed from the Ancient Greek word σκίουρος, skiouros, which means shadow-tailed, referring to the bushy appendage possessed by many of its members.

The native Old English word for the squirrel, ācweorna, survived only into Middle English (as aquerne) before being replaced. The Old English word is of Common Germanic origin, cognates of which are still used in other Germanic languages, including the German Eichhörnchen (diminutive of Eichhorn, which is not as frequently used), the Norwegian ikorn/ekorn, the Dutch eekhoorn, the Swedish ekorre and the Danish egern.

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