Origin and history of coarticulation

early 15c., articulacioun (Chauliac), "a joint or joining; setting of bones," from Old French articulation, from Medieval Latin articulationem (nominative articulatio) "separation into joints," noun of action from past-participle stem of articulare "to separate (meat) into joints," also "to utter distinctly," from articulus, diminutive of artus "joint" (see article). The meaning "the uttering of articulate sounds" is from 1610s.

in Latin, the form of com- "together, with" in compounds with stems beginning in vowels, h-, and gn-; see com-. Taken in English from 17c. as a living prefix meaning "together, mutually, in common," and used promiscuously with native words (co-worker) and Latin-derived words not beginning with vowels (codependent), including some already having it (co-conspirator).