Definition of haunch
1a
: hip entry 1 sense 1a
b
: hindquarter sense 2
—usually used in plural
3
: either side of an arch between the springing and the crown
on one's haunches
: in a squatting position
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Merriam-Webster unabridged
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Time Traveler for haunch
The first known use of haunch was in the 13th century
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