Bad / Steal

verb

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mooch - To ask for or obtain (something) without paying for it

Vance was on his way to work and didn't have time to talk to the bum who wanted to mooch off of him.

noun

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crook - A person who is dishonest or a criminal

The crook was caught red-handed by the police as he left the house he had just robbed.

noun

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extortion - The practice of obtaining something, especially money, through force or threats.

The mafia would go to a store, and say "We will make sure your store doesn't burn down if you give us money every month", in an obvious act of extortion.