purloin
appropriate, blag (slang) cabbage (Brit. slang) filch, knock off (slang) lift (informal) nick (slang, chiefly Brit.) nobble (Brit. slang) pilfer, pinch (informal) prig (Brit. slang) rob, snaffle (Brit. informal) snitch (slang) steal, swipe (slang) thieve, walk off with