satellite

Satellite comes from Middle French satellite, which came from Latin satelles, meaning "attendant." That Latin word may ultimately trace back to Etruscan, though the trail grows faint that far back.

The facts here don't trace the full shift from "human attendant" to "orbiting object" — only that the word began with the sense of an attendant, someone who follows and serves another.

No specific English cognate is given in the sources, so none can be named with confidence here.