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From Medieval Latinincentīvus(“that strikes up or sets the tune”), from incinō(“to strike up”), from in-(“in, on”) + canō(“to sing”). The formation appears to have been influenced by incendō(“to set on fire”).
2013 June 7, David Simpson, “Fantasy of navigation”, in The Guardian Weekly, volume 188, number 26, page 36:
It is tempting to speculate about the incentives or compulsions that might explain why anyone would take to the skies in basket [of a balloon]: perhaps out of a desire to escape the gravity of this world or to get a preview of the next; […].
1667, John Milton, “Book VI”, in Paradise Lost., London: [Samuel Simmons], and are to be sold by Peter Parker; nd by Robert Boulter; nd Matthias Walker,, →OCLC; republished as Paradise Lost in Ten Books:, London: Basil Montagu Pickering, 1873, →OCLC:
Part incentive reed / Provide, pernicious with one touch of fire.