undergarment

[uhn-der-gahr-muhnt]
noun
an article of underwear.

Origin:
1520–30; under- + garment

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Based on the Random House Dictionary, © Random House, Inc. 2014.
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Collins
World English Dictionary
undergarment (ˈʌndəˌɡɑːmənt)
 
n
any garment worn under the visible outer clothes, usually next to the skin

Collins English Dictionary - Complete & Unabridged 10th Edition
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Example sentences
The tunic, a kind of long shirt of linen or wool, was adopted later as an
  undergarment.
The defenseless undergarment, alas, could not speak up for itself.
The undergarment contains two permanently sewn-in rear foam fanny pads, which
  create curves of enhancement for the wearer.
Plaintiff admits that the undergarment was in her basket.
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