What is a Centaur?

What is a Centaur? Here are some definitions.

Noun
  1. (Greek) One of a race of monsters having a head, torso, and arms of a man, and the body and legs of a horse. Often depicted as rowdy drunkards, with Chiron being a notable exception.
  2. A skillful horseman or horsewoman.
  3. (rocketry) A U.S. upper stage, with a restartable liquid-propellant engine, used with an Atlas or Titan booster to launch satellites and probes.
  4. (astronomy) An icy planetoid that orbits the Sun between Jupiter and Neptune
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Examples
Nessus the Centaur, who lived in a cavern close by, offered to carry Deianira over on his back.
The name of the Centaur that was destroyed by Hercules for insulting his wife Deianira.
An attempted restoration of a combat between a lapith and a Centaur is exhibited.
The victorious Centaur rears up above the Lapith, and is about to hurl a great stone, or perhaps a hydria, with both hands.
His expertise has given the Centaur four exceptional advantages over conventional seaplanes and launches the floatplane into the 21st Century.
Now, video footage and sonar data proves conclusively that the wreck is not Centaur.

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