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Inscribed

The word is derived from the Latin "scribere" - to write or draw. It means to draw something inside something else. In geometry it usually means drawing one shape inside another so that it just touches.

For example, the figure on the right is a circle inscribed in a triangle. This is also called the incircle of the triangle.

The opposite

When something is drawn around the outside of another shape, it is called circumscribed - 'drawn around'.