The verb usurp means to take and hold something with force or violence.
Synonyms are arrogate, expropriate, steal or seize.
The word origins from Old French (14th century) usurper meaning “to (wrongfully) appropriate”, Latin usurpare meaning “make use of, seize for use” in later Latin “to assume unlawfully, trespass on” and usus meaning “a use”.
The thief usurped his necklace.
The burglar plans to usurp the safe in his neighbors house.
Dino’s original script for his book was usurped by his brother.