Final answer:
The word that best describes secretly taking something, planned and knowingly, without force, permission, or right is 'Pilfering'.
Step-by-step explanation:
The word that best describes secretly taking something, planned and knowingly, without force, permission, or right is Pilfering. Pilfering refers to the act of stealing small amounts of items or money in a deceitful and discreet manner. It differs from other terms like theft, robbery, or embezzlement, which involve different levels of force, permission, or specific circumstances. For example, theft usually refers to the act of unlawfully taking someone's property, whereas embezzlement involves misappropriating funds from someone's trust.