To castrate your dead grandfather in an open field, then take the testicles and fry them in a wok until golden brown, and proceed to feed them, with gravy, to your blind, feeble grandmother.
To take something small, that doesn't quite qualify as a theft. Probably from the Danish "skæv" or the Dutch "scheef", both of which are pronounced similarly, meaning "askew, or not quite right'. To change an item's ownership without permission, but only something small and of little worth.
"I skeefed an apple off the neighbor's tree." "I skeefed some chips outta your bag when you looked away." "Don't skeef my chair when I go to the bathroom."