Steal and its kindred words come from the Germanic root stel- “to rob, steal” (as in Gothic stilan, Old English, Old Frisian, Old High German stelan, German stehlen ); the root has no certain relatives outside Germanic.
The idea of secrecy and concealment is a natural association, as in the words derivative of stel-, such as the noun stealth (Middle English stelthe, stelth, from Germanic stēlithō ), and the verb stalk “to follow or observe secretly or cautiously.” One of the current senses of stalk “to follow or harass someone obsessively over a period of time” dates from the early 1980s.

Did you mean tear away?