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Vassals- (in the feudal system) a person granted the use of land in return for rendering homage.
Lords - A feudal superior; the proprietor of Manor
Knights - A mounted soldier serving under a feudal superior in the Middle Ages.
Barons - A feudal vassal holding his lands under a direct grant from the King.
Fiefs - A fee or feud held of feudal lord
Villeins - a member of a class of partially free persons under the feudal system.
Feudalism - is the feudal system or its principles and practices.
How did it come about?
Feudalism came about when the people of Western Europe needed a source of protection. So they created a system where higher classes provided protection for lower classes in return for their loyalty to them.