Slipped

He slipped the pen off the desk and into his pocket.

He slipped on the wet steps and tumbled down the stairs.

She slipped on the rug and nearly fell down the stairs.

She slipped out of her dress and into a swimsuit.

She slipped on the wet spot in the kitchen and dropped the dishes she was carrying.

He slipped his hand into his pocket to grab his keys.

He slipped out of his wet clothes and into a dry towel after a refreshing swim.