Slipped

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

The pencil slipped from the desk onto the floor.

He slipped the key into the lock and turned it quietly.

She slipped out of her dress and into a swimsuit.

He slipped into his pajamas and crawled into bed.

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

His physical condition slipped after he stopped exercising.