On board; into or within a ship or boat; hence, into or within a railway car. [from ca. 1350—1470][1]
We all climbed aboard.
2020 December 2, Paul Bigland, “My weirdest and wackiest Rover yet”, in Rail, page 68:
As the 1857 to Manchester Piccadilly rolls in, I scan the windows and realise there are plenty of spare seats, so I hop aboard. The train is a '221'+'220' combo to allow for social distancing - a luxury on an XC train as normally you're playing sardines, so I make the most of it.
On or onto a horse, a camel, etc. [from late 19th c.][1]
On board of; onto or into a ship, boat, train, plane. [from ca. 1350—1470][1]
We all went aboard the ship.
2012 March, William E. Carter, Merri Sue Carter, “The British Longitude Act Reconsidered”, in American Scientist, volume 100, number 2, page 87:
Conditions were horrendous aboard most British naval vessels at the time. Scurvy and other diseases ran rampant, killing more seamen each year than all other causes combined, including combat.
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