Penicuik is a burgh in Midlothian, Scotland, lying on the west bank of the River North Esk. The town was developed as a planned village in 1770 by Sir James Clerk of Penicuik. It became a burgh in 1867. The town was well known for its paper mills, the last of which closed in 2005. More recently the town was home to the Edinburgh Crystal works. Penicuik has two secondary schools, Penicuik High School and Beeslack Community High School. The town's name is pronounced 'Pennycook' and is derived from Pen Y Cog, meaning "Hill of the Cuckoo" in the Old Brythonic language (also known as Ancient British and the forerunner of modern Welsh).

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