how did dessert get its name

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many times after finishing the dinner i have seen the menucard a column for desserts which contains variety of juices,fruitjuices,icecreams,milkshakes,cakes,sweets etc,but what has dessert got to do with all these,what is the connection between desserts and icecreams,eventhough i widely use the word dessert i still do not no what it means.