On the Etymology of the Term "Magisterium" in the Catholic Church

Regarding the Magisterium of the Catholic Church, the U.S. Cardinal Burke said: > The *"magisterium"* is a somewhat recent theological term, and what it refers to is the duty of the Church to teach, safeguard and promote the truths of the faith as they’ve been handed down in the Tradition. So whether you say that it's magisterium or not, if it's not in agreement with what the Church has always taught and practiced, then it can’t be magisterium, even if you say that it is. It is my understanding that the term *Magisterium* refers to the Teaching Authority of the Catholic Church. Could someone, perhaps, fill in some of the details as to what Cardinal Burke means by "a somewhat recent theological term"; i.e., when, where, and why was this term introduced to be used (as a substitute?) for the "Teaching Authority"? Should the former term be be preferred over the latter?