If I were to use a word in a poem that means rescue
I would use the word aiuto. (Ah e u toe)
One time in Venezia
we were left by the vaporetto
and so our teacher told us to yell
“Aiuto!”
in unison so that it would come back.
If we had shouted
“Succor!”
Who would have come for us?

-M J Eaton