i've heard 2 answers.
1. it mimics the air raid horn heard on navy vessels "aroo-ga" and marines would yell this at each other to get themselves pumped up before battle.
2. it started out as "aroo gi nae"(sp) which in another language meant "kill them all". a senator heard recruits chanting, "kill, kill, kill 'em all" and was deeply disturbed by this so they changed it to whatever language. then it was just shortened to "oorah".
to me the first scenario sounds more likely b/c we as marines have a long naval tradition and are, in fact, amphibious monsters.
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