Mendicant
/ˈmendɪkənt/
Definition 1 of 2
Pro Tip 1/3Historical Context
Originally referred to religious people begging as part of their spiritual practice. 
Medieval mendicants renounced possessions, living off charity.
Pro Tip 2/3Modern Usage
Nowadays, it can refer to any person who begs for money or food. 
He encountered a mendicant on his way to work, asking for spare change.
Pro Tip 3/3Emotional Connotation
Mendicant can have a sympathetic or disparaging connotation, depending on context. 
The kind lady offered the mendicant a meal and a warm coat.