Odysseus is disguised as a beggar by the goddess Athena, who is helping him plot his revenge against the suitors who are courting his wife. From the vantage point of a beggar in his own court, Odysseus is able to assess who remains loyal to him, who the suitors are, their habits, and he is able to sow dissent amongst them. The information he gleans allows him to formulate a plan for revenge.
Agamemnon's warning also causes Odysseus to be weary in returning home as himself, as he does not know if his wife is true and on his side yet. Odysseus also is able to see if his wife has remained loyal to him after all these years.
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Odysseus disguises himself as a beggar to test the loyalty and hospitality of those he encounters upon his return to Ithaca. By appearing as a beggar, he is able to observe how people treat the less fortunate and discern who his true allies are in his quest to reclaim his kingdom. Additionally, the disguise allows him to move about Ithaca without being recognized by his enemies.
Odysseus believed that the other beggar viewed him with suspicion and did not recognize his true identity. He thought that the beggar saw him as just another wanderer or stranger passing through. Odysseus cleverly played along with this perception to maintain his disguise.
The beggar disguise in "The Odyssey" symbolizes humility, disguise, and the ability to blend in with different social classes. Practically, it allows Odysseus to move freely and observe the behavior of others without revealing his true identity, aiding him in his quest to reclaim his kingdom and family.
Penelope asked the beggar (who was actually Odysseus in disguise) about where he was from and if he had any news about her husband, Odysseus. She was trying to gather information to see if anyone had seen or heard of him during his long absence.
Telemachus initially thinks Odysseus is a stranger when they first reunite, as Odysseus, disguised as a beggar, had not revealed his true identity to his son. Telemachus only discovers the true identity of the beggar later on.
Melanthius, the goatherd, treated Odysseus and Eumaeus poorly, verbally abusing them and even kicking Odysseus in the hip. He treats both of them as lower class, and calls Odysseus a man who became a beggar out of laziness and refusal to do work.