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For answers to historical questions, please check out our sister community: !askhistorians@lemmy.world
The universe is expanding. The rate at which it's expanding is increasing. It should be increasing a lot more; something is holding it back, some kind of energy. We have no clue what that energy is or where it comes from because we can't detect it. We only it know it has to exist because nothing else makes the equation balance. Since we don't know anything about it other than it (theoretically) exists, we call it "dark" energy.
Relativity tells us that matter and energy are equivalent. Therefore, all energy has a corresponding particle. Particles have mass. All things with mass are "matter". We have no information about the matter corresponding to dark energy, we only know it (theoretically) exists. Since we don't know anything about it, we call it "dark" matter.