The Collaborative International Dictionary of English v.0.48:

Scape \Scape\, v. t. & i. [imp. & p. p. Scaped; p. pr. & vb.
   n. Scaping.] [Aphetic form of escape.]
   To escape. [Obs. or Poetic.] --Milton.
   [1913 Webster]

         Out of this prison help that we may scape. --Chaucer.
   [1913 Webster]