hesitate vs falter

hesitate is not a noun while falter is a noun.

Word	Noun	Adjective	Verb	Adverb
hesitate	No	No	Yes	No
falter	Yes	No	Yes	No

As verbs, falter is a hyponym of hesitate; that is, falter is a word with a more specific, narrower meaning than hesitate:

Other hyponyms of hesitate include dwell on, linger over, boggle, hover, linger, hover, oscillate, vacillate, vibrate, waver.

hesitate (noun)	falter (noun)
	the act of pausing uncertainly

hesitate (verb)	falter (verb)
pause or hold back in uncertainty or unwillingness	speak haltingly
interrupt temporarily an activity before continuing	walk unsteadily, tripping repeatedly
	move hesitatingly, as if about to give way
	be unsure or weak