担心 in other words is 不放心. (放心 means to rest assured.)
担 is to carry sth on your shoulder. Carrying your heart on your shoulder means that you are not calm, you feel worried and concerned, you fear that sth unfavorable might happen.
A similar word, 提心吊胆, to hold your heart in your hand and hang your gallbladder, is aparently much worse than 担心. 提心 is about being worried, 吊胆 is about being frightened (胆小 means timid, 胆大 means bold) . So together it means you are filled with anxiety and haunted with fear.
着急 means you are being very impatient, you can't wait for sth to happen or wait to do sth. You feel anxious, eager, keen.