> concurrency without parallelism is usually cooperative

preemptive concurrency is almost as old as interactive computers. Until fairly recently, most computers were single core, but you wouldn't have wanted to use a cooperatively scheduled OS [1], especially on a multiuser machine.

[1] yes, in the '80s some popular microcomputer OSs were single threaded (DOS) or cooperatively scheduled (classic macos and 16bit windows), but even then preemptive OSs were available (amigados).