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Historically, English used to have a similar verbal paradigm. Some historic verb forms are used by Shakespeare as slightly archaic or more formal variants (I do, thou dost, he doth) of the modern forms. Some languages with verbal agreement can leave certain subjects implicit when the subject is fully determined by the verb form.
The first English grammar, Bref Grammar for English by William Bullokar, published in 1586, does not use the term "auxiliary" but says: All other verbs are called verbs-neuters-un-perfect because they require the infinitive mood of another verb to express their signification of meaning perfectly: and be these, may, can, might or mought, could, would, should, must, ought, and sometimes, will ...
Jim refuses to do it. - refuses is a subject control verb. a. Jill would lie and cheat. - would is a modal auxiliary. b. Jill attempted to lie and cheat. - attempted is a subject control verb. The a-sentences contain auxiliary verbs that do not select the subject argument. What this means is that the embedded verbs go, do, and lie and cheat are ...
The verbs do, say and have additionally have irregular third person singular present tense forms (see below). The copular verb be is highly irregular, with the forms be, am, is, are, was, were, been and being. On the other hand, modal verbs (such as can and must) are defective verbs, being used only in a limited number of forms.
Regular verbs have identical past tense and past participle forms in -ed, but there are 100 or so irregular English verbs with different forms (see list). The verbs have, do and say also have irregular third-person present tense forms (has, does /dʌz/, says /sɛz/).
The English modal auxiliary verbs are a subset of the English auxiliary verbs used mostly to express modality, properties such as possibility and obligation. [a] They can most easily be distinguished from other verbs by their defectiveness (they do not have participles or plain forms [b]) and by their lack of the ending ‑(e)s for the third-person singular.
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The most well-known test is auxiliary selection in languages that use two different temporal auxiliaries (have and be) for analytic past/perfect verb forms (e.g. German, Dutch, French, Italian; even Early Modern English). In these languages, unaccusative verbs combine with be, while unergative verbs combine with have. French: