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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 ...
This is a list of English auxiliary verbs, i.e. helping verbs, which include Modal verbs and Semi-modal verbs. See also auxiliary verbs, light verbs, ...
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.
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 responsible for semantically selecting the subject argument. The point is that while control verbs may have the same outward appearance as auxiliary verbs, the two verb types are quite different.
For example, the English verbs arrive and run differ in their lexical aspect since the former describes an event which has a natural endpoint while the latter does not. Lexical aspect differs from grammatical aspect in that it is an inherent semantic property of a predicate, while grammatical aspect is a syntactic or morphological property.
Originally a preterite; see English modal verbs: need (needs/need) – needed – needed: Weak: Regular except in the use of need in place of needs in some contexts, by analogy with can, must, etc; [4] see English modal verbs: ought – (no other forms) Defective: Originally a preterite; see English modal verbs: pay – paid – paid overpay ...
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.
(The verb do has a similar vowel shortening in does and done; see below.) Verbs irregular only in spelling: lay–laid, pay–paid (although in the meaning "let out", of a rope etc., pay may have the regular spelling payed). For weak verbs that have adopted strong-type past tense or past participle forms, see the section above on strong verbs.