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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.
Do-support (sometimes referred to as do-insertion or periphrastic do), in English grammar, is the use of the auxiliary verb do (or one of its inflected forms e.g. does), to form negated clauses and constructions which require subject–auxiliary inversion, such as questions.
An imperative, in contrast, generally applies to the listener. When a language is said to have a jussive, the jussive forms are different from the imperative ones, but may be the same as the forms called "subjunctive" in that language. Latin and Hindi are examples of where the jussive is simply about certain specific uses of the subjunctive.
For example, the verb write has the principal parts write (base form), wrote (past), and written (past participle); the remaining inflected forms (writes, writing) are derived regularly from the base form. Some irregular verbs have identical past tense and past participle forms (as the regular verbs do), as with send–sent–sent.
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 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.