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Auxiliary verbs perform different functions in relation to
the main verbs that they support:
do, does, didsplit open single-word verbs to form questions or negative statements. Sometimes they are used in positive statements to express emphasis.
have, has, hadcreate verbs which imply a relationship between two different times: these are verbs in the perfect tenses.
am, is, are,
was, were,
be, being, been
create verbs which show either a continuing action or an action whose subject is passive.
might, may,
would, can, could,
will, shall, should,
might, must
show the degree of possibility or necessity of the main verb: these are the modal auxiliaries. You may review them in more detail by studying Chart 3, USE OF MODAL AUXILIARIES.

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