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An auxiliary verb (abbreviated aux) is a verb that adds functional or grammatical meaning to the clause in which it occurs, so as to express tense, aspect, modality, voice, emphasis, etc. Auxiliary verbs usually accompany an infinitive verb or a participle, which respectively provide the main semantic content of the clause. [1]
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 ...
An -ing form is termed gerund when it behaves as a verb within a clause (so that it may be modified by an adverb or have an object); but the resulting clause as a whole (sometimes consisting of only one word, the gerund itself) functions as a noun within the larger sentence.
Gerunds (e.g., going, seeing) - These act as nouns but are derived from verbs; Participles (e.g., going, seen) - These can function as adjectives or part of verb tenses (like has gone) Nonfinite verbs are used in constructions where there's no need to express tense directly. They help in creating sentences like "I want to go," where "to go" is ...
Gerund: It could be going home early or slacking off at work that the boss reacted to. Adverbial clause : It was because she was so lonely all the time that she decided to move out. Information structure
These are not gerund forms; the -um form of the gerund is used only after prepositions. The plural forms without nouns such as agenda 'things to be done' are also adjectival gerundives; the gerund has no plural form. For details of the formation and usage of the Latin gerundive, see Latin conjugation § Gerundive and Latin syntax § The gerundive.