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Section 10.1 Auxiliary Verbs

Consider the difference between She eats and She has been eating. Both sentences have the same main verb, but the second tells you something the first does not: that the eating started in the past and is still ongoing. The words doing that extra workβ€”has and beenβ€”are auxiliary verbs. You cannot understand how English verb phrases are built without understanding how auxiliaries function, because they are the building blocks that tense, aspect, voice, and modality all depend on.
Auxiliary verbs (also called helping verbs) combine with main verbs to create complex verb phrases. They add grammatical information about tense, aspect, voice, and modality.

Auxiliary vs. Main Verb.

Main verb (lexical verb): Carries the primary meaning
Auxiliary verb: Adds grammatical information
β€œShe has eaten dinner.”
β€œThe book was written by Maria.”

Types of Auxiliaries.

Primary auxiliaries: be, have, do
Modal auxiliaries: can, could, will, would, shall, should, may, might, must