***** NOT A TEACHER *****
Hello, Mithur:
I have found some information for you to add to the excellent answers that you have already received.
One scholar tells us this:
1. "Verbs have five form-types."
a. base (prepare).
b. -s (prepares).
c. -ing participle (preparing).
d. past (prepared).
e. -ed participle (prepared).
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The BASE form of the verb is used in four ways:
i. present tense (except for the third person singular).
ii. imperative [a command or order].
iii. present subjunctive ("We recommend that he repay the full amount").
iv. infinitive, which has two major uses:
a. bare infinitive (without "to" after a modal auxiliary, such as "I must write that message").
b. to-infinitive is the main verb in infinitive clauses ("I would like to write something").
Complete credit goes to Sidney Greenbaum, The Oxford English Grammar (1996), pages 117 -120.