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Use the base form of the verb to make the imperative.
What is the base form?
The base form of the verb is the form that is in the infinitive but without the "to." It is the form that is in the dictionary.
Example: to run (infinitive) run (base form) Run! (imperative)
Where is the subject of the imperative?
We do not usually use a subject. The subject is YOU, the person(s) listening.
Examples:
Give me the book. Who? You!
Come here! Who? You! All of you!
Negative imperatives:
Use do not or don't before the imperative.
Examples:
Don't go!
Don't be late!
Is it polite?
Yes, sometimes, but not always. Use please to be polite. "Please, sit down." "Please, come here." It is never wrong to use "please," but it is not always necessary.
We don't use please when writing instructions.