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PRESENT                      CAN or AM ABLE TO
                  PAST                         COULD or WAS ABLE TO
                  FUTURE                       WILL BE ABLE TO



                  BE ABLE TO is used in all tenses



                  MUST, HAVE TO:

                  Positive and Negative

                  They have similar meaning in the positive:


                  You must leave (meaning you can´t stay)

                  You have to leave (meaning you can´t stay)

                  They have a different meaning in the negative:

                  You mustn´t leave (meaning obligation, you can´t go)

                  You don´t have to leave (no obligation, you can go or stay, as you like)

                  HAVE TO is not a modal verb, but it is mentioned here because it often has the same meaning
                  as MUST.

                  SHOULD, OUGHT TO


                  They have similar meanings. OUGHT TO always uses TO, SHOULD never uses TO:

                  Should we go?

                  Ought we to go?

                  You shouldn´t make a noise in here

                  You oughtn´t to make a noise in here


                  SHOULD, OUGHT TO, MUST, HAVE TO

                      1.  Advise or recommendation: SHOULD and OUGHT TO have similar meanings
                             a.  You should tell your father about this problem
                             b.  You ought to tell your father about this problem
                      2.  Indicating a probable future event: SHOULD and OUGHT TO have similar meanings:
                             a.  They should be here soon
                             b.  They ought to be here soon
                      3.  In reported speech, SHOULD is used instead of SHALL
                             a.  I asked if I should open the door
                      4.  MUST  and  HAVE  TO  have  similar meanings  in  the positive,  but MUST  is  sometimes
                         used to show a position of authority
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