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0.1. The mood
The mood is the inflection which means the speaker's feelings. English has three moods, see the following.

a. the indicative mood
b. the subjunctive mood
c. the imperative mood

The indicative mood is used for the event which the speaker utters as it is, the subjunctive mood is used for the uncertain or unreal event, and the imperative mood is used for the direction and the request.

Now, the modal auxiliary is the auxiliary verb which also means the speaker's feelings. (*1)

*1 The meanings of the modality are similar to the mood. Especially it pays attention to the speaker's feelings, therefore, the modal auxiliary is also the auxiliary verb which expresses the modality.

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