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With all forms of imperative, you start with the 3rd person singular imperfect tense, change the final vowel to sukuun, and remove the prefix. There are a few exceptions with form 1, which are below.

Rule 1 - weak verb in the beginning:
~ وجد changes to جدْ after doing the above steps
Rule 2 - weak verb in the middle:
~ قال changes to قلْ
*for انتم، انتما، and انتِ, you bring the present tense vowel back.
Rule 3 - weak verb in the end:
~ رَمَى changes to اِرْمِ
*you do not bring the vowel in the end in some cases, such as with انتَ
Rule 4 - healthy verbs:
~ فكّر changes to فكّرْ
*you can't start with sukuun, so if the first root has a sukuun you must add hamza.
Rule 5 - verbs that begin with hamza:
~ أخذ changes to خُذ

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~ start with the 3rd person singular imperfect tense for هو, change the final vowel to sukuun, and remove the prefix. If the first consonant of the verb has a sukuun, it will require a helping verb. If the verb has hamza, the imperative will as well.

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Form 1 : inductive verb :
From 1 rule 2

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~ to negate the imperative, you follow the above steps to form the imperative, and when you have the imperative, you add لا to negate and ت at the beginning as the prefix to the verb. In cases where hamza is present, you remove it before proceeding to add the prefix and لا.
- Negation example - وقع becomes لا تقْع

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Weak verb in the beginning:
-conjugate for 3rd person present for هو, remove the يـ , and add ـْ to the final letter
(ex: وقف -> يقف -> قفْ for انتَ)

Weak verb in the middle:
- conjugate for 3rd person present for هو, remove the يـ , and add ـْ to the final letter
-bring back the present tense vowel into the conjugation for انتِ و انتما و انتم
(ex: ْزار -> يزور -> زوري for انتِ)

Weak verb in the end:
-conjugate for 3rd person present for هو, remove the يـ , and add ـْ to the final letter
-bring back the present tense vowel in the end for everything except انتَ and where the vowel may conflict (يـ and و in انتم)

Verbs that begin with hamza:
-conjugate for 3rd person present for هو, remove the يأ , and add ـْ to the final letter
(ex: أكل -> يأكل -> كلْ for هو)

Verbs that are healthy:
-conjugate for 3rd person present for هو, remove the يـ , and add ـْ to the final letter
-if the first root has ـْ , add hamza to the beginning depending with ـِ or ـُ based on what short vowel the second root has (damma with damma, kasra/fatha with kasra)
(ex: فَهِمَ -> يفْهِمُ -> اِفْهمْ)

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In general there are a few rules:
-conjugate the verb for 3rd person singular for هو, remove the يـ in the beginning, add ـْ to the final root
-if the first root has ـْ , add hamza to the beginning depending with ـِ or ـُ based on what short vowel the second root has (damma with damma, kasra/fatha with kasra)
-if the verb form has a hamza in it, the imperative will also have a hamza in it, following the rule about the short vowel

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-add لا تـ to the beginning of the word that has already been conjugated for the imperative
-if there is a hamza in the beginning, remove the hamza before adding لا تـ.

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To conjugate for the imperative, always begin with the 3rd-person singular present tense. Then, change the final short vowel to  ـْ and remove the prefix,   يـ.  Proceed with the following rules based on the verb's structure:

Weak Verb: Vowel as First Letter
Only the rules from above, no extra steps necessary (e.g. -->
1) َوَصَل
2) ُيَصل
3 ْصَل   )

Weak Verb: Vowel as Second Letter
Same rules from above, but for  انتم، انتما، and انتِ bring back the present tense vowel (e.g. -->
1) نام
2) ينام
3) (نامي (أنتِ )

Weak Verb: Vowel as Third Letter
Same rules from above, but bring back the present tense vowel for everything except انتَ or other special cases (e.g. -->
1) رمى
2) يرمي
3) ِارِْم )

Verbs with أ in the Beginning
Same rules from above, but remove يأ when removing the prefix (e.g. -->
1) أخذ
2) يأخذ
3) ْخذ )

Healthy Verbs
Same rules as above, but if the first root has sukuun, add hamza to he beginning.

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Similar rules to Form 1, the verb must be 1) conjugated for 3rd person singular present tense 2) remove the prefix and 3) add sukuun to the final root. If the first consonant has sukuun, it will need hamza as a helping root.

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Simply add   لا تـ in front of a verb conjugated in the imperative (using the above rules depending on the form). If there is a hamza, remove it before adding the prefix.