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Indicative

Present

I undertake
you undertake
she undertakes
we undertake
they undertake

Present perfect

I have undertaken
you have undertaken
she has undertaken
we have undertaken
they have undertaken

Preterit

I undertook
you undertook
she undertook
we undertook
they undertook

Past perfect

I had undertaken
you had undertaken
she had undertaken
we had undertaken
they had undertaken

Future

I will undertake
you will undertake
she will undertake
we will undertake
they will undertake

Future perfect

I will have undertaken
you will have undertaken
she will has undertaken
we will have undertaken
they will have undertaken

Subjunctive

Present

I undertake
you undertake
she undertake
we undertake
they undertake

Present perfect

I have undertaken
you have undertaken
she have undertaken
we have undertaken
they have undertaken

Preterit

I undertook
you undertook
she undertook
we undertook
they undertook

Present perfect

I had undertaken
you had undertaken
she had undertaken
we had undertaken
they had undertaken

Conditional

Present

I would undertake
you would undertake
she would undertake
we would undertake
they would undertake

Perfect

I would have undertaken
you would have undertaken
she would have undertaken
we would have undertaken
they would have undertaken

Imperative

Present

undertake!
let's undertake!

Participle

Present participle (Gerund)

undertaking

Past participle

undertaken