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Using the comma rules in non-finite complex sentences

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I can use a comma to demarcate a main clause from a non-finite clause in a non-finite complex sentence.

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A non-finite clause joined to a main clause forms a non-finite complex sentence. The non-finite clause denotes ongoing action that relates to the subject of the main clause. The action of the non-finite clause occurs simultaneously to the action of the main clause. The non-finite clause can come first in the complex sentence followed by the main clause or vice versa. A comma is always used to demarcate the non-finite clause from the main clause despite its position in the sentence.

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