Yes. But it is not a rhyming poem. It is closer to free
verse.
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Maya Angelou's first poem was titled "On the Pulse of Morning" and she recited it at the inauguration of President Bill Clinton in 1993. The poem highlighted themes of unity, hope, and the power of change.
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The poem can be found here:
http://www.progressiveu.org/203628-dont-drink-drive-poem