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Infinitive to has an obligation/mandatory kind of sense.

Present participle simply describe on-going action.

The present participle is the -ing form of a verb.

It is used in continuous/progressive tenses.

eg

present continuous = am/is/are + verb +ing = He is waiting, they are watching

past continuous = was/were +verb + ing = She was walking, they were sleeping

present perfect continuous = have/has been + verb + ing = I have been waiting, she has been shopping.

past perfect continuous = had been + verb + ing = They had been fishing, He had been sleeping

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