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Drive or drives?

1. Dr.Grimesby Roylott drives past my house
2. At dusk we saw Dr.Grimesby Roylott drive past.

What grammatical rule commands the conjugation of the ' drive ' in the second sentence? Is it feasible to be ' drives past ' as well?

Thanks a lot.

For learning: English
Base language: English
Category: Language

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    Best Answer - Chosen by the Asker
    Action verbs that follow sensory verbs like "see", "watch" or "hear" are usually in the infinitive or the progressive form. For example:
    - I watched him do a somersault.
    - I hear someone calling out my name.
    - I will see him perform later on tonight.

    The progressive form is mostly used when the action verb is in the present tense because it is still happening.

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