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imprudent
impudence
impudent
impugn

improvise  (improvises 3rd person present) (improvising present participle) (improvised past tense & past participle )
1  verb If you improvise, you make or do something using whatever you have or without having planned it in advance. 
You need a wok with a steaming rack for this; if you don't have one, improvise...  V 
♦  improvisation  (improvisations plural) n-var 
Funds were not abundant and clever improvisation was necessary.  
2  verb When performers improvise, they invent music or words as they play, sing, or speak. 
I asked her what the piece was and she said, `Oh, I'm just improvising'...  V 
♦  improvisation  (improvisations plural) n-var 
...an improvisation on `Jingle Bells'.