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ad-lib
['æ'dɫɪb]
his ad-lib comments showed poor judgment
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extemporaneous
an extemporaneous piano recital
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extemporary
an extemporary lecture
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extempore
an extempore skit
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impromptu
[ˌɪ'mprɑmptu]
an impromptu speech
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off-the-cuff
an off-the-cuff toast
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offhand
['ɔ'fhænd]
offhand excuses
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offhanded
trying to sound offhanded and reassuring
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unrehearsed
[əˌnriˌhɝst]
a few unrehearsed comments