INFINITIVE FORM - Infinitive form of a verb always comes following an auxilary verb such as Can, Like, and so forth. Infinitive form always starts with a "Lamed" and the 2nd letter is not a Vav.
If there are 5 letters: | if the 5th letter is anything but a TAV - than the 2nd, 3rd, and 5th are the root letters. |  | If the 5th letter is a TAV - than the 2nd, 3rd, and a HAY are the root letters. |  |
| If there are only 4 letters: | - than the 2nd, 3rd, and 4th are the root letters. (if "Lamed" is voweled with a ":" => Piel) | 
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