Absolutely! The past tense of 'sip' is 'sipped'. When we're talking about English verb tenses, it's like we're on a journey through time. In the present, you 'sip' your coffee. But if we hop in our time machine and go backwards, you 'sipped' your coffee yesterday. Most English verbs take an '-ed' at the end to indicate the past tense - so 'sip' gets an extra p and becomes 'sipped'. It's like the verb put on a costume from yesterday for a little historical reenactment! Now, isn't that an easy trip through time?
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