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Aristotle

"Nicomachean Ethics"

g. if he were to be carried somewhere by a wind, or by men who had
him in their power.
But with regard to the things that are done from fear of greater
evils or for some noble object (e.g. if a tyrant were to order one
to do something base, having one's parents and children in his
power, and if one did the action they were to be saved, but
otherwise would be put to death), it may be debated whether such
actions are involuntary or voluntary. Something of the sort happens
also with regard to the throwing of goods overboard in a storm; for in
the abstract no one throws goods away voluntarily, but on condition of
its securing the safety of himself and his crew any sensible man
does so. Such actions, then, are mixed, but are more like voluntary
actions; for they are worthy of choice at the time when they are done,
and the end of an action is relative to the occasion. Both the
terms, then, 'voluntary' and 'involuntary', must be used with
reference to the moment of action. Now the man acts voluntarily; for
the principle that moves the instrumental parts of the body in such
actions is in him, and the things of which the moving principle is
in a man himself are in his power to do or not to do. Such actions,
therefore, are voluntary, but in the abstract perhaps involuntary; for
no one would choose any such act in itself.


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