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Aristotle

"Nicomachean Ethics"

Further, the doing of an act that is called
involuntary in virtue of ignorance of this sort must be painful and
involve repentance.
Since that which is done under compulsion or by reason of
ignorance is involuntary, the voluntary would seem to be that of which
the moving principle is in the agent himself, he being aware of the
particular circumstances of the action. Presumably acts done by reason
of anger or appetite are not rightly called involuntary. For in the
first place, on that showing none of the other animals will act
voluntarily, nor will children; and secondly, is it meant that we do
not do voluntarily any of the acts that are due to appetite or
anger, or that we do the noble acts voluntarily and the base acts
involuntarily? Is not this absurd, when one and the same thing is
the cause? But it would surely be odd to describe as involuntary the
things one ought to desire; and we ought both to be angry at certain
things and to have an appetite for certain things, e.g. for health and
for learning. Also what is involuntary is thought to be painful, but
what is in accordance with appetite is thought to be pleasant.
Again, what is the difference in respect of involuntariness between
errors committed upon calculation and those committed in anger? Both
are to be avoided, but the irrational passions are thought not less
human than reason is, and therefore also the actions which proceed
from anger or appetite are the man's actions.


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