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Australian manual of scientific style Start communicating effectively
Compound verbs can be formed in various ways (eg noun + verb, adjective + verb, verb + verb, adverb + verb).
Compound verbs often do not use a hyphen, unless they are a recent construction or the word would look confusing.
In general, set solid:
However, use a hyphen for less well-established terms (eg dog-sit) and words where the boundary between 2 parts of the word would otherwise be confusing (eg mass-produce). When in doubt, check your dictionary or style guide.