语法上是错误的。简单来说,因为这是"疑问词+不定式"结构,在这个结构中疑问词是先于不定式的。正确的表述是"Did the teacher tell you where to go/ what to do this afternoon?"
这个结构是由宾语从句简化而来的,也就是由Did the teacher tell you where you should go?/ Did the teacher tell you what you should do ?简化而来。
而这两个复合句又其实是各自 由两个简单句变化而来。
Did the teacher tell you? Where should you go?Did the teacher tell you? what should you do?可以看出,疑问词必须位于不定式之前,本质上是因为特殊疑问句的疑问词是放在句首的。
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