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Modals expressing past ability

I could swim when I was 5. 
I was able to swim when I was 5.

This means that I knew how to swim and I did. But the past ability to perform a particular actionA general term expressing that somebody or something does something is expressed by was/were able to, which means managed to do something, succeeded in something/doing something on one occasion.

I was able to swim to the other bank.

In this sentence could is not possible. However, this rule is relaxed in the negativeA declarative sentence indicating "no". E.g.: Tim has no friends. and with verbA part of speech that expresses an action or a state. E.g.: John seldom plays tennis.s of the senses:

I read it but I couldn't / wasn't able to understand it.
I could/was able to see him through the window.
I couldn't walk / wasn't able to walk any further.

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