In English, an -ED is added to words to change the tense of the verb.  Even though we always add the letters -ED to a word, we pronounce the -ED differently depending on the sounds that precede it.

If the word ends in a t or d sound; then pronounce the -ED as ID.

If the word ends in a voiceless sound t, k, f, th, p, s, ch, sh; then pronounce the -ED as an T sound.

If the word ends in a voiced sound: m, n, l, b, d, g, v, th, z, v, r or vowel; then pronounce the -ED as a D sound.

For example:

Melted is pronounced MELT-ID

Tapped is pronounced TAP-T

Cleaned is pronounced CLEAN-D

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