Dictionary form
does, will do (plain)
Verb dictionary form (食べる, 行く, する)
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The dictionary form is the plain, casual present: 食べる, "(I) eat, will eat"; 行く, "(I'll) go". It's the ます form without the politeness: 食べます ↔ 食べる.
Between friends and family, whole conversations run on plain forms: 明日何時に起きる? "what time are you getting up tomorrow?" Novels, diaries and news articles use them too.
Even in polite speech, the dictionary form is everywhere inside sentences: before nouns (読む本, "a book to read"), before 前に (寝る前に), and before のが好き (読むのが好き). Only the final verb carries the politeness.
To get it from the ます form: ichidan 食べます → 食べる; godan 飲みます → 飲む, 帰ります → 帰る; します → する; 来ます → 来る (くる).
Register: Casual between friends and family; standard in writing that isn't addressed to anyone.
Examples
明日、何時に起きる?
What time are you getting up tomorrow?
毎朝コーヒーを飲むよ。
I drink coffee every morning.
週末は家で勉強する。
I'm studying at home this weekend.
今日は早く帰るね。
I'm heading home early today.
田中さんも来る?
Is Tanaka coming too?