ad lib
US /ˌæd ˈlɪb/
UK /ˌæd ˈlɪb/

1.
speak or perform in public without previously preparing one's words
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The comedian had to ad lib when his script was lost.
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She's good at ad-libbing during interviews.
1.
a remark or gesture made without previous preparation
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His witty ad lib got a huge laugh from the audience.
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The director allowed the actors to add some ad libs to the dialogue.
1.
without previous preparation
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He spoke ad lib, surprising everyone with his impromptu speech.
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The musicians played some parts ad lib during the jazz performance.