What is the function of the basal nuclei in normal motor control?

A)They provide a perceptual awareness related to specific sensory inputs from the eyes,nose,and mouth.
B)They provide a general perceptual awareness associated with somatosensory inputs from the skin,muscles,and joints.
C)They provide a sense of the cause-and-effect relationships between muscle actions and the consequences of taking these actions before executing them.
D)They participate in a looping neuronal circuit through which motor impulses are sent to facilitate or suppress movements.
E)They form an initial intention to move,such as when you decide to pick up an object.