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Although the two components are often used interchangeably in common parlance, there is an important distinction between the goals and intentions.
This discrepancy lies in the fact that individuals with an intention to perform an action also foster the belief that it will be achieved, whereas the same person with a goal may not necessarily believe that the action is able to be performed in spite of having a strong desire to do so.
For example, if we say that Paul has the intention of going into graduate school next year, this implies that he believes that he will be able to accomplish the action.
Conversely, if we say that Paul has the goal of going into graduate school, he may not necessarily believe that he will be able to accomplish this.

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