^ Stephen Fry says just that in his excellent The Ode Less Travelled - I paraphrase from memory, but he recommends both reading poems out loud, and savouring them - that is, not running through a poetry volume page after page, like a novel, but taking time to appreciate a single poem. Reading them aloud helps bring the rhythms and feel to life. (eta: I'll check tonight, but I feel certain that, among all the working examples Fry provides, there are exercises in free verse. One thing I like very much about this book is that Fry doesn't hold any one form above or below another - form, free, or otherwise - but looks at them all as enjoyable and very worth understanding and pursuing.)
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While free verse is not bound by fixed, conventional forms, I think it must involve rhythm, meter, and other devices (assonance, rhyme, alliteration, and all) -- just in a freer sense. So, for example, it may not follow a strict tempo or beat, but it would still use these devices to enhance the literal meaning - to create atmosphere, stir emotion, help illustrate the scene.
If form, meter and rhyme count for nothing at all in free verse, then I would ask: how exactly is free verse different from prose? Surely, it is. And not just because the author's say-so confers poem-ness.
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Poetry seems to be one of a very few art forms (perhaps the only one) where so many people would rather be told how, and just do it, than experience it and take cues from what's already out there. How can we know if that's what we want to write, if we haven't read any of it? [And I certainly don't mean to suggest that you haven't read any!]
Any musician, no matter the genre, would listen to a LOT of music, and not just in their chosen genre. Chances are they've even learned their craft by studying and playing music in forms they have no interested in playing. But, for some reason, many poets want to reject forms as restrictions, rather than understand them as useful tools, before they've even started.
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Off the top of my head, a couple of recommendations - it may or may not be your style, but Richard Brautigan's In Watermelon Sugar. Or Lawrence Ferlinghetti's A Coney Island of the Mind. Maybe pick a couple, and look at what - to your own eye - makes any of these poems free verse, and not just words.
In fact, maybe it's time for a workshop thread, or even a Rate-A-Poem, on something like this.
A very good question to ask, and thank you. I think I need to be able to answer this for myself too.