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An auxiliary view is an orthographic view that is projected into any plane other than one of the six principal views.
[1] These views are typically used when an object contains some sort of inclined plane. Using the auxiliary view allows for that inclined plane (and any other significant features) to be projected in their true size and shape. The true size and shape of any feature in an engineering drawing can only be known when the Line of Sight (LOS) is perpendicular to the plane being referenced.