"The boy fed the dog."
Translation:La knabo manĝigis la hundon.
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It would also cover that eventuality — if the boy were force-feeding the dog, you could still use "manĝigi" to describe it, but you'd probably say "perforte manĝigis la hundon" to make it clear.
'-ig-' can mean "cause to happen" or "help to happen" or "play some role in making it happen".