Hypothetical imperative: in Kantian ethics, an imperative that depends on you and the situation – for example, if you want to drive a car, take lessons
Moral relativism: the idea that ethical or moral statements do not reflect universal objective truths but make claims relative to social, historical, cultural, etc
Universalisability: the idea that you should want the maxims followed to apply to everyone at all times (1st formulation of Kant's categorical imperative)
too rigid - leads to immoral acts, axe murderer critique
Nagel: UT = agent-neutral as remove self from mathematical equation. Ke can be more personal - obj morality but duties not fixed: apply reasoning to develop over time + personal commitments to duty