The poem set to music is called oratorio. A story set to music is called cantata.
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A poem set to music and sung is called a "song." Songs typically include both lyrics (the words of the poem) and music (the melody and accompaniment). The combination of the two creates a harmonious piece of art that is meant to be performed vocally.
a song in which this occurs is called "strophic."
There is a Latin version, and a German version. Latin version is the Catholic Hail Mary set to music, and the German version is a German poem set to music composed by Franz Schubert.
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Rule, Britannia! was a poem written by James Thomson and set to music by Thomas Arne.See the related link for further detail including lyrics.