There were no grounds providing reasonable and articulable suspicion for extending a vehicle stop once the original purpose of the stop (suspicion that the driver was operating the vehicle without a license) had been addressed. After the officer verified that the driver had a valid license, she extended the stop by asking whether there was anything illegal in the vehicle, and the defendant gave consent to search the vehicle. The encounter did not become consensual after the officer verified that the driver was licensed. Although such an encounter could have become consensual if the officer had returned the driver’s license and registration, here there was no evidence that the driver’s documentation was returned. Because the extended detention was unconstitutional, the driver’s consent was ineffective to justify the search of the vehicle and the weapon and drugs found were fruits of the poisonous tree.