Ciao Bill. In general, we use this shortened version when there are two infinitives. The first one gets shortened. Example: E' difficile poter fare una previsione (It's difficult to be able to make a prediction). It happens with "verbi servili" (dovere, potere, volere).
Other verbs can be shortened too, but when we use them in a poem, proverb or simply we want that our speech is more polished: "Esser sinceri oggi non è una cosa positiva" ("Being sincere is not a positive thing nowadays").
It happens with compound verbs too: "Non mi ricordavo di aver visto quel film" ("I didn't remember I had seen that film").