Answer:
In my opinion, yes
Step-by-step explanation:
Warming up can allow your muscles to let loose and kind of relax a bit to get your body ready for a full on exercise. I think it is like the brain getting ready to understand that your about to go all out for a bit with working out.
If you immediately start exercising without a warm up, your body doesn't have time to process what is happening and it might put more strain on your body. you could also probably pull a muscle.