How to display a custom message in GRUB menu ?

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Issue

Is there a way to display custom messages in GRUB menu ?

Example:

Red Hat Enterprise Linux 6.x
   Choose this boot option to run application 1, 2, and 3.

Red Hat Enterprise Linux 5.x
   Choose this boot option to run application 4, 5, and 6.

Environment

Red Hat Enterprise Linux 4, 5, 6
GRUB

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