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She took the book from the shelf.

To have taken possession of something or to have received something.
He took my pen by mistake.
She took a cookie from the jar.
I took the package to the post office.
took possession
took a chance
took a break
received
accepted
grabbed
She took the book from the shelf.

To have removed something from a place.
He took the keys from the table.
She took the ball and ran.
I took the letter from the mail.
took a break
took a chance
took a look
grabbed
seized
snatched