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Ensure that the floating rack will certainly fit the cleat exactly, hold the shelf up to the cleat and also do a dry fit one that does not involve glue or screws. Make any kind of changes to fit as necessary. When you are specific the fit is precise, use wood glue to the top of the cleat, and then fit the shelf over it. Safeguard the rack to the cleat using brads toenailed in from the top of the rack down right into the cleat.