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Make sure that the floating rack will fit the cleat precisely, hold the shelf up to the cleat as well as do a completely dry fit one that doesn't entail glue or screws. Make any kind of changes to fit as necessary. When you are specific the fit is precise, use wood adhesive to the top of the cleat, and afterwards fit the shelf over it. Safeguard the rack to the cleat using brads toenailed in from the top of the shelf down right into the cleat.