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Make certain that the floating rack will fit the cleat exactly, hold the rack up to the cleat and do a completely dry fit one that does not entail glue or screws. Make any kind of changes to fit as needed. When you are certain the fit is accurate, use wood glue to the top of the cleat, and also then fit the shelf over it. Protect the rack to the cleat making use of brads toenailed in from the top of the shelf down into the cleat.