Based on the beginning of Chapter 16, what was the primary purpose for Sai Baba taking a human form, and how did he approach teaching others?

Chapter 16 states that Sai Baba, hailed as the King of Yogis, took a physical body specifically "for the sake of helping others, to uplift the poor and lowly." His method of teaching was uniquely compassionate and insightful. The text mentions that He would don a "cloak of ignorance" in order to impart knowledge to the ignorant, meeting them at their own level. Furthermore, it is said that He gave sweet instruction and guidance without ever transgressing the proper boundaries of conduct, demonstrating a perfect balance of wisdom and decorum.