Why did Sai Baba take a human form, and how did he teach, according to the start of Chapter 16?

Chapter 16 of the Sai Satcharitra praises Sai Baba as the King of Yogis who has taken a physical body for a specific purpose: "for the sake of helping others, to uplift the poor and lowly." This highlights his compassionate mission. The text further explains his teaching methodology, stating that He dons a "cloak of ignorance" in order to impart knowledge to the ignorant. This implies that He meets people at their own level, providing sweet instruction and guidance without transgressing the boundaries of proper conduct, making his wisdom accessible to all.