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By using translate with the <animateTransform> element, you can cause an object to animate along a straight-line path. The <animateMotion> element lets you do this as well; additionally, it allows you to animate an object along an arbitrary path.
If you insist on using <animateMotion> for straight-line motion, you simply set the from and to attributes, assigning them each a pair of (x, y) coordinates. Example 11-13 moves a grouped circle and rectangle from (0,0) to (60,30).