will take off/ is taking off/ took off
His hat is on the table. – He will take his hat off the table
He is talking it off the table – He took if off the table
will put/ is putting
He will put his hat on his head – He is putting his hat on his head
He put his hat on his head. He put it on. – It was on the table. It is on his head.
He will take his hat off his head- He is taking his hat off his head
His hat is in his hand. It was on his head – He took his hat off