One toddler takes away the mouth piece of the other which makes him cry.
A baby is taking back his pacifier from the toddler that stole it.
Toddler and baby doesn't necessarily refer to the same age child.  There is no way of knowing who the pacifier belongs to and no way to infer that the baby is taking back his pacifier.
exists e1 e2 s1 x1 x2 x3 x4 x5 x6.(n_male(x2) & n_other(x4) & n_piece(x2) & of(x2,x3) & n_mouth(x3) & a_away(s1) & Manner(e2,s1) & Theme(e2,x2) & Actor(e2,x1) & v_take(e2) & Recipient(e1,x2) & Theme(e1,x6) & Actor(e1,x5) & v_make(e1) & n_cry(x6) & (x2 = x5) & of(x2,x4) & n_toddler(x1) & card_eq_1(x1))
exists e1 e2 s1 x1 x2 x3 x4.(n_toddler(x3) & a_back(s1) & Manner(e2,s1) & Theme(e2,x2) & Actor(e2,x1) & v_take(e2) & from(x2,x3) & Theme(e1,x1) & Actor(e1,x4) & v_steal(e1) & n_thing(x1) & (x3 = x4) & n_pacifier(x2) & of(x2,x1) & n_male(x1) & n_baby(x1))