What is the difference between emporter and prendre?

Emporter means to take and carry away a thing (this is 'emmener' for a person) with you. Ex: Il est parti et a emporté toutes ses affaires : he left and he has taken away all his things.

Prendre means to take. Ex: You can take a drink (meaning to have a drink), without taking it away = vous pouvez prendre un verre, sans l'emporter. Can you take this book off the shelf?: peux-tu prendre ce livre sur l'étagère?