"The man who cannot draw kicks the book."
Translation:그릴 줄 모르는 남자가 책을 차요.
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As for me "he doesn't know how to do" means that he has no knowledge to do it properly, whereas in the sentence "he cannot do this" it means the person has the knowledge but he's probably not able to do due to the lack of power, strength or even money...in this way, I understand it
(1) 모르는 adjective form of the verb 모르다, to do not know/to be unaware
(2) 그릴 수 없는 남자 = A man that does not have the ("수") capability (possibility) to draw
= A man who is not capable of drawing/unable to draw
(3) The expression used in the example:
~ㄹ/을 줄 모르는 = to do not have or lack the know-how (주, skill/competence)
그릴 줄 모르는 남자 = A man that lacks the know-how in drawing
= A man who cannot draw
(4) to draw vs to be drawn
to draw (active) = 그리다
to be drawn (passive) = 그려지다
A man that cannot be drawn = 그려질 수 없는 남자
[or perhaps (?)
아무도 그릴 수없는 사람 = "A man that no one can draw."]