"모래를 먹는 아기가 참 기뻐요."
Translation:The baby eating sand is really happy.
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I may be wrong but I think in this case the sentence has a different meaning. "The baby eating sand" or "The baby who is eating sand" is a relative clause to indicate that specific baby, so "the baby eating sand is happy" means that that particular baby who is eating sand is happy. "The baby is really happy eating sand" indicates that the baby is happy "while eating sand" or "because he is eating sand", so it's a different clause.