Eru did not take physical form in the sense that he was never viewable our touchable by the peoples of Middle Earth. Although it can (probably) be assumed that the Ainur saw him in some raiment, it is doubtful that this was his "true form," and it is also doubtful that he would every reveal any form to the peoples of Ea. Professor Tolkien specifically said that Eru would never take any sort of physical embodiment in Middle Earth, nor would he enter into Ea at all.
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...where the instrument of intelligence is added to brute power and evil will, mankind is powerless in its own defence.
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