The past tense of take a long walk on a short pier is took a long walk on a short pier.
The third-person singular simple present indicative form of take a long walk on a short pier is takes a long walk on a short pier.
The present participle of take a long walk on a short pier is taking a long walk on a short pier.
The past participle of take a long walk on a short pier is taken a long walk on a short pier.