Undertake is a synonym of Guarantee. Grant is etymologically related to Guarantee. Grant is a type of Right. Right is related to Writing. 
Object is related to Product. Product is a synonym of Child. 
Undertake <--Synonym--> Guarantee <--EtymologicallyRelatedTo-- Grant --IsA--> Right <--RelatedTo--> Writing 
Object <--RelatedTo--> Product <--Synonym--> Child 