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We derive the elastic properties of a cylindrical cloak for in-plane coupled shear and pressure waves. The cloak is characterized by a rank 4 elasticity tensor with spatially varying entries, which are deduced from a geometric transform. Remarkably, the Navier equations retain their form under this transform, which is generally untrue [G. W. Milton etal, N. J. Phys. 8, 248 (2006)]. The validity of our approach is confirmed by comparison of the analytic Green’s function in homogeneous isotropic elastic space against full-wave finite element computations in a heterogeneous anisotropic elastic region surrounded by perfectly matched layers.