My name is Bob, and I am a cow.
My grandfather was a knight, and his name was Sir Loin.
Sir Loin
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Explanation
Explain Bear
Listen up, buttercup. The joke is all about "Sir Loin" sounding like "Sirloin," which is a cut of beef. Since the narrator is a cow, the joke hints that his grandpa was turned into steak. It's a bit dark, innit?