We describe the measurement of the beam profiles and window functions for the Atacama Cosmology Telescope (ACT), which operated from 2007 to 2010 with kilo-pixel bolometer arrays centered at 148, 218, and 277 GHz. Maps of Saturn are used to measure the beam shape in each array and for each season of observations. Radial profiles are transformed to Fourier space in a way that preserves the spatial correlations in the beam uncertainty, to derive window functions relevant for angular power spectrum analysis. Several corrections are applied to the resulting beam transforms, including an empirical correction measured from the final CMB survey maps to account for the effects of mild pointing variation and alignment errors. Observations of Uranus made regularly throughout each observing season are used to measure the effects of atmospheric opacity and to monitor deviations in telescope focus over the season. Using the WMAP-based calibration of the ACT maps to the CMB blackbody, we obtain precise measurements of the brightness temperatures of the Uranus and Saturn disks at effective frequencies of 149 and 219 GHz. For Uranus we obtain thermodynamic brightness temperatures T_U^{149} = 106.7 pm 2.2 K and T_U^{219} = 100.1 pm 3.1 K. For Saturn, we model the effects of the ring opacity and emission using a simple model and obtain resulting (unobscured) disk temperatures of T_S^{149} = 137.3 pm 3.2 K and T_S^{219} = 137.3 pm 4.7 K.
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