Here's one method. It's how I add in my head:
9.73 + 21.6
= 9 + 0.73 + 21 + 0.60 (separate the decimals from the whole numbers)
= 9 + 21 + 0.73 + 0.60 (group the whole numbers and the decimals)
= 30 + 0.73 + 0.60 (add the whole numbers)
= 30 + 1.33 (add the decimals)
= 31.33 (add the decimal to the whole number)