Yes
The rule to check if a triplet of numbers can represent the sides of a triangle is the following: the sum of the length of two sides must exceed the third one.
This happens for all possible couples in your case:
[tex] 2+9=11>10 [/tex]
[tex] 2+10=12>9 [/tex]
[tex] 9+10=19>2 [/tex]
