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SAN FRANCISCO — For Rick Heitzmann, a venture capitalist at FirstMark Capital, the moment is now.

Two companies that FirstMark invested in years ago, Pinterest and Postmates, have filed paperwork to go public. Pinterest unveiled an offering prospectus on Friday. A third company, Airbnb, is expected to do the same within the next year. All are likely to be embraced by Wall Street, generating huge profits for FirstMark.