How can a body undergo a linear motion without any displacement? If displacement is a straight-line distance between the initial and final positions.
Displacement is the distance travelled from the initial to the final point.
If a car moves on a straight road and goes ahead 1km, then it reverses back 1 km, then it will only have had linear motion, with a distance covered of 2km. The displacement would be zero as the initial and the final points are the same.