(CNN) -- Poetry, performance and prayer celebrated the voice of literary giant Maya Angelou at a memorial service held Saturday at Wake Forest University in Winston-Salem, North Carolina. "She taught us that we are each wonderfully made, intricately woven and put on this earth for a purpose," first lady Michelle Obama said during her tribute to the celebrated poet and actress. Angelou, 86, died at her Winston-Salem home on May 28. Angelou had been "frail" and suffering from heart problems, her literary agent said. Angelou taught American studies for years at Wake Forest. Obama did not meet Angelou until 2008, while on the campaign trail, but she said Angelou's poem 'Phenomenal Woman' had a profound impact on her life.
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Memorial service celebrates life and work of Maya Angelou
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Michelle Obama: "She celebrated black women's beauty like no one had ever dared to"
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Oprah Winfrey: "The loss I feel I cannot describe"
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Bill Clinton: "God loaned her his voice"
"She also graced us with an anthem for all women, a call to all of us to embrace our @placeholder-given beauty.