The Ten Books on Architecture, 10.1.4

Vitruvius  translated by Joseph Gwilt

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4The laws of mechanics are founded on those of nature, and are illustrated by studying the master-movements of the universe itself. For if we consider the sun, moon and the five planets, we shall perceive, that if they were not duly poised in their orbits, we should neither have light on the earth, nor heat to mature its fruits. Our ancestors reasoned so on these motions, that they adopted nature as their model; and, led to an imitation of the divine institutions, invented machines necessary for the purposes of life. That these might be suitable to their different purposes, some were constructed with wheels, and were called machines; others were denominated organs. Those which were found most useful were gradually improved, by repeated experiments, by art, and by the laws which they instituted.

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