The Ten Books on Architecture, 10.3.1

Vitruvius  translated by Joseph Gwilt

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Of the Principles of Mechanics

3I have briefly explained the principles of machines of draught, in which, as the powers and nature of the motion are different, so they generate two effects, one direct, which the Greeks call εὐθεῖα, the other circular, which they call κυκλωτὴ; but it must be confessed, that rectilinear without circular motion, and, on the other hand, circular without rectilinear motion can neither without the other be of much assistance in raising weights.

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