How to Draw a Straight Line1,

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    VI I NOW come to the second of the parallel motions I said I would show you. If I take a kite and pivot the blunt end to the fixed base and make the sharp end move up and down in a straight line, passing through the fixed pivot, the short links will rotate about the fixed pivot with equal velocities in opposite directions; and, conversely, if the links rotate with equal velocity in opposite directions, the path of the sharp end will be a straight line, and the same will hold good if instead of the short links being pivoted to the same point they are pivoted to different ones.

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    How to Draw a Straight Line1,. Nature 16, 145–146 (1877) doi:10.1038/016145a0

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