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Geometry was never a strong suit for me in high school. In searching out an explanation for Watt's parallel motion, I understood the first part of the Watt's 1784 motion here:https://en.wikipedia.org/wiki/Parallel_motionBut apparently a much better system was developed in 1864. The moving diagram is excellent but the geometric explanation..https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkageHopefully, I can get my linkage working today.