Nou ka aplé machin senp roun dispozitif mékanik élémantèr ka pèrmèt di transfòrmé oun fòs di modil é di dirèksyon détèrminé an roun fòs don modil-a é/oben dirèksyon-an sa diféran.
Soulon Ansyen-yan, i gen senk machin y senp : lévyé, poulie, kwen, trèy kè vis san fen.
O Liv II di so Mékanik-ya, Héron d'Alexandrie té étidjé yé chak.
Jénéralman, machin senp sa klasé an lwit tip :
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