Watt linkages and quadrilaterals

@article{Keady2004WattLA,
  title={Watt linkages and quadrilaterals},
  author={Grant Keady and Pj Scales and P. N{\'e}meth},
  journal={The Mathematical Gazette},
  year={2004},
  volume={88},
  pages={475 - 492}
}
We define a Watt quadrilateral to be a quadrilateral with a pair of opposite sides of equal length. See Figure 1. 2. Linkages The Watt linkage (Figure 2) has equal-length cranks AD and BC, A and B fixed, and coupler bar CD. It was devised by James Watt about 1784 to constrain the steam-engine piston rod, connected at E, the midpoint of CD, to approximate straight-line motion over a limited range. 
1 Citations
90.78 Watt quadrilaterals and the 2005 IMO

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