Steam locomotives were sometimes articulated in that the driving wheels could pivot around turns.
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One of the first examples of articulated railway carriages were used by London and North Eastern Railways in Great Britain on their London Suburban Trains in the mid-1920s ; these trains (rolling stock) were designed by Sir Nigel Gresley and built at the LNER's Doncaster Works.
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Axel Kilian, Mitchell Joachim, Patrik Künzler, Peter Schmidt, "Development of an Articulated Vehicle Chassis the H-type," Game Set and Match II, Kas Oosterhuis & Lukas Feireiss(ed.), Episode, NL, 2006.