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A universal joint, universal coupling, U-joint, Cardan joint, Hardy-Spicer joint, or Hooke's joint is a joint or coupling in a rigid rod that allows the rod to 'bend' in any direction, and is commonly used in shafts that transmit rotary motion.
In the Industrial Revolution, James Watt contributed to the development of the flywheel in the steam engine, and his contemporary James Pickard used a flywheel combined with a crank to transform reciprocating into rotary motion.
Invented by Felix Wankel, the Wankel engine differed from a piston engine because the quasi-oval design of the combustion chamber, containing a rotor that ascribed within the chamber an Epitrochoid shaped trajectory, enabling the combustion pressure to be converted directly into a rotary motion.