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In page Atkinson cycle:
"The first implementation of the Atkinson cycle was in 1882; unlike later versions, it was arranged as an opposed piston engine, the Atkinson differential engine.[1][2] In this, a single crankshaft was connected to two opposed pistons through a toggle-jointed linkage that had a nonlinearity; for half a revolution, one piston remained almost stationary while the other approached it and returned, and then for the next half revolution, the second-mentioned piston was almost stationary while the first approached and returned.
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