Scheme of the Roman <a href="https://en.wikipedia.org/wiki/Hierapolis_sawmill" class="extiw" title="w:Hierapolis sawmill">Hierapolis stone sawmill</a>. The 3rd century AD watermill is the first known machine to incorporate a crankshaft and connecting rod.
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Tullia Ritti, Klaus Grewe, Paul Kessener: "A Relief of a Water-powered Stone Saw Mill on a Sarcophagus at Hierapolis and its Implications", <i>Journal of Roman Archaeology</i>, Vol. 20 (2007), pp. 138–163 (148, fig. 10)