Figure 21 from <a href="https://en.wikisource.org/wiki/The_Kinematics_of_Machinery" class="extiw" title="s:The Kinematics of Machinery">The Kinematics of Machinery</a>.
<bdi><a href="https://en.wikipedia.org/wiki/en:Franz_Reuleaux" class="extiw" title="w:en:Franz Reuleaux"><span title="German mechanical engineer">Franz Reuleaux</span></a>
</bdi>
1876
Internet Archive: <a rel="nofollow" class="external free" href="https://archive.org/details/kinematicsofmach00reuluoft">https://archive.org/details/kinematicsofmach00reuluoft</a>