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5. So, too, the pilot of the biggest merchantman, grasping the steering oar by its handle, which the Greeks call ὄιαξ, and with one hand bringing it to the turning point, according to the rules of his art, by pressure about a centre, can turn the ship, although she may be laden with a very large or even enormous burden of merchandise and provisions. And when her sails are set only halfway up the mast, a ship cannot run quickly; but when the yard is hoisted to the top, she makes much quicker progress, because then the sails get the wind, not when they are too close to the heel of the mast, which represents the centre, but when they have moved farther away from it to the top.
Vitruvius: The Ten Books on Architecture. Vitruvius. Morris Hicky Morgan. Cambridge: Harvard University Press. London: Humphrey Milford. Oxford University Press. 1914.
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