Antiquity

Simple machines, such as club and oar (examples of the lever), are prehistoric. More complex engines using human power, animal power, water power, wind power and even steam power date back to antiquity. Human power was focused by the use of simple engines, such as the capstan, windlass or treadmill, and with ropes, pulleys, and block and tackle arrangements, this power was transmitted and multiplied. These were used in cranes and aboard ships in Ancient Greece, and in mines, water pumps and siege engines in Ancient Rome. The writers of those times, including Vitruvius, Frontinus and Pliny the Elder, treat these engines as commonplace, so their invention may be far more ancient. By the 1st century AD, various breeds of cattle and horses were used in mills, using machines similar to those powered by humans in earlier times.

According to Strabo, a water powered mill was built in Kaberia in the kingdom of Mithridates in the 1st century BC. Use of water wheels in mills spread throughout the Roman Empire over the next few centuries. Some were quite complex, with aqueducts, dams, and sluices to maintain and channel the water, and systems of gears, or toothed-wheels made of wood with metal, used to regulate the speed of rotation. In a poem by Ausonius in the 4th century, he mentions a stone-cutting saw powered by water. Hero of Alexandria demonstrated both wind and steam powered machines in the 1st century, although it is not known if these were put to any use.