boiler heats water to make steam.
steam has a greater volume than water, so it tries to expand.
This expansion pushes into a piston and forces it up. when the piston is full, it is disconnected from the boiler and connected to a colder cylinder which forces it to condense, which decreases its volume, forcing the piston to contract.
This makes linear motion, use an offset pin on the wheel to make linear motion into rotation, then that pushes on the tracks to go back to linear
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