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Simply put, common internal combustion engines convert the stored energy in gasoline or other substances into kinetic (motion) energy. It does this by burning a gasoline/air mixture in a chamber called a cylinder. When the mixture is burnt it expands and releases heat energy. The expansion of the air in the cylinder causes a piston in the cylinder to move downward. The piston is connected to an object in the middle of the engine called a crankshaft. The up and down motion of the piston causes the crankshaft to spin. To make this simpler, I will eliminate the complication of the transmission and just say that the crankshaft is connected to another shaft that extends to the rear of the car. This is called the driveshaft. The spinning driveshaft is connected to a gearbox at the rear of the car called a differental. Think of the driveshaft as the tall, long part of the letter T. lets imagine that it is connected to the top of the letter T by a gearbox called a differental. As the long tall part of the letter T spins it causes the top part of the T to spin because of this gearbox. So in real life the tall part of the letter T is called a driveshaft, and the spinning driveshaft causes the rear axle ( the top part) to spin also. Now, since the rear axle is connected to the rear tires, the tires spin as well and the car moves forward. This explanation goes for most rear wheel drive cars, but for a better explanation get some car books from your local library.

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