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Imagine a plane in space (like your workbench tabletop) and rotate the camshaft about its center axis such that the cam lobes become tangent with or "just barely touch" that plane. Each time the lobe is tangent it is opening a valve. The order in which those valves open is the order in which the cylinders fire.

This is true whether you're looking at an intake cam or an exhaust cam. The cylinders all fire in the same order that they're filled with intake charge; they also fire in the same order that they are evacuated of their exhaust gasses.

If you have a single cam that controls both intake and exhaust valves, this method requires that you know which lobes open the intake valves and which open the exhaust valves, and only pay attention to one set.

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