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In very crude terms, rotary motion is round & round, reciprocating motion is back & forth.

A piston engine has both kinds of motion. The crankshaft displays rotary motion, the pistons display reciprocating motion. The camshaft displays rotary motion, the valves display reciprocating motion. Out on the suspension, the wheels display rotary motion and the shock absorbers display reciprocating motion. (One might say the shocks don't display "true" reciprocating motion because they're not CONSTANTLY in motion, but that one drives on better roads than they have here!)

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