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* 100 BCE–70 BCE: The [[Antikythera mechanism]] has been dated to this period. It was discovered in 1902 on a shipwreck by [[Sponge diving|sponge divers]], and modern research suggests that it used a differential gear to determine the angle between the ecliptic positions of the Sun and Moon, and thus the phase of the Moon.<ref name="Wright-Reconsidered">{{cite journal |title=The Antikythera Mechanism Reconsidered |first=M. T. |last=Wright |journal=Interdisciplinary Science Reviews |date=2007 |volume=32 |number=1 |pages=27–43 |doi=10.1179/030801807X163670 |bibcode=2007ISRv...32...27W |s2cid=54663891 |url=http://fsoso.free.fr/antikythera/DOCS/TheAntikytheraMechanismReconsidered.pdf |access-date=20 May 2014 }}</ref>{{clarify|Please provide a quote to support that this mechanism is a predecessor to the modern differential devices|date=February 2023}}
* c. 250 CE: Chinese engineer [[Ma Jun (mechanical engineer)|Ma Jun]] creates the first well-documented [[south-pointing chariot]], a precursor to the compass. Its mechanism of action is unclear, though some 20th century engineers put forward the argument that it used a differential gear.<ref>{{cite journal |last=Needham |first=Joseph |author-link=Joseph Needham |date=1986 |journal=Science and Civilization in China |title=<!--We need the title of the article.--> |volume=4 Part 2 |pages=296–306 |location=Taipei |publisher=Caves Books }}{{Title missing|date=January 2023}}</ref>{{clarify|Please provide a quote to support that this mechanism is a predecessor to the modern differential devices|date=February 2023}}
* 1720: Joseph Williamson uses a differential gear in a clock.
* 1810: [[Rudolph Ackermann]] of Germany invents a four-wheel steering system for carriages, which some later writers mistakenly report as a differential.
* 1827: Modern automotive differential patented by watchmaker [[Onésiphore Pecqueur]] (1792–1852) of the ''[[Conservatoire National des Arts et Métiers]]'' in [[France]] for use on a [[steam wagon]].<ref>{{cite web|url=http://www.gmcanada.com/inm/gmcanada/english/about/OverviewHist/hist_auto.html |title=History of the Automobile |publisher=General Motors Canada |access-date=9 January 2011 }}</ref>
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