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Suppose that you have a piece of workshop equipment—an oven, say—weigh‐ing several tons, that needs to be moved across a rough concrete floor. Just to make things more difficult, the headroom is only a few inches more than the height of the equipment, and there is no room for a hoist, a crane, or any other large moving gear. The floor is too rough to roll the oven on any form of wheels, and sliding it is out of the question.

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