The wheel may even have been the first locomotor device ever evolved, given that for most of its first 2 billion ears, life consisted of nothing but bacteria. Rhizobium for example swims using thread like spiral propellers which is attached to a shaft that rotates freely ad indefinitely in a hole that runs through the cell wall. This is a true axle, a freely rotating hub and is driven by a tiny moelecular moter which uses the same biophysical principles as a muscle.
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