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A capstan is a vertical-axled rotating machine developed for use on sailing ships to apply force to ropes, cables, and hawsers. The principle is similar to that of the windlass, which has a horizontal axle.
Below the capstan shown above is the anchor windlass. In its earliest form, the capstan consisted of a timber mounted vertically through a vessel's structure which was free to rotate. Levers, known as bars, were inserted through holes at the top of the timber and used to turn the capstan.