Escapement of clocks, points to the late 13th century as the most likely date for the development of the modern clock escapement. Astronomer Robertus Anglicus wrote in 1271 that clockmakers were trying to invent an escapement, but hadn't been successful yet. On the other hand, most sources agree that mechanical escapement clocks existed by 1300. Actually, the earliest description of an escapement, in Richard of Wallingford's 1327 manuscript "Tractatus Horologii Astronomici" on the clock he built at the Abbey of St. Albans, was not a verge, but a variation called a "strob" escapement. It consisted of a pair of escape wheels
Mechanical energy swing because of the work done by the pendulum to oppose these non-conservative forces. That the loss of mechanical energy in a system always resulted in an increase of the system's temperature has been known for a long time, but it was the amateur physicist James Prescott Joule who first experimentally demonstrated how a certain amount of work done against friction resulted in a definite quantity of heat which should be conceived as the random motions of the particles that comprise matter. This equivalence between mechanical energy and heat is especially important when considering colliding objects. In an elastic collision,