Because their complicated helical shape had to be laboriously cut by hand, screws were only used as linkages in a few machines in the ancient world. Screw fasteners only began to be used in the 15th century in clocks, after screw-cutting lathes were developed. The screw was also apparently applied to drilling and moving materials (besides water) around this time, when images of augers and drills began to appear in European paintings. The complete dynamic theory of simple machines, including the screw, was worked out by Italian scientist Galileo Galilei in 1600 in "Le Meccaniche" ("On Mechanics").