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We liked this particular mechanism because the mechanism it had the most torque 180 degrees away from the quick return. This fitted our needs as we could slowly crush the bottle at crank angle = 180 degrees with high torque and then quickly return the crushing arm as the crank angle approaches 0 degrees. The opposite could be said for the pushing operations. Moreover, we noticed that this mechanism was stackable in that we could employ a second Whitworth mechanism on top of the first to achieve two motions. The timing in between the two mechanisms could then be adjusted by the relative angle difference between the two ground pins. Below is an image of our stacked Whitworth configuration. The first image is our mechanism at the crushing angle while the second image depicts the mechanism at the pushing angle