Heron Alexandrinus, Mechanica, 1999

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[6] Further, the larger circles do not aloways move faster than the small ones, but sometimes the smaller ones are faster than the larger ones.For when the circles are attached to one axle the larger ones move faster than the smaller ones.When, however, the circles are distant from one another, but on the same body, namely not on the same axle, as occurs with a wagon with many wheels, the smaller circles move faster than the large ones, because their locomotion is one and the same and each of them in the same time moves (the same distance); therefore the smaller circle has to make several rotations until the large one makes one, so therefore the smaller one is in a faster motion.

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