Ota Dokan (太田 道灌), 1432-1486, was born as Ota Sukenaga (太田 資長) into a daimyo family descending from Minamoto Yorimasa[?]. In 1457 he built the castle of Edo and in 1458 he took the name Dokan, by which he is mainly known.
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... "rolling" inside the groove. (Compare with graphic below.) Since this friction force is essential for the device's operation, the groove must not be lubricated. Th ...