I liked to make a steam engine as was installed in small boats. These engines were reversible so the boat could go ahead as well as astern.
Mostly Stephenson valve gear was used for this, but then four excentrics on the main shaft are required. Using lego it would result in a weak shaft. The Maudsley gear used on this engine avoids this , also it makes it very easy to adjust the valve timing.

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This MOC also has a LEGO Digital Designer file available: 3D Model