In a reciprocating piston engine, the connecting ro or conrod connects the piston to the crank or crankshaft. The connecting rod was invented sometime between 1174 and 1200 when a Muslim craftsman and engineer named al-Jazari built five machines to pump water for the kings of the Turkish Artuqid dynasty —one of which incorporated the connecting rod. Transferring rotary motion to reciprocating motion was made possible by the connecting the crankshaft to the connecting rod, which was described in the "Book of Knowledge of Ingenious Mechanical Devices". The double-acting reciprocating piston pump was the first machine to offer automatic motion, but its mechanisms and others such as the cam, would also help intitiate the Industrial Revolution.