Oscillating cylinder steam engine

An oscillating cylinder steam engine (also known as a wobbler in the US) is a simple steam-engine design (proposed by William Murdoch at the end of 18th century) that requires no valve gear. Instead the cylinder rocks, or oscillates, as the crank moves the piston, pivoting in the mounting trunnion so that ports in the cylinder line up with ports in a fixed port face alternately to direct steam into or out of the cylinder.

Source: Wikipedia — Oscillating cylinder steam engine (CC BY-SA 4.0)