The contrivance previously used for guiding the head of the piston-rod--the sectors and chains, or rack--had never given satisfaction. The rudeness of design of the contrivance was only equalled by its insecurity. Watt therefore contrived a number of methods of accomplishing the purpose, the most beautiful and widely-known of which is the "parallel-motion," although it has now been generally superseded by one of the other devices patented at the same time--the cross-head and guides. As originally proposed, a rod was attached to the head of the piston-rod, standing vertically when the latter was at quarter-stroke. The upper end of this rod was pivoted to the end of the beam, and the lower end to the extremity of a horizontal rod having a length equal to one-half the length of the beam. The other end of the horizontal rod was coupled to the frame of the engine. As the piston rose and fell, the upper and lower ends of the vertical rod were swayed in opposite directions, and to an equal extent, by the beam and the lower horizontal rod, the middle point at which the piston-rod was attached preserving its position in the vertical line. This form was objectionable, as the whole effort of the engine was transmitted through the parallel-motion rods. Another form is shown in the sketch given of the double-acting engine in Fig. 31, which was free from this defect. The head of the piston-rod, _g_, was guided by rods connecting it with the frame at _c_, and forming a "parallelogram," _g d e b_, with the beam. Many varieties of "parallel-motion" have been devised since Watt's invention was attached to his engines at Soho. They usually are more or less imperfect, guiding the piston-rod in a line only approximately straight. The cross-head and guides are now generally used, very much as described by Watt in this patent as his "second principle." This device will be seen in the engravings given hereafter of more modern engines. The head of the piston-rod is fitted into a transverse bar, or cross-head, which carries properly-shaped pieces at its extremities, to which are bolted "gibs," so made as to fit upon guides secured to the engine-frame. These guides are adjusted to precise parallelism with the centre line of the cylinder. The cross-head, sliding in or on these guides, moves in a perfectly straight line, and, compelling the piston-rod to move with it, the latter is even more perfectly guided than by a parallel-motion. This arrangement, where properly proportioned, is not necessarily subject to great friction, and is much more easily adjusted and kept in line than the parallel-motion when wear occurs or maladjustment takes place.