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Capstans have a vertical shaft that is rotated by sailors pushing on long bars (horizontal motion). Think calling the Kraken in POC movies. Windlasses have a horizontal shaft that is turned by inserting bars into the shaft, pulling down, and then removing the bars and reinserting them "higher" up on the shaft.
Both have advantages and disadvantages and can be used for a great variety of "heavy pulling" such as anchors, rigging, cargo handling, etc...
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