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The one with the fewest parts. If two machines do the same job, one has 100 parts, the other 1000, The one with 100 parts is more efficient over time because it has fewer parts to break or to replace. It would take less time to repair a 100 piece machine than a 1000 piece one and time determines efficiency. It's like asking the question, which puzzle is more efficient, a 100 piece one or a 1000 piece one.

Also, machines with less parts should be more responsive. The more linkages you have, for instance, the more motion loss you will have.

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