Which mechanism eventually superseded Macmillan's linkage system as the efficient method for achieving rear-wheel drive?

Answer

Chain and sprocket

The chain and sprocket drive, later adopted by inventors like John Kemp Starley in the 1880s, provided a more efficient way to achieve the same layout goal: driving the rear wheel while steering with the front.

Which mechanism eventually superseded Macmillan's linkage system as the efficient method for achieving rear-wheel drive?
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