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You are truly a medieval Engineer
But I haven't seen an original medieval catapult in some time, so I was really happy to find this!
This design in particular is really enjoyable to operate and watch, and feels very true to Besiege's medieval theme. Truly great work! 😃
Wow you know so much, I've learned a lot.
What is present: a bending arm is drawn back, bending it, and storing energy. When it is released, a restorative moment is applied, returning the arm to its starting position/shape and throwing the projectile. Getting into explaining the deformation of the arm would be a bit difficult in a short format, so I'll leave it at that.
In a torsion spring: It's a bit more complex due to some bending being mixed in, but in short the 'spring' is twisted, storing energy, and produces a restorative moment at the BASE of the arm.
Notable formulas: tau = -kappa*theta [torque:tau, torsion spring const.:kappa, angle of twist:theta]
U = 0.5*kappa*theta^2 [U:potential energy]
Once again, still a great Besiege creation, showcasing several great techniques!
To settle the question, torsion is when something is twisted about an axis (generally by a torque applied about the axis). Trust me, I'm a Mechanical Engineer.
In the case of a torsion catapult, torsion was used in torsion 'springs', in which energy is stored by pulling back the arm, and in the process, twisting a number of ropes or something similar around the axle on which the arm pivots.
Conventionally the name Mangonel can be used for a range of stone throwing siege engines, but is generally used to refer to a traction trebuchet (which, I'm sorry to say, does not use torsion at all) Perhaps, the term Onager would be more fitting, or maybe even leaf-spring catapult (but the base of the arm is not fixed so not quite). You may be able to tell I'm also a medieval engineering fanatic.