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Arthashastra

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तत्र औपवेणुको वर्धमानको यमक आलीढ प्लुतः पृथुग् अस्त्रिक चाली च वल्गनः ॥

Aupavenuka, vardhmánaka, yamaka, álídhapluta, vrithatta and trivacháli are the varieties of circular movement (valgana).

english translation

Chapter 30

Verse 34