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Parf of speech: Noun, OED Year: 1483, OED Evaluation: N/A

In a plough, harrow, carriage, etc., a crossbar, pivoted at the middle, to which the traces are fastened, giving freedom of movement to the shoulders of the horse or other draught-animal.

Oh no, oh no, not on a treadmill. There were just hitched to whiffletree and somebody had to drive them and that would pull the rope up.
some kind of mechanism of attaching wagon and horse