Before 1450 the helmsmen used a simple steering oar located on the right side of the boat. By the way, the terms "starboard" for right and "port" for the left evolved in the 1540's from the 'port' side of the boat which became the 'docking' side since the oar was on the left.
From 1450 to 1700 the deck of the boat had become so high above the rudder the helmsmen couldn't see where the ship was heading. To solve this problem, the ship builder's attached a stout piece of timber (called a whipstaff) to the tiller.
From 1700 on the helmsmen used a steering wheel from 1703 until today.
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