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Knon, Ammianus is the source you are looking for!
'RES GESTAE XXIII'
I think that it's all a matter of words and their changed use/meaning in the Late Antiquity, respect to the times of Vitruvius. You o.c. knows that the machine that Ammianus describes in book XXIII - 4, using the name 'Ballista', launches heavy wooden/iron darts and it descends from the machines that Vitruvius calls 'Cheiroballistae', the heavy Ballistae of Vitruvius launched heavy stone projectiles! The same name indicate two different machines!
Ammianus - "Res Gestae" - Book XXIII (4, 1 -7):
1. 'Re ipsa admoneor, breviter, quantum mediocre potest ingenium haec instrumentorum genera ignorantibus circumscripte monstrare; et ballistae figura docebitur prima.
2. ferrum inter axiculos duos firmum conpaginatur et vastum in modum regulae maioris extentum, cuius ex volumine tereti, quod in medio pars polita conponit, quadratus eminet stilus extentius, recto canalis angusti meatu cavatus, et hac multiplici chorda nervorum tortilium inligatus: eique cochleae duae ligneae coniunguntur aptissime, quarum prope unam adsistit artifex contemplabilis et subtiliter adponit in temonis cavamine sagittam ligneam spiculo maiore conglutinatam, hocque facto hinc inde validi iuvenes versant agiliter rotabilem flexum.
3. cum ad extremitatem nervorum acumen venerit summum, percita interno pulsu a ballista ex oculis avolat, interdum nimio ardore scintillans, et evenit saepius, ut antequam telum cernatur, dolor letale vulnus agnoscat'.
English:
1.' I am reminded by the circumstances to explain instruments of this kind briefly, as far as my moderate talent may enable me to do, and first I will set forth the figure of the balista.
2. Between two axletrees a strong large iron bar is fastened, like a great rule, round, smooth, and polished; from its centre a square pin projects for some distance, hollowed out into a narrow channel down its middle. This is bound by many ligatures of twisted cords: to it two wooden nuts are accurately fitted, by one of which stands a skilful man who works it, and who fits neatly into the hollow of the pin or pole a wooden arrow with a large point; and as soon as this is done, some strong young men rapidly turn a wheel.
3. When the tip of the arrow's point has reached the extremity of the cords, the arrow is struck by a blow from the balista, and flies out of sight; sometimes even giving forth sparks by its great velocity, and it often happens that before the arrow is seen, it has given a fatal wound.'
This is your 'Ballista' (not the ancient heavy stone trower of Vitruvius), as it is described by Ammianus, the terms are those used by Ammianus:
Now the machine which Ammianus calls 'Scorpio' telling us that in the ancient times it was called 'Onagro', actually this is the machine that launches the heavy stone projectiles:
Ammianus - "Res Gestae" - Book XXIII (4, 4-7):
4. 'Scorpionis autem, quem appellant nunc Onagrum, huius modi forma est. dolantur axes duo quernei vel ilicei, curvanturque mediocriter, ut prominere videantur in gibbas, hique in modum serratoriae machinae conectuntur ex utroque latere patentius perforati, quos inter per cavernas funes conligantur robusti, conpagem, ne dissiliat, continentes.
5. ab hac medietate restium ligneus stilus exsurgens obliquus et in modum iugalis temonis erectus ita nervorum nodulis inplicatur, ut altius tolli possit et inclinari, summitatique eius unci ferrei copulantur, e quibus pendet stuppea vel ferrea funda, cui ligno fulmentum prosternitur ingens, cilicium paleis confertum minutis, validis nexibus inligatum et locatum super congestos cespites vel latericios aggeres. nam muro saxeo huius modi moles inposita disiectat quidquid invenerit subter concussione violenta, non pondere.
6. cum igitur ad concertationem ventum fuerit, lapide rotundo fundae inposito, quaterni altrinsecus iuvenes repagula, quibus incorporati sunt funes, explicantes, retrorsus stilum paene supinum inclinant: itaque demum sublimis adstans magister claustrum, quod totius operis continet vincula, reserat malleo forti perculsum, unde absolutus ictu volucri stilus et mollitudine offensus cilicii saxum contorquet, quicquid incurrerit conlisurum.
7. et tormentum quidem appellatur ex eo quod omnis explicatio torquetur, scorpio autem quoniam aculeum desuper habet erectum, cui etiam onagri vocabulum indidit aetas novella ea re, quod asini feri eum venatibus agitantur, ita eminus lapides post terga calcitrando emittunt, ut perforent pectora sequentium aut perfractis ossibus capita ipsa displodant'
English:
4. The scorpion, which they now call the wild-ass(Onagro), is in the following form. Two axletrees of oak or box are cut out and slightly curved, so as to project in small humps, and they are fastened together like a sawing machine, being perforated with large holes on each side; and between them, through the holes, strong ropes are fastened to hold the two parts together, and prevent them from starting asunder.
5. From these ropes thus placed a wooden pin rises in an oblique direction, like the pole of a chariot, and it is so fastened by knotted cords as to be raised or depressed at pleasure. To its top, iron hooks are fastened, from which a sling hangs, made of either cord or iron. Below the pin is a large sack filled with shreds of cloth, fastened by strong ties, and resting on heaped-up turves or mounds of brick. For an engine of this kind, if placed on a stone wall, would destroy whatever was beneath it, not by its weight, but by the violence of its concussion.
6. Then when a conflict begins, a round stone is placed on the sling, and four youths on each side, loosening the bar to which the cords are attached, bend the pin back till it points almost upright into the air; then the worker of the engine, standing by on high ground, frees by a blow with the heavy hammer the bolt which keeps down the whole engine; and the pin being set free by the stroke, and striking against the mass of cloth shreds, hurls forth the stone with such force as to crush whatever it strikes.
7. This engine is called a tormentum, because all its parts are twisted (torquetur); or a scorpion, because it has an erect sting; but modern times have given it the name of the wild-ass, because when wild asses are hunted, they throw the stones behind them by their kicks so as to pierce the chests of those who pursue them, or to fracture their skulls.
Now this is the heavy stone trower, the 'Scorpio' described by Ammianus, that is the old 'Onagro', the words are those used by Ammianus:
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.....or at least this is only my ancient dream....
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