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Answer for the clue "A mill that is powered by men or animals walking on a circular belt or climbing steps ", 10 letters:
treadwheel

Word definitions for treadwheel in dictionaries

Wikipedia Word definitions in Wikipedia
A treadwheel , or treadmill , is a form of engine typically powered by humans. It may resemble a water wheel in appearance, and can be worked either by a human treading paddles set into its circumference (treadmill), or by a human or animal standing inside ...

Wiktionary Word definitions in Wiktionary
n. A wheel turned by treading, climbing, or pushing with the feet upon its periphery, as for example in a treadmill.

WordNet Word definitions in WordNet
n. a mill that is powered by men or animals walking on a circular belt or climbing steps [syn: treadmill , tread-wheel ]

The Collaborative International Dictionary Word definitions in The Collaborative International Dictionary
Treadwheel \Tread"wheel`\, n. A wheel turned by persons or animals, by treading, climbing, or pushing with the feet, upon its periphery or face. See Treadmill .

Usage examples of treadwheel.

They were powered by huge treadwheels, which in turn were manned by convicts.

She watched the mice scurrying round the cage and running furiously in their little plastic treadwheels till they occupied her whole attention.

Rats on treadwheels, I thought, go round and round in small circles and get nowhere, just like me.