This is a contact-aided compliant mechanism that demonstrates that smooth input can give rise to non-smooth output because of self-contacts. This was used to create a device to cut tissue and tease out a small portion in an automated way.

Mankame, N. and Ananthasuresh, G.K., “A Novel Compliant Mechanism for Converting Reciprocating Translation into Enclosing Curved Paths,” Journal of Mechanical Design. 126(4), 2004, pp. 667-672.