I don't know much about it, but in looking at some of the first locomotives I saw this: https://upload.wikimedia.org/wikipedia/commons/e/e2/Richard_Trevithick_1

I don't know much about it, but in looking at some of the first locomotives I saw this: https://upload.wikimedia.org/wikipedia/commons/e/e2/Richard_Trevithick_1804_Pen_y_Darren_locomotive_(6636003439).jpg https://upload.wikimedia.org/wikipedia/commons/e/e2/Richard_... and this: https://en.wikipedia.org/wiki/Richard_Trevithick#/media/File:TrevithicksEngine.jpg https://en.wikipedia.org/wiki/Richard_Trevithick#/media/File... That was probably a terrible screeching thing to witness going around bends, just being held in line by the inner lip of the rail.