The ancient Greek engineer, Hero of Alexandria, worked with air pressure and steam to create sources of power. One experiment that he developed was the aeolipile which used jets of steam to create rotary motion.
Hero mounted a sphere on top of a water kettle. A fire below the kettle turned the water into steam, and the gas traveled through pipes to the sphere. Two L-shaped tubes on opposite sides of the sphere allowed the gas to escape, which gave a thrust to the sphere that caused it to rotate.