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The 3S-GE is an inline-four cylinder DOHC engine with a cast-iron block and aluminum head. It was manufactured by Toyota, and designed in conjunction with Yamaha. The firing order is 1-3-4-2, with cylinder number 1 adjacent to the timing belt. The crankshaft has eight counterweights and rotates on five main bearings. Oil holes are located in the middle of the crankshaft to provide oil to the connecting rod bearings and other moving components.

The intake manifold runners are tuned for increased engine torque at low and medium speeds. A single timing belt drives the intake and exhaust camshaft. The cam journals are supported on five points between the valve lifters of each cylinder and on the front of the cylinder head, and are lubricated by an oiler port located in the middle of the camshaft.

An indentation is incorporated into the piston face to prevent the pistons from hitting the valves, should the timing belt break (this is not true of the 3S-GE BEAMS motor). This is sometimes referred to as a "non-interference" engine. Piston pins are locked by snap rings, rather than being press-fit.

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