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Bavarian Motor Works (Bayerische Motoren Werke Aktiengesellschaft) was founded in 1913 by Karl Friedrich Rap as Bavarian Aircraft Works (Bayerische Flugzeug-Werke) or BFW. The company would change its moniker to its present name after being purchased from Rapp by Franz Josef Popp, the company's first chairman.

BMW originally built aircraft engines. In 1919, shortly after Popp's takeover, it would develop its first motorcycle engine, the Victoria. The first BMW motorcycle, the R32, would arrive in 1924. It was in 1928, though, which BMW rolled out its first car, the BMW 3/15.

World War II and its aftermath slowed the company considerably.
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