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My 1997 RAV4 comes with an owner's manual that indicates Bore X Stroke = 3.39 X 3.39 inch (86.0 X 86.0 mm).
However http://autos.msn.com/research/vip/spec_engines.aspx?modelid=2811&src=VIP&tab=2&sub=1&trimid=1064#trimsel shows it is 3.21 X 3.77 inch.

Some sources mention it is double overhead cam, but the others say it is single overhead cam.

Many professional reviews point out it is based on Celica layout. My web search shows the engine was indeed used in Celica as early as 1986. However horse power and torque for Celica is different RAV4. According to autos.msn.com, horse power is 120HP and torque is 130 lb-ft.

What is true specifications for this engine in RAV4?
 

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The following information is for US spec. RAV4s. I'm assuming this also applys to Canada?

1996-1997 (3S-FE)
2.0-liter DOHC 16-valve EFI 4-cylinder
120 hp @ 5,400 rpm
125 lb.-ft. @ 4,600 rpm

1998-2000 (3S-FE)
2.0-liter DOHC 16-valve EFI 4-cylinder
Receoved 7 more hp and 7 more lbs. of torque via a distributorless Toyota Direct Ignition System (TDI), an optimized intake system as well as lighter pistons and connecting rods.
127hp @ 5,400 rpm
132 lb.-ft. @ 4,600 rpm

2001-2003 (3S-FE)
2.0-liter DOHC 16-valve EFI 4-cylinder
Variable Valve Timing with intelligence (VVT-I)
148 hp @ 6,000 rpm
142 lb.-ft torque @ 4,000 rpm

2004-2005 (2AZ-FE)
2.4-liter DOHC 16-valve EFI 4-cylinder
Variable Valve Timing with intelligence (VVT-I)
161 hp @ 5,700 rpm
165 lb.-ft. of torque @ 4,000

Sorry, I don't have bore/stroke data...
 

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Mensagero should be able to help you out with that...

Don't believe everything you read on those online auto sites, they're as accurate as a Chilton manual.

Also, even though the 3SFE block and head was used in the Celica, the horsepower and torque outputs are different from the Rav4 because of the fine tuning of the engine, different intakes and exhausts, and other little odds and ends that connect to the engine such as the ECU, emissions system, and fuel system.

I always thought the 3SFE was a square engine like my 1AZFE, meaning the bore and stroke are the same. FYI, an "undersquare" engine means that the stroke is larger than the bore, and this usually produces more low end torque at the expense of some high end horsepower. An "oversquare" engine means that the bore is larger than the stroke, which produces more high end horsepower at the expense of some low end torque.
 
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