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My mistake, it's actually neither a Mangonel or a Catapult, it's an Onager!
The default interaction key is "t". You mouse over the rope drum, press t, then mouse over the rope ending (looks like a little metal loop) and press t again. Then hold t on the crank until it is lowered, and then press t on the rope drum to fire.
@Mecha Hitler
The mangonel can be found in the blueprints menu. Press "F10" to open it up, then select the mangonel. Press Ctrl + V to paste it into the world.
Make sure that you don't spawn it in the ground, but also make sure it's not too far off the ground. It works best on a flat surface, like a layer of bricks.
But is very good!
It will shoot a projectile about 100 meters with crazy accuracy and speed.