The last time I raised chicks I gave them the old fashioned fountain style waterer. I raise my chicks in the coop with the hens. They have a separate caged off area. That way they can "grow up" together without getting killed by the larger hens. And when they are old enough/big enough I just open their separate pen and let them mingle.
The chicks get the old style waterer like this:
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While the hens are drinking from a 5gal bucket with nipples that I made.
Similar to this, but I made my own:
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So, when the chicks were old enough to mingle with the rest of the flock I simply turned them loose and they figure out the water from the hens. Never had an issue with it. I've done 3 batches of chicks this way.
I don't see why they can't learn how to use a nipple from day one though. Same way you push their beak in the water to make the know where it is you just push their beak on the water nipple.
When I first introduced my hens to the water nipples umpteen years ago this is what I did. Just grabbed one and shoved their beak in it until water came out. Presto...they were drinking from it like it was always there.