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Miniature variable pitch propellers and engines. 3:47 video.
https://www.youtube.com/watch?v=fsk1GhIyM3Y
Previously:
https://www.homemadetools.net/forum/...534#post182130
https://www.homemadetools.net/forum/...790#post133254
https://www.homemadetools.net/forum/...631#post182480
The balance of those engines is incredible! Variable pith propellers are really interesting but few and far between now in smaller sizes and very expensive if you can find one. Another system I like for its simplicity is the Kitchen Rudder.
Here is a drop dead gorgeous boat demonstrating manoeuvres: https://www.youtube.com/watch?v=vi0Sdkbooek