Analysis Used in Submerged Body Research 401 
Fig. 11. Tilting mechanism 
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Fig. 12. Counterbalancing device 
The lower pulley shaft of the drive system, shown in Fig. 13, was modified so that it 
would operate in two modes; as a power transmitting shaft for the pure heaving and pitching 
modes, and as a power transmitting shaft for the rolling mode. This is accomplished by 
mounting the lower set of Gilmore pulleys on a shaft which is support by ball bearings to an 
inner shaft which is directly coupled to the main drive shaft. For pitching and heaving, the 
outer and inner pulley shafts are connected by means of a tapered pin. For the rolling mode, 
the taper pin is removed, and the strut-pistons are locked. The pulley at the end of the 
idler shaft, shown in Fig. 15a, is connected by means of a Gilmore belt to a pulley-shaft 
system attached to the aft strut-piston. This pulley can be positioned along a keyed shaft 
so that a fixed relationship is maintained between the pulley and the aft strut. Power is 
transmitted to the slider crank mechanism attached to the aft strut, by means of another 
