Fig. 2. (A,B) Kinematic events during a complete cycle of continuous swimming in the pupa. The traces show motion of the centre of gravity (filled circles), the abdominal paddles (open circles) and the leading edge of the head/thorax capsule (stars). (C) Cartoon sequence of the stroke starting on the left with the abdomen curled above the head/thorax at the end of the preceding upstroke. Note how the mean path of the body tacks downwards through 26° during the downstroke and upwards through 26° during the upstroke relative to the mean forward swimming path. A, B and C are from different swimming events.