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Fig. 15. The effects of stroke amplitude ({Phi}) on force coefficients when {Delta}{tau}r/{tau}c is fixed (=20%). (A) Non-dimensional angular velocity of pitching rotation () and azimuthal rotation (); (B) time courses of lift coefficient (CL) and (C) drag coefficient (CD) in one cycle. Mid-stroke angle of attack ({alpha}m)=40°; symmetrical rotation. {Delta}{tau}r, non-dimensional duration of wing rotation; {tau}c, non-dimensional wingbeat period.