Fig. 7. Model of forces (drag, lift) resulting in the development of torque to stabilize a feeding minke whale. The features shown are: the center of mass of the whale (blue circle); drag (straight black arrow) from the open mouth, which is positioned at the centroid of triangular lower jaw in frontal view; drag torque (curved black arrow); drag lever arm (dashed blue line); and lift torque (curved red arrow). The lift torque was found to be slightly larger than the drag torque created by the open mouth.