Fig. 3. Model of forces (drag, vectored thrust) resulting in turning of the whirligig beetle. The path of motion is indicated by the curved arrow from the center of mass (solid dot) around the center of rotation (circled cross). Vectors for thrust (T), reaction force (R), elytra drag (E) and body drag (B) are indicated by the straight arrows. The propulsive force (T) provided by the sculling of the wing results in forward motion that is biased towards the left by the asymmetry of elytra drag exceeding body drag.

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