Hydrodynamics of a twisting slender swimmer

Sea snakes propel themselves by lateral deformation waves moving backwards along their bodies faster than they swim. In contrast to typical anguilliform swimmers, however, their swimming is characterized by exaggerated torsional waves that lead the lateral ones. The effect of torsional waves on hydrodynamic forces generated by an anguilliform swimmer is the subject matter of this study. The forces, and the power needed to sustain them, are found analytically using the framework of the slender (elongated) body theory. It is shown that combinations of torsional waves and angle of attack can generate both thrust and lift, whereas combinations of torsional and lateral waves can generate lift of the same magnitude as thrust. Generation of lift comes at a price of increasing tail amplitude, but otherwise carries practically no energetic penalty.