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Re: Backing up (or not)
The arm between the center of pressure of the rudder and the center of pressure on the hull in reverse is just too short to give the rudder the upper hand. The more you eliminate keel aft and move it forward, i.e. fin keel, the better the boat will back up.
Do you have a reference to that article.
I'm not sure I understand the arm thing you mentioned but is sounds like it is the answer I'm looking for.
IE what is the arm why is it a problem in reverse but not forward?
The lesson from the Icarus story is not about human failing.
It is a lesson about the limitations of wax as an adhesive.
If you have an engineering problem solve it.