Figure 2.

Body angle, moment of inertia and power for episode in figure 1. (a) Instantaneous body angle α_body (black; blue and red ‘+’ signs: minima and maxima) and head angle α_head (green); (b) body angular velocity ω_body; (c) body angular acceleration (black: by differentiation of ω_body; red: according to electronic supplementary material, equation (S3.18)); (d) moment of inertia about the CoM J_body; dashed blue line shows (i.e. J_body for the straight fish), (e) rate of change of the moment of inertia ; (f) total specific body power based on the rate of change of kinetic energy.