Figure 4.

Estimated torques. (a) Contour plot of inertial torque per unit length with respect to the CoM against normalized position along the body () and time. (b) Inertial body torque τ_body against time (black); torque on the body due to dynamic pressure, τ_dynp (green). (c) Contour plot of torque on the body per unit length due to dynamic pressure against and time. (d) Contour plot of torque on the body per unit length due to shear-force distribution against and time. (e) Inertial body torque τ_body against time (black); torque on the body torque due to shear-force distribution, τ_fric (blue) and acceleration reaction forces (τ_acc) × 0.2 (red). (f) Contour plot of torque per unit length on the body due to acceleration reaction forces against and time.