Thrust vectoring for fluid borne vehicles

A fluid-borne vehicle, comprising:

• a body;
• and
• at least one thrust vectoring module comprising a set of thrust producers, the set of thrust producers comprising a plurality of thrust producers;
• wherein:
• a first thrust producer of the set of thrust producers, mounted on a first mounting bar having a first mounting bar axis, is rotatable about the first mounting bar axis and the first mounting bar axis is rotatable about an arm having an arm axis that is nonparallel to the first mounting bar axis,
• a second thrust producer of the set of thrust producers, mounted on a second mounting bar having a second mounting bar axis, is rotatable about the second mounting bar axis, and the second mounting bar axis is rotatable about the arm, and the arm axis is nonparallel to the second mounting bar axis,
• the mounting bar axes are collectively rotatable about the arm axis by at least one of differential thrust and differential torque from the set of thrust producers, and
• the first thrust producer being one of a first pair of thrust producers mounted on the first mounting bar and the second thrust producer being one of a second pair of thrust producers mounted on the second mounting bar.