Subsurface oscillating blade propellor

An underwater vehicle having multi-directional maneuverability, said vehicle comprising:

• a nose section having a centerline and radial dimension;
• a body section having a radial dimension and a centerline coincident with said nose section centerline;
• at least one oscillating blade propeller module disposed between said nose section and said body section, said propeller module comprising a rotor and a plurality of adjustable pitch blades rotatably coupled to the periphery of said rotor and extending axially therefrom substantially parallel to said centerlines, wherein said blades are exposed to the ambient environment and said blades are located at a distance from said centerlines less than said radial dimensions of said nose section and said body section;
• a motor module disposed between said nose section and said body section, said motor module comprising actuators, wherein said motor module has a radial dimension less than or equal to said radial dimensions of said nose section and said body section, and said motor module is sealed from the ambient environment;
• linkage rods coupling said blades to said actuators, wherein said actuators and said linkage rods are operable to rotate said blades to change their pitch;
• and
• at least one longitudinal strut coupling said propeller module to one of said nose section and said body section, wherein said at least one longitudinal strut is located at a distance from said centerlines greater than the distance of said blades from said centerlines.