Finite-amplitude propulsion of an inextensible periodic filament ($U/V=(1-\rho )(1-\beta )/[1+\beta (\rho -1)]$)

With drag ratio $\rho =c_{\parallel }/c_{\perp }$, squared-tangent average $\beta ={\Lambda }^{-1}\int x_s^{2}ds$, and axial wave speed $V$, resistive-force theory gives the displayed axial swimming ratio. Pure axial free swimming additionally requires vanishing cross-tangent average, as in reflection-symmetric waveforms; otherwise a transverse force or translation is present.

An asymmetric periodic planar filament can have nonzero cross-tangent average $\delta$ despite periodic vertical position. Its translational resistance per arclength period is $c_{\perp }\Lambda [I+(\rho -1)M]$, with $M_{xx}=\beta$, $M_{xy}=\delta$ and $M_{yy}=1-\beta$. Full force balance can therefore yield transverse translation, so an axial-only propulsion formula needs a symmetry or constraint assumption.