Linear resistive-force propulsion of a travelling filament ($U/V=(1-\gamma )(1-\beta )/(\delta +1-(1-\gamma )\beta )$)

For a periodic inextensible filament, let $q=\mathbf{t}\cdot \mathbf{i}$, $\alpha =⟨q⟩=V/c$, $\beta =⟨q^2⟩$ and $\gamma ={\kappa }_T/{\kappa }_N$. The material velocity is $(V-U)\mathbf{i}-c\mathbf{t}$. Applying the linear local drag tensor ${\kappa }_T\mathbf{tt}+{\kappa }_N(I-\mathbf{tt})$ gives thrust $T={\kappa }_{N}L\{V(1-\gamma )(1-\beta )-U[1-(1-\gamma )\beta ]\}$. Equating this to head drag $\delta {\kappa }_{N}LU$ gives the displayed speed ratio. Whole spatial periods, or period averages, are needed for $c\int qds=VL$. Cauchy-Schwarz gives ${\alpha }^2\le \beta$, with equality only for constant axial tangent projection almost everywhere.

In resistive-force theory with $0<\gamma <1$, head drag $\delta \ge 0$ and the ideal constant-inclination condition ${\alpha }^2=\beta$, put $r=1-\gamma$, $d=1+\delta$, $A=r({\delta }^2-\gamma )$ and $B=\gamma d^2$. At prescribed swimming speed $U$, eliminating wave speed using linear resistive-force propulsion of a travelling filament givesIts derivative has numerator $A{\beta }^2+2B\beta -B$. This numerator is strictly increasing on $(0,1)$, is negative at zero, and equals $(\delta +\gamma {)}^2$ at one. Thus its unique zero is the displayed global minimum. When $A=0$ the formula gives ${\beta }_{\ast }=1/2$; when $\delta =0$ it gives $1/(1+\sqrt{\gamma })$. A planar sawtooth realizes constant inclination in the ideal model; smooth rounding and elastic costs change that idealization.