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Direct mechanical drive is difficult to keep simple because there needs to be a fair bit of adjustability as to where the pedals are in relation to the propeller. For example, instead of pedaling it you may want to use your arms to turn the crank. I have considered that same perpendicular...

In the context of this system, will a rotary motor not just mimic the forward movement of the pump on a 1:1 basis (or even something close)?

Well part of its purpose is exercise...movement is really just to add a level of entertainment to it. Since I am not a pump expert I could be wrong, but aren't hydraulic systems extremely efficient (90+%)?

To clarify, when I mention motor I mean like a hydraulic motor not electric. The system will be powered by turning bicycle pedals.

I am working with a friend of mine to create an underwater propulsion system. My concept is to use an open hydraulic system to allow human generated torque to be converted to water pressure then back into torque to spin a propeller. It my seem counter intuitive, but I actually allows me great...