Abstract: Example implementations provide fluid-borne vehicles comprising a body and a plurality of thrust vectoring modules, each thrust vectoring module comprising a set of thrust producing means, wherein a first thrust producing means, mounted on a first mounting bar having a first mounting bar axis, is rotatable about the mounting bar axis and the mounting bar axis is rotatable about an arm having an arm axis that is nonparallel to the mounting bar axis; and a second thrust producing means, 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 axis that is nonparallel to the second mounting bar axis.