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There are a number of other methods which I have seen used to connect a motor to the propshaft. These include silicon tube (ideal for very small models), solid alloy couplings (used in fast electric boats) and coiled springs ( a method I have never tried myself).
If you have some basic engineering skills and own or have access to a small lathe there is no reason why you should ever be stuck for a drive system. It may involve some head scratching but this is all part of model boating. Next time you are down at the pond or at a show check out what systems other modellers are using.
Some belt and gear systems are available from the model shops but they will not be made to measure and may still need adapting to fit your boat.
You will find that all sorts of pieces of equipment have pulleys, gear wheels, belts etc. in them. I have used bits and pieces from radios, clocks, cassette recorders and video recorders. Just keep your eyes open when things are being thrown out.
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