Ship vertical propeller

Yellow disk and lower brown disk rotate eccentrically from only a motion source (pink bevel pinion).
Their eccentric (value and direction) can be adjusted thanks two step motors via pink cranks, blue conrods and violet bar. The latter has spherical joint with the yellow disk, cylindrical joints with two red spheres at its ends. Two green cranks and orange cross create a parallelogram mechanism. The brown disk has two pins that slide in a slot of the orange cross.
Four cyan blades are pivoted on the yellow disk. Each blade has a slot in which a pin on the brown disk slides.
The mechanism ensures when the yellow disk rotates, the blades, direction of which is changed continuously, create the thrust in a determinate direction.
The video shows that changing the eccentric direction means changing motion direction of the ship (green arrow).
Increasing eccentric value means increasing the propeller thrust.
This video was made based on:
http://observethebanana.com/wp-conten...
For more about the mechanism for adjusting the eccentricity see:
   • Eccentric rotations of two objects  
For more about ship vertical propeller read
https://en.wikipedia.org/wiki/Cyclorotor

STEP files of this video:
http://www.mediafire.com/file/svteh7t...
Inventor files:
http://www.mediafire.com/file/6c7mxet...