hit a floating object at and was able to turn the torpedo through 180 degrees to hit a target from the off side. History Tomlinson states that in 1874 while watching a planing machine worked by a driving belt, Brennan stumbled on the paradox that it was possible to make a machine travel forward by pulling it backward. Beanse expands Brennan’s observation of the driving belt powering the planing machine was taut and the non-driving side was slack. Brennan reasoned that if one dispensed with the non-driving side it would be possible to transfer energy to a vehicle and power it from a static power source. The concept was to place a drum of fine wire in the vehicle in place of the belt. The wire was attached to an engine to wind it in, rotating the drum that then propelled the vehicle away from its start point. He demonstrated this by means of a cotton reel, with a pencil thrust through the hole in the centre. By resting the ends of this pencil on two books and unwinding the cotton by pulling it from underneath he caused the reel to roll forward, the harder he pulled the faster the cotton unwound and the quicker the reel travelled in the opposite direction. Brennan began making rough sketches of such a torpedo, and as the concept developed he sought the mathematical assistance of William Charles Kernot, a lecturer at Melbourne University. After earlier experiments with a single propeller, by 1878 Brennan had produced a working version about long, made from iron boiler plate, with twin contra-rotating propellers. Tests carried out in the Graving Dock at Williamstown, Victoria were successful, with steering proving to be reasonably controllable, although depth-keeping was not. The British Admiralty had meanwhile instructed Rear Admiral J. Wilson, the Commodore of the Royal Navy's Australian Squadron, to investigate the weapon and report back. Alexander Kennedy Smith was also working to obtain the Victoria government's backing for the project and raised the subject in the state's legislature on 2 October 1877. A grant was eventually awarded for the development of the torpedo, and in March 1879 it was successfully tested in Hobsons Bay, Melbourne. Brennan had by now established the Brennan Torpedo Company, and had assigned half of the rights on his patent to civil engineer John Ridley Temperley, in exchange for much-needed funds. Brennan and Temperley soon afterwards travelled