For example, when we turn in a bike, we have to bend slightly inward for the centripetal force. However, considering there’s no concept of “ground” underwater, do submarines still have to bend inwards? If yes, is it for the same reason as bikes?
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No, submarines do not bend due to extreme structural rigidity and positive internal pressure.
If you are talking about leaning into a turn so as not to fall over due to centrifugal force then the answer is also no. Submarines have no localized points of contact to the ground which would act as pivot points of lateral forces.
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