It doesn’t. The sideways motion isn’t what’s providing forward propulsion…the force is always at an angle (fish tails are bent, snakes make a curve, etc.). They’re providing a motion at an angle and they have high resistance in the sideways direction and low resistance in the the forward direction, so they mostly go forward.
It’s very similar to how roller blades or ice skates work…you push outwards at an angle and you get propelled forwards.
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