MUCK RESISTANCE

A Torque Reaction Engine can be made with no driveshaft! 

The batteries and magnets would be symmetrically distributed in a shape like an icosahedron, within a lubricated "ball-and-socket". The inertial mass could then rotate in any direction. 

This would make regular Phish more maneuverable and would also enable Phish that look and function like flagellum, with ONLY ONE MOVING PART. 

Phish flagellum will operate in pipes, in mud, and other mucky environments.