  We present the mathematical framework of an athlete modelled as a system of
coupled rigid bodies to simulate platform and springboard diving. Euler's
equations of motion are generalised to non-rigid bodies, and are then used to
innovate a new dive sequence that in principle can be performed by real world
athletes. We begin by assuming shape changes are instantaneous so that the
equations of motion simplify enough to be solved analytically, and then use
this insight to present a new dive (513XD) consisting of 1.5 somersaults and 5
twists using realistic shape changes. Finally, we demonstrate the phenomenon of
converting pure somersaulting motion into pure twisting motion by using a
sequence of impulsive shape changes, which may have applications in other
fields such as space aeronautics.
