An unmanned underwater vehicle comprising: a steering mechanism; and an expandable, steerable nozzle (22; 30; 40) comprising: a first rigid member (33; 43) operatively coupled to the steering mechanism; a second rigid member (31; 41); and a flexible bellows (32; 42) coupling the first rigid member (33; 43) to the second rigid member (31; 41); wherein the flexible bellows has a first configuration in which the nozzle (30; 40) does not extend beyond a bounding surface of the UUV, and a second configuration in which the nozzle (30; 40) extends beyond the bounding surface of the UUV, wherein the bounding surface of the UUV is a boundary beyond which the UUV does not extend when the flexible bellows (32; 42) is in the first configuration; wherein in the second configuration a bottom surface of the second rigid member (31; 41) and a top surface of the first rigid member (33; 43) form a configurable operating angle (α), so that the second rigid member (31; 41) produces, upon contact of the fluid with said second rigid member (31, 41), said fluid having traversed the first rigid member (33, 43), a reactive force on the fluid which redirects the fluid to exit an opening of the nozzle at approximately the operating angle (α) with respect to the top surface of the first rigid member (33; 43). a steering mechanism; and an expandable, steerable nozzle (22; 30; 40) comprising: a first rigid member (33; 43) operatively coupled to the steering mechanism; a second rigid member (31; 41); and a flexible bellows (32; 42) coupling the first rigid member (33; 43) to the second rigid member (31; 41); wherein the flexible bellows has a first configuration in which the nozzle (30; 40) does not extend beyond a bounding surface of the UUV, and a second configuration in which the nozzle (30; 40) extends beyond the bounding surface of the UUV, wherein the bounding surface of the UUV is a boundary beyond which the UUV does not extend when the flexible bellows (32; 42) is in the first configuration; wherein in the second configuration a bottom surface of the second rigid member (31; 41) and a top surface of the first rigid member (33; 43) form a configurable operating angle (α), so that the second rigid member (31; 41) produces, upon contact of the fluid with said second rigid member (31, 41), said fluid having traversed the first rigid member (33, 43), a reactive force on the fluid which redirects the fluid to exit an opening of the nozzle at approximately the operating angle (α) with respect to the top surface of the first rigid member (33; 43). a first rigid member (33; 43) operatively coupled to the steering mechanism; a second rigid member (31; 41); and a flexible bellows (32; 42) coupling the first rigid member (33; 43) to the second rigid member (31; 41); wherein the flexible bellows has a first configuration in which the nozzle (30; 40) does not extend beyond a bounding surface of the UUV, and a second configuration in which the nozzle (30; 40) extends beyond the bounding surface of the UUV, wherein the bounding surface of the UUV is a boundary beyond which the UUV does not extend when the flexible bellows (32; 42) is in the first configuration; wherein in the second configuration a bottom surface of the second rigid member (31; 41) and a top surface of the first rigid member (33; 43) form a configurable operating angle (α), so that the second rigid member (31; 41) produces, upon contact of the fluid with said second rigid member (31, 41), said fluid having traversed the first rigid member (33, 43), a reactive force on the fluid which redirects the fluid to exit an opening of the nozzle at approximately the operating angle (α) with respect to the top surface of the first rigid member (33; 43).