An apparatus for ultrasonic inspection of an access hole cover weld on a core shroud support plate in a boiling water reactor containing jet pumps, the apparatus comprising: a base to be positioned on the core shroud support plate and substantially centered and secured on a surface of the access hole cover; a center frame coupled to the base and extending in a vertical direction based on the access hole cover; a radial arm assembly comprising a radial arm having a first end and an opposite second end, said radial arm assembly attached to the center frame; a radial extend/retract motor assembly coupled to the radial arm assembly and structured to control position of the radial arm radially inward and outward from the center frame; an axial rotate motor assembly coupled to the center frame and structured to control rotation of the center frame about its center vertical axis; a first pneumatic linear thruster attached to the first end of said radial arm; a second pneumatic linear thruster attached to the second opposite end of said radial arm, the second pneumatic linear thruster extending between an upper end and an opposite lower end; a scanning assembly attached to the first pneumatic linear thruster, said scanning assembly, comprising: a skew motor assembly extending between an upper end and an opposite lower end; a transducer gimbaling device attached to the lower end; and a transducer attached to the lower end of said skew motor assembly and the transducer gimbaling device, for scanning the access hole cover weld, wherein, said skew motor assembly is structured to control angle of the transducer relative to a normal line perpendicular to a tangential line of circumference of the access hole cover weld and the first pneumatic linear thruster is structured to extend the transducer downward for contact scanning and to retract the transducer upward for immersion scanning. a base to be positioned on the core shroud support plate and substantially centered and secured on a surface of the access hole cover; a center frame coupled to the base and extending in a vertical direction based on the access hole cover; a radial arm assembly comprising a radial arm having a first end and an opposite second end, said radial arm assembly attached to the center frame; a radial extend/retract motor assembly coupled to the radial arm assembly and structured to control position of the radial arm radially inward and outward from the center frame; an axial rotate motor assembly coupled to the center frame and structured to control rotation of the center frame about its center vertical axis; a first pneumatic linear thruster attached to the first end of said radial arm; a second pneumatic linear thruster attached to the second opposite end of said radial arm, the second pneumatic linear thruster extending between an upper end and an opposite lower end; a scanning assembly attached to the first pneumatic linear thruster, said scanning assembly, comprising: a skew motor assembly extending between an upper end and an opposite lower end; a transducer gimbaling device attached to the lower end; and a transducer attached to the lower end of said skew motor assembly and the transducer gimbaling device, for scanning the access hole cover weld, wherein, said skew motor assembly is structured to control angle of the transducer relative to a normal line perpendicular to a tangential line of circumference of the access hole cover weld and the first pneumatic linear thruster is structured to extend the transducer downward for contact scanning and to retract the transducer upward for immersion scanning. a skew motor assembly extending between an upper end and an opposite lower end; a transducer gimbaling device attached to the lower end; and a transducer attached to the lower end of said skew motor assembly and the transducer gimbaling device, for scanning the access hole cover weld, wherein, said skew motor assembly is structured to control angle of the transducer relative to a normal line perpendicular to a tangential line of circumference of the access hole cover weld and the first pneumatic linear thruster is structured to extend the transducer downward for contact scanning and to retract the transducer upward for immersion scanning.