This paper was submitted for the satisfaction of the thesis requirement for the Bachelor of Sciencein Engineering Sciences at Harvard College on April 2, 2012.My interest in the ﬁeld of CFD was piqued in high school, when I ﬁrst studied the Speedo LZRRacer. Since then, I have come a long way in my understanding of CFD, both in its applicationsand theoretical underpinnings. However, none of this would have been possible without the supportof many individuals who have supported me throughout my career as a student.I would like to thank my parents and my sister for their continued support and trust in me. Theyhave been monumental in getting me to where I am today. I love you, Satish, Sneh, and Swati Patel!I would like to thank my advisor, Cris Cecka, for his support in helping me bring this project to life.There are some individuals who have supported my work as a student at Harvard without whomI could not envision being where I am today. Special thanks to Professor Robert Wood and Dr.Hiroto Tanaka for allowing me the opportunity to work on their robotics projects and learn fromtheir dedication to the subject, which helped develop my interests and skill as a researcher. Specialthanks to Professor Anette Hosoi and Ms. Lisa Burton for allowing me to begin exploring CFDunder their tutelage.I would also like to thank those that inﬂuenced me in high school: Dr. Thom Morris, Mrs.Martha DeWeese, Mrs. Kemp Hoversten, Mr. Stephen Mikell, and Mr. Patrick Fisher. Theirguidance allowed me to become the individual that I am today, and without their support I wouldnot have be where I am. In addition, I would like to thank the man who helped kindle my interestin mathematics, Mr. Farhad Azar.I would also like to thank Assistant Professor Charbel Bou-Mosleh of the Notre Dame Univer-sity of Lebanon, who over the course of one summer taught me to appreciate CFD and helped mecraft my beginnings as a researcher in this area.