I assume you mean the submarine in the Hydrodynamics Tutorial.

The submarine model body spins in the opposite direction of the propeller thanks to Newton's 3rd Law.

Two things you can do:

1. Increase the mass of the submarine model's body to be >> than the mass of the propeller. This will reduce the effects on the submarine model's body.

2. Write your own Plugin to apply an equal and opposing torque on the submarine model body (simulating the effects of fins and/or rudder compensation).

If you choose to write your own Plugin, I recommend completing the Velodyne Tutorial as well as checking out the source code for the LiftDrag Plugin and the Buoyancy Plugin.

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Also, (at least for planes), there are a lot of other effects that come into play, see:

• https://www.quora.com/What-is-the-gyroscopic-effect-when-an-aeroplane-takes-a-right-turn-and-a-left-turn
  
• https://aviation.stackexchange.com/questions/32439/why-doesnt-a-single-engine-airplane-rotate-along-the-longitudinal-axis
  
• https://aviation.stackexchange.com/questions/20909/how-do-propeller-driven-fixed-wing-uavs-counter-negative-torque-from-engine-rot
  
• https://www.quora.com/Why-dont-single-propeller-planes-need-to-counteract-the-torque-like-a-helicopter-does-with-the-tail-rotor

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