MPN (can we drop the 11 now that we're corresponding...?)
Yes, I used the same leg techniques, and had the bruises as witness. However, I had in mind something like a "man overboard" drill, where the punchy approach was one in forward, the other in reverse then juggle the trottles and wheel (remembering to cancel all that once upwind of the overboard, lest you minced him into fish bait).
The other boats you mentioned were probably the Boston Whaler and the 3 in 1 Whaler; I think both could be propelled by oars and sailed by stepping a mast. The latter, I have faint recollection, might have had an inboard diesel donk. By the way, I was pretty useless at the engine thing as well, requiring remedial instruction from the ever patient Mr Love.
The one that NO cadets were ever allowed near was the Captain's barge - I think it was a Fairey Huntress, or some such name; lovely looking boat.
Mister B