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I'm not the best at explaining and teaching, I will try my hardest because you have interest in this sort of thing. So attached to this reply are pictures of my process of making the shark and implementing the articulation.
Before I made this I made myself comfortable with making Chain Links.
So the first thing i did was make a chain link or some type of linkage system. This will cause the model to articulate. REMEMBER TO OFF SET OR MAKE A BIG ENOUGH GAP so the chains can move smoothly. It doesn't have to be exactly like mine, everybody's might be different based on their design. If you need some design for the articulation look at other peoples work. The one I made was how I wanted it to be. Its all based on your Creativity
After I made the body of the shark, I needed to find a way to implement the chain link system into it. So I cut gaps into the shark. And then put a hole in each of the gap pieces, where the chain is going to be. This is the Hardest thing to do because this is where you have to mentally imagine how it will move when you put the chain links in. But don't over complicate it, keep it simple
When making the chain links, size matters each of my chains are 3/4" long (.75") and .7" in diameter. They are a nice size to make them move smoothly. My shark is 12" long its a big thing. If your chain links are too small they will be to weak or it won't move smoothly.
HAVE A LOT OF COPIES. I HAVE SO MANY, DON'T WORK ON THE ORIGINAL.
I hoped I explained it well enough for you GOOD LUCK on your project. And If you need any other help just asked.