I agree, Bob's book is a fantastic read for anyone interested in yacht design, or just interested in sailboats at all.

One aspect of the twin engines either side of a full keel that may not be apparent is the way they can turn the boat in the opposite direction you might expect. I worked on a full rigged ship with twin engines configured very similar to this drawing. When moving forward at low speed (0.5 - 2 knots) if you stop the port engine and put the starboard engine in reverse, after a few seconds the ship would turn fairly abruptly to PORT. Same thing with the port engine in reverse it would turn to STARBOARD. Once you get used to it, it can improve maneuverability but a little odd at first.