I'm new to UAV's, but have been researching enough to see that there are a multiplicity of designs available. One item I've come across is dihedral quad/hex/octo frames, where the motors are tilted inboard slightly, thus vectoring the thrust slightly outboard, rather than straight down. It is claimed to provide a smoother and more controllable platform. On an instinctive level, it seems right. But what about from an engineering perspective... can it be verified by modeling it through equations?