[Paddlewise] Launch and exit from swim platform.

I have been asked about entering and exiting a kayak from the swim 
platform of a large yacht.  Frankly in many years of paddling, I have 
only launched or landed from a dock or similar structure two or three 
times.  On those occasions I crawled face down facing aft as if using 
the paddle float rear deck re-entry approach.

Are there other more effective techniques used for this?  How do they 
do it on the small so-called "Mother ships"?  Are mechanical aids of 
any kind used?

I'd appreciate any enlightenment I can get.

Thanks,

Michael in Tallahassee
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