Wv....
1. the actual thrust of your model tug will be dependent on the installed power of the motor/s..... [for electric model applications ......in watts {750W = 1 HP}..... {1000W is a kilowatt}]
2. however this is input power & has litte reference to vessel thrust
3. propeller pitch also comes into the equation
4. the actual mass or displacement of the vessel is of
little significance here
5. if you are measuring thrust as shown in your image [vessel pulling ASTERN] the underwater shape of the hull has a bearing as we experience the ineffiency of pushing water around the hull shape
6. if you were measuring thrust when towing [AHEAD] the hull shape is to some what ~~~~~is negated
7. for model applications... a suitably sized simple fish weighing scales dead headed to your vessel with the motors @ a known RPM will confirm the actual vessel thrust in {lbs} or {kg}
8. working backwards

...lets consider thrust in this case as a static test.....not dynamic .......

as vesssel speed is not being considered
9. naturally limiting or reducing the motor RPM will reduce the vessel thrust...........

I hope this helps....keep us posted....

.....Derek