You've answered your own question really. The scale is actually a linear measurement, i.e. a model of 1 foot long represents a real life vessel of 72 feet for a scale of 1/72nd. As the speed is also a linear measurement, i.e. a certain distance traveled in a certain time, then that behaves in the same ratio. Consequently whatever distance a real vessel would cover in a minute would be divided by 72 for a 1/72nd scale model. So if the real vessel traveled 720 feet in a minute then the model should travel 10 feet in the same time. This would give you the correct scale speed.
Taking your narrow boat in say 1/12th scale travelling at 4 knots. In a minute the real boat would travel 405 feet so your model should travel:
405/12 = 33 feet. So to operate your model at scale speed it should travel 33 feet in a minute or 16.5 feet in 30 seconds or just over six inches in ten seconds. Yes, it seems slow, but so is 4 knots!
Also considering your 1/72nd scale warship with a real life speed of 36 knots, in one minute it would have travelled 3645 feet. Your model should therefore travel:
3645/72 = 50 feet in a minute or 25 feet in 30 seconds.
Many modellers do not really grasp the concept of scale speed and all too frequently go for what they 'think' looks right. If they actually did some measurements and a quick calculation they would find their tug boat in real life would be doing 45 knots. It is always worth having a little bit of extra speed in reserve for emergencies but the trick is to only use it in emergencies.
You'll find this handy for playing with the numbers:
Knots to feet/minute converter
Edited By Richard Simpson on 15/07/2022 22:56:14