Dont know what other people do, but I'm too old to learn some skills, (and too tired), so here's a little jig I made to cut the internal planking profile on a 11ft carvel boat.
The results are outstanding so far though need some more hands-on to get cutting 100%. It beats digging out with gouges etc.
I first assertained that the bilge radius was 12", so the pendulum router was made to that size.
I had a s/h router that I picked up for a few pounds and used free wood from a local yard.
If you all have one of these, sorry, but I was so chuffed with the results I had to get it off my chest.