Torpedoes don't go in straight lines. Back during WWII torpedoes were programed to follow a course and depth prior to launch. Back then they had to do all the calculations (sub speed, target speed, distance, etc) by hand. They would calculate where the target should be by the time a torpedo fired from the sub would reach it (this is the firing solution). So you shoot where the target is going to be, not where it is now. They can also be fired from both forward and rear torpedo tubes.
Modern subs can get a firing solution with computers almost instantly. Additionally modern torpedoes have wire guided systems so they can be guided even after they've been fired. There's also fire and forget torpedoes that are launched out and it homes in on whatever it hears. Sort of like the underwater equivalent of heat seeking missiles.
PS: This is what part of the alphabet would look like if Q and R didn't exist.
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