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It depends on the parts or task in question; if they're small enough to be maintained and repaired by the crew or by contractor/shipyard support teams (about 98% of the time), they're maintained/repaired in place, with parts brought in through the appropriate hatchway (e.g., for the Main Engines or the Diesel Generator on a nuclear powered boat, or the Main Diesels for a DE boat)
For major engine work or replacement requiring engine removal (shipyard or floating drydock), hull cuts are made at a specific location, and the engine is lifted out by crane and moved to a repair location. Such occurrences are rare, and typically only performed during the boat's normal overhaul cycle.
It's quite a sight to see large sections cut away into the hull of a submarine in drydock, and even more amazing to see the inside hull with all of its equipment and systems removed.
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