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On the rear, or "stern." Starboard mounted rudders, AKA: Steering boards, had not been commonly used in Europe for between 500-1000 years when the Santa Maria was built.
Since we have only the basic dimensions of the ship available and no drawings, it's possible but very unlikely that the ship used a steering board. Considering the nature of the voyage, it was likely a 15th century state-of-the-art ship so very probably had a stern mounted rudder. By the 15th century, sail technology had developed to the point where a side mounted steering board would have proved problematic when tacking (sailing into the wind) and if the wind were coming from the right side of the ship, it would be unsteerable.
We do know that the Santa Maria was 75 feet by 25 feet with triple masts and a 6 foot draft so a side mounted rudder wouldn't be practical for such a ship. It was built both for speed and cargo capacity.
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