He had to stay hidden in the pinnace for many weeks so that he couldn't be sent back.
From the democratandchronicle.com
Cumming positioned the pinnace to cut off the Vincedora's retreat but the brigantine made to ram the boat.
From the en.wikipedia.org
Several men of the crew, Spanish and French, were able to reach St. Kilda in a pinnace and save their lives.
From the en.wikipedia.org
After nearly two months in harbour, Drake left the port with a reduced fleet of three ships and a small pinnace.
From the en.wikipedia.org
However, an attempt to land the pinnace on the Austral Island of Rurutu was thwarted by rough surf and the rocky shoreline.
From the en.wikipedia.org
The settlement lasts little more than a year, before residents return to England in the first ocean going ship built in the New World, a 30-ton pinnace called The Virginia.
From the en.wikipedia.org
The British first spotted a merchant junk which appeared to be fleeing the bay so the pinnace of the Rattler and the cutter of the Powhatan were sent to cut the junk out.
From the en.wikipedia.org
When Governor White left in 1587, he left the colonists with a pinnace and several small ships for exploration of the coast or removal of the colony to the mainland.
From the en.wikipedia.org
Minutes later, when the pinnace and cutter disappeared from sight, the remaining British and American vessels sighted the pirate fleet which included fourteen large junks and twenty-two smaller ones.
From the en.wikipedia.org
More examples
Tender: a boat for communication between ship and shore
A pinnace is one of two marine craft, the first a small vessel used as a tender to larger vessels amongst other things, and the second a ship rigged vessel popular in northern waters through the 17th-19th centuries.
A light boat, traditionally propelled by sails, but may also be a rowboat. Pinnaces are usually messenger boats, carrying messages among the larger ships of a fleet
Resembles a barge, but is never rowing more than eight oars, whereas a barge never rows less than ten. The pinnace is for the accommodation of lieutenants etc.
A small, fast, maneuverable vessel with two square-rigged masts. Typically 40 feet long, it could carry up to 15 tons of cargo.
One of two types of ships or boats, either a small craft used to service other ships, or a larger square-rigged ship rather like a small galleon.
There were five boats belonging to the ship: launch, pinnace, jolly-boat, larboard quarter-boat, and gig. ...
Formerly, a small, two-masted sailing vessel sometimes with oars.