A sail boat or yacht.
No. Most small sail boats have a Tiller.
They were called longships.
the pole that holds up the sail is called the mast
mess
When a ship, not a boat, leaves port it "sets sail."
A boat with one mast and one sail is called a cat boat. It is an old design with a very shallow draft designed to be used in areas of shallow tidal waters. Usually they a very wide for their length. a sail boat!
Cleats
It's usually called the Mainsail, or as sailors pronounce it, the "mains'l". It is sometimes called the "sheet" too, though that is more generic. +++ The "sheet" is the line that controls the sail's angle across the boat.
A sail boat Also motorsailers and rafts
Yes he did sail by boat
the masts