a) When he swam out into the void.
or
b) When he swum out into the void.
a) the people who had sank into the mud were falling over.
or
b) the people who had sunk into the mud were falling over.
a) the car ran out of gas and sank into the mud.
or
b) the car ran out of gas and sunk into the mud.
In the case of 'sink', 'sank' and 'sunk' are both accepted simple past forms ( used as a finite verb ), and 'sunk' is the past participle ( used with perfect and passive forms and as an adjective ). With 'swim', only ' swam ' is the simple past form, and ' swum ' is the past participle. Now you can re-check your own sentences.
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CalifJimThe simplest procedure, in that case, is to use the ones with a (sank and swam) when they are "alone".This is a perfect answer,
It sank to the bottom. He swam across the river.
And use the ones with u (sunk and swum) when they are with has, have, or had.
It has sunk to the bottom. He had swum across the river.
CJ