The concurring vote of a majority of the members of the Zoning Board of Appeals shall be necessary to reverse any order, requirement, decision, interpretation or determination appealed from, or to decide in favor of the applicant, any matter upon which it is required to pass under Comprehensive Development Regulations, or to effect any variation in Comprehensive Development Regulations. Every decision of the Zoning Board of Appeals shall be by resolution. Where findings are required, the decision shall set forth each required finding supported by substantial evidence or other data considered by the Zoning Board of Appeals in each specific case, or, in the case of denial, the decision shall include the findings which are not satisfied.