Chapter INTRODUCTION ips are built for the purpose of enreyini men, nl/or weapons upon the set. In order to fuecomplish its mission, a ship must possess several basic characteristics. t mut float in a stable upright posit with sufficient speed, be able to maneuver strong weather an wave impa na ship. with these features, the naval archifeet must have an ce 1 ship that will Noat upright in calm waters, However, ships raiely sail in calm water. Waves, which are’ the main source of sip ‘motions in a Seaway, affect the performance ofa ship considerably and the success of a ship design depends ultimately on its performance in a seaway. Unfor- tunately, however, the predictinn of ship: motions, Fesistance and. power, and structural toads in an seaway is such’ a complex problem that the rmawal architect is usually forced (o select the hull form fn the hasis éf calm water Performance without rvuch consideration of the sea land weather conditions prevailing over the route ‘on which the ship is to operate. To study the effects of waves on ship dynamics it is logiens that we should also understand ocean ich are not regular but highly complex Statisien! means hive been. adopted to study this irregular behavicr of the seaway and also to obtain ship motion characteristics, 1 is uot the motion characteristics per se that are important in the study of ship behavior in a seaway bul rather the dynamic effects caused by the One tmotions themselves. These effects are the shipping of aereen water on the deck, the emergence of the forefoot Jeading to skimming, and the effects of acceleration due to pitch, heave, or roll, of all combined, « When the felative movement of the bow aid local wave surface become too great, water is shipped shipping of green water mental eect if watertight inte- arity isnot maintained, Many of the electrical sys:ens an be so damaged that they may not be functional The freezing of green water on contact can stop 4 picce of apparatiis"on the weather degks from functioning and may seriously impair! the fighting quality of warship. Also, in an earlier stage, spray is driven over the forward portior. of the ship by the Wind. Both conditions (spray and green water) are undesirable and can be improved by increasing the freeboard Under some conditions, the pressures ‘exerted by the water on a ship's hull may become excessive and slamming may take place. Slamming is charac- \erized by a sudden change in the vertical acceleration of the ship, followed by a vibration of the hull girder in its matural frequency. The conditions leading {0 slamining ‘ate high relative velocity between the ship and the water stifack, shallow draft, and small dleadrise. Repeated slams will not only damage the ship structure and other conponents, but also will have a considerable effect on the personnel operating the ship. This is especially important in respect to the satisfactory operation of naval vessels, the mission of which is to act as a floating plaiform for weapon systems. The platform, therefore, should be as stable2_ INTRODUCTION 3s posible, The area between 10 and 25% of the length from the bow is the one most likely to suffer high pressures leading to chumage. in the design of ships, yee’ an important factor. However, there is a loss of spoed while a vessel is under way in a sea, because of the increase in motion resistance and the loss of propeller efficiency. This results in higher fuel consumption andl thereby limits the cruising range. The heavier the seaway, the feeater is the loss of speed. To overcome this loss it ix uften ngvessary 40 improve the resistance andl propulsion characteristics of the vessel, as well as to design the machinery plant for adequate reserve power, Although mode! tests ean predict with reason- Able accuracy the stil water resistance and propulsion performance of a ship, their determination in a Seaway is still the subject of research. The maximum speed that can be aitained by a ship is governed, not necessarily by the available power, but mostly by the secelerations experienced in a senway. To reauce the dynmaic effects, various means of motion stabilization have been adopted. Bilge keels, damping, tanks, and fins are a few examples. Know- ledge of the phenomenon of resonance. between regular waves and the rolling motion has led to the use of successful roll damping devices, but not much progress toward dampening the pitching motion adequately has yet been made hecause of the large forces involved. Consideration of motion stabilization is particularly itnportant for passenger ships. as well as many types of naval vessels. Structural failure in severe seas is not infrequent even with modern technology. The relative importance of the various aspects of ship performance in a seaway varies from design to design, depending on what the operators require of the ship. ‘The following’ general itenis, rust be investigated when designing seaworthy ships: 1. Excessive motions, which are undesirable since may impair stability and ‘cause discomfort to the érew and passengers. Also, in warships most weapon systems require a stable platforin for proner functioning. ' 'b, Additional stresses Gaused by the ship's bending oor by wave impacts in a scaway. Inertial forces causing damage to equipment, armament structures, and so forth, 4d. Shipping and spraying of green water, causing ‘eanipment breakdown and degradation of lability c.:Slamming. {. Speed reduction and the conditions under ‘vhich the propeller will start racing, thereby overloading the propelling machinery and hence increasing the fuel consumption per mike or dropping off the cruising range. &. Shipshandling quality ‘The various problems encountered in regard to motions may be investigated in four different 1. Anaiytically that is, on a theeretical tsis 2. Experimentally, by means of mov! controlled environments 3. Empirically, through statistical observations 4, Directly, ab with trials. of ships alter they are ~ oul sts in Roth theoretical and experimental studies help the designers to determine the influences:of various ” ship features on scakecping characteristics, know- ledge that is extremely valuable in designing a ship. “Therefore ohe of the most importars studies in naval archi’gcture is the investigation of ship performance, in rough water. Both merchant ard navai vessels must maintain a high degree of seakceping quality in many different types of weather and still attain their mission— the merchant ship from the cummer- cii point of view, and the naval vessel with regard to optimum operational ability. For the purpose of design one should be ible (0 estimate the dynamic forees to which a'ship may be subjected motions that result therefrom, ‘Theoretica mode! results, and full-scale data are all necessary to provide reliable design criteria, In recent years, revearch on ship motions ha made corsiderable advances in the area of theoretical evelopment, as well as in experimental facilites However, no quantitative index has yet been found re the scakecping qualities of ships, as is possible in comparing the resistance or propulsion character'stis of one hull form: vith another by means of simple coeificients The introduetion of advanced marine vehicles, such as planing crafts, hydrofoil boats, and air cushion” vehicles has necessitated further studies in seakeeping in order to achieve the mexinrum results from these spectal vehicles. Intensive investi- gations are now under way to determine experi- mentally the effects of parametric variations. in motions, bottom pressures, and power requirements ‘on models of planing boats, surface eifect ships (SESs), and so on, In addition, seale effect studies on high-performance vessels are being looked into (© test resulls from models of lifferent seales and fullesesle trinl,INTRODUCTION 3 ‘Therefore, the responsibility of a ship designer wes the development of technology for meastr- ing, and improving the various qualities dynamics. This also includes the technology to specific designs, the tiot: of design fauls, and the correction and improvement of such designs. The specifics will depend on the particular design, but it is essential that the designer have some means of jvdging the cexpceted petlormaner, Im theoretical investigations the problem of deter- mining the motions of a ship consists of deriving simple analvtical expressions for the surface of the scaway and determining the ship motions for such @ seaway. Theoretical studies can offer the following: 4. General information regarding the most relevant cchcracteristics.of the behavior of a ship in a scaway. 'b. A prediction of the motion of a ship in any given seaway. ¢. An insight into the aeceptable values of motions, accelerations, nn 50 0 , A knowledge of the average performance (0 be expected, including stability and resistance. ¢. Basic ideas regarding motion stabilization and ways to achieve i ( Guidelines for modet tests and full-scale trials. However, since ship motion is rather complex, it cannot be completely treated by analytical means alone: therefore model experimentation and. ship {rials are carried out in order to predict ship perfor- mance. Sophisticated methods of model tests iiave bbeen developed in various experimental facilities throughout the world and extensive ship trials are conducted in order to correlate mode! and ship results. This is especially ‘ nportant for naval ships. However before new ships, including hydrofoils, SESS, sind hovererafts, ean be employed effectively in their design environment (open sea and at speed), the human habitability factor must be addressed, IC i to a basic and fundamental discussion of stich means that the later chapters are devoted. ETEChapter Two SIMPLE HARMONIC MOTION 21 INTRODUCTION Motions of a body ean be described iy either trans: lational of rotational, ‘These motions, aecording to Newton's biw, take phice cantinuansly in ane direction only unless disturbed by some external force, ‘The direction of motion ean also he alter rating. that ogres in one direction and then reverse aller an interval of time, Such a motion is known as oscillatory. An oscillatory motion is common in nature, sind, since it originally studied in relation to music, is also called harmonic motion. Since most harmonic motions are rather complicated, a simplified ‘treatment is adopted here using some simple oscillatory motions, which are then called simple harmonic motions In the ease of simple harmonic motions, when a body is displaced from its equilibrium position, 1 force that is inherent in the body tends to bring it back to its original equilibrium position. This foree, known as the restormy force, is diteetly proportional to the displacement of the body from its equilibria position, When displaced from its equilibrium posi- lion, the body moves back toward this position With an acceleration under the action of the restoring Force, that is, che body'moves faster andl faster as it nears its equilibrium position, However, as the body Lames closer (this pasition, the rstorin Uivereases and the aeceleration toward Ue eat position diminishes, Wher: the body finally r Hs equilibrium position, the restoring force aaveeleration vanish, but by then the body has ata its-maximum velocity..1F ther is ne foree to stop ie body at its equilibiatn’ position, it will move past Us position in the opposite direction, Again notion ean p @ restorive foree acting toward the equilibrium’ position comes into play, but in the apposite direc+ tion. As the bey: continues to move further, the dlisplicement and the restoring foree, as well ws the acceleration, increase until “the velocity becomes zero, that is, the body rsaches its mntximaim disp ment from its equildvium position, Now, vader the influence of the restoring forve, ie bexly gains velocity continuously until :t reaches the equilibrium position and moves past this position again. Wf there is no resistanes or damping duing this oscillatory motion, the body will oscillate inde- Fnitely. and the maximum displacement of the body on either side of its equilibrium position will remain constant. The time tzken to reach from oie extreme point to the one on the other side wd back is knoven as the pera of the mouion, Ina simple harmonic motion, dispkicement, velo- city, and acceleration change constantly: at every instant. ‘This kind of motion can be represented by another kind af motion with « eonstant speed motion around a circle This copie is discussed in the following section, 2.2 EQUATIONS OF SIMPLE HARMONIC MOTION : ence of a circle with uniform speed, the motion of the projection of the point on the ‘of the cirele is defied as the sin In Fig. 2.1 let us stppose that poing P is moving, along the circumference of a civele having + radius ‘ICP has « constant acpukir yelocisy of o radiansFlawe 2.1 Delinition of simple harmonic motion per unit time, Ps the projection of Pon the dincter rhe circle 2¢. While P rotates along the ference uf the evel, [* moves from = (0 2 and back to 2. The motion of is known as simple harnie motion. Now Qt) 22 Pe ae Acerieration of 1” = 240 coset a) Figure 22 shows displacement, velocity, ion, The amplitude of P, its maxin dligplacement from the middle position, ix eticd of motion, the time required for P” te reach . F from 2 and move back to z again, is the same as he time reqiired for P to make a complete ratstion: ace 2nz, _2n ' Chin aeteritie frequency = Angulat frequency 50 20 125 ° 195 250 $00 Ppere 22 Displacement, velocity, art EQUATIONS OF SIMPLE HARMONIC MOTION _§ ‘Note the following: a. The maximum velocity occurs when ¥ = zn sin cot is maximum, that is, when sin ost = + 1. This occurs when P’ is il the midpoint from its two extreme positions, or when the body is at its equilibrium position. bb. The maximum acceleration occurs when. the expression cos ct = +1, that is, when the body is ii its extreme position from the position of equii- brio As already mentioned, the restoring fores in a simple harmonic motion is’ directly. proportional to the displacement of the bexly from its position of equilibrium, that is: free where J is the restoring force, ¢ ix a constant, and 7 is the displacement. of the body from O, which is the poositina of equilibrium. When the boxy is at its equilibrium position, 2 is ero and so is the restorivig force f. Whi the body is a: its extreme position (i.e zi) the restoring foree is maximum and equal ‘Therefore, as the body moves from its position fof equilibrium to onc extremity, it acts against force that is zero at first and then increases gradually (oamaxiram vaiue of cz. Then from (2.3) we ses that the maxiawum acceleration is — os. is noted that the amplitude z, does not come into this equation, of into the equation for period T = 2x/, Therefore one ‘can say that, since «o does not refer to any particular circle, a whole set of simple harmonic motions, ‘even ones of different amplitudes, will have the same period. Hence the simple harmonic Fallows in be redefined 28 imple harmonic motion is motion itt a steaight line if at cach instant the acceleration is directly proportional to its distance from a fixed reference point in the straight line and acts toward that point.” Dlslscement vaeeiyih Sy Mine 2 Ad eleutcom (8) ageleration of a simple harmonic motion.6 stants Also, = |ARMONIC MOTION, “Whatever be the amplitude of motion, the period is determined only by the acceleration at unit di «putting z= 1 in (23))" ‘The preceding discussion has dealt with simple harmonic motion ina straight line, tha is, oscillatory translational motion along the diameter 22° of the circle in Fig. 2, where the body oscillates in a straight Fine, bit oscillatory rotational motion, that is, the motion of body moving back and forth along a circular are, ean also be simple harmonic ‘motion, In that ease the restoring foree is the restoring, ‘moment, the angular aeeeleration is proportional to the angulsr displaceni: trial oppositely directed, angular motion is simple harmonie. and again the period is independent of the angular amplitude. Example 2.1 A simple harmonic motion z= 2, os wt has an amplitude of $ fl and a circular frequency of 0.5 rad/ sre. Show with the help of a diagrams how the displaces tment, velocity, and acceleration of this simple harmonic motion should vary with time, Solution Angular velocity: « = OS ral/sce (given) Amplitude of motion: , = 5 fe (given) Displacement:2 = 2, cos ui = Scos 0.51 Velocity: ba = 2, sin ot = ~ 25 sin O51 Aessrion Ew cont = 13560 See Vig, 22. When the body: begins to move away from its equilibrium position, it possesses orily kinetic energy. ince it loses velocity as it goes further fram the neutral position, the kinetic energy is decreasing, and potential energy is, taking its place, When the body comes to 4 complete stop at its extreme position, all the energy the body possesses is potential ‘The -kinclic cnerey-ofan_oscillating body. directly, asa function of Lime, is expressed is Fig = Smo? = }in(en?z2 sin? on) from (22) (24) where m is the mass of the body, 1 is ils velocity, and _ sls amplitude or maximum disphicement 5 E i § t q H ¢ ee Na Figure 23. Restoring forse as a function ° displacement Te potcoliaenceryof a holy, a. a function of e.(or displicement)is calculate” by equsting ‘work done against the restoring force F, expressed Fe me = m=z, cos ot) from (2.3) = mu? (23) As stoted before, the” restoring force is directly Proportional to the displacement of the bedy from the reference point or the equilibrivin position as shown in Fig. 23, In this figure the shacled area represents és work dane oF thie jus 2 uF imicatial energy corresponding to the small change in displace ment from to C. With the sume argument the increase in potential energy of a body from its erilibrium position to any displacemen! z (ic, on given by the arca of the tr ngle OMN or = frmen?23 cos? ot 26 Adding (24) and (2.6), we obs the total energy: (27) where T is the period of oscillation, We see from (2.7) that the sum of the kinetic and! potential energies Teanains constant with time (or displicemet): that is, Fig. 24 shows the distribution of both kinetis and potentiai energies while the total energy remains, constant, We can also see from (2,7) that the total energy of a simple harmonic motion is v:rectly Proportional to the mass amd the square of the amplitude sand inversely proportional ta the sqptre of the period (or ditcetly proportional to the square of the frequency,Fieve 24 Uisttbution of kinetic and potential eergies. point P starts rotating in the clockwise direction from position 2, the time Fwhen P is at z equals zero and the displacement of OP’ for the simple harmonic motion is given as. or OP coset 208 ont in Vig. 25, il However, if starts its motion from Q, then the fime ¢ when P is at Q equals zer OP = = OP cos(et +4) = 2, cos(ot +0) igure 2.6 shows the two cusves drawn onthe same axes for comparison, where and 3 We notice that the two curves om have the same amplitude and the same period in 0, but they are different in phase. In any general case ove say that, if -os(01 +e), the constant angle © is called the phase.augle.of the function with respect to z= 2,08 0; Generally, the range of cis restricted, so nat" SeSn, The phase shit is —c, which isthe condition for the argument ofthe cosine function to be zero, EQUATIONS OF SIMPLE HARMONIC MOTION —- | Figure 28 Phase difference in a simple harmonic motion, Not we compare z,cos 30 and z,cos(3 + 7/4), the phase angle is #/4, However, this is not the shift of the graph to the left fromthe graph of z,c08 30. The left shit ip given by 30-4 #/4=0 or Om ~(n/12). I e is positive (as in Fig. 2.6, = 9/3), the function 2,cos( Fr) is said to lead the function 2,08 0, Where the corresponding zeros of z,cos(0) +e) oncut efore or to the feft of the zeros of z,c0% 0. If cis negative, 2, cos(0-+ ¢) lags the function 2, cos 0, With the above exptanation, it is suid that 2, sin = z,cos(— n/2) Ings 2,008 by x/2, and 2,008 0 = z,sin(0 + 2/2) lends 2,8in 0 by 3/3. Note ‘also that a lead by 7 has the samme effect as a lag by x. The following conclusions can be drawn from Fig. 2.6: a. A change in the amplitude Ieaves the period in. 0 ‘and the phase angle unchanged. bb. A change in the period in 0 leaves the amplitude and the phase angle unchanged. cc. A change in the phase angle leaves the amplitude and the period in 0 unchanged. ‘The amplitude, the periorl in 0, and the phase angle are independent properties of the functions, Figure 2.6 la ‘Two simpie harmonic motions with a phate difference of8 _- SIMPLE HARMONIC MOTION WHN N\A of Spe 1 a= a= pac ant mead % igure 2.7. Phase shin. whereas the phase shift in 0 is dependent cn both the ptase angle and the period in @ but.is independent of the amplitude, Example 2.2 Find the amplitude, the period; the phase angle, ~ and the phase shift rl a, 25sin 300+ 1/4), bd sin(3 4 45°) Live to sin 0 of. Solusion (see also Fig, 27): a assns(o4) Ampiitude = 25 Phase Sit: 3943 =0 or Wee Period =" 3 an Phase angle: 30-+ == ‘Therefore, phare angle be dsin(30-4 45") Ampl.tud Phage shift: 304 43 or Oe Phase angle = 45° {hy Fig. 2.8 the harmonic eurves are shown a each having the same amplitude and period but a difierent in of time, In Fig. 2.8a time is measured when point "is in a position z= z,. In Fig. 2.8 time is measured when P" is in the equilibrium position (ic, 2=0); here, as in Fig. 286, time is measured wiren fo units of time have clapsed after P” has passed the extreme position z = z, in the clockwise direction, or + Gey aR As can be seen from Fig, 2.8 all three diagrams describe identicil curves except that they are shifted in relation to each other along the abscissa, that is, the taxis, As said before, this relative shift is known as. the phase shift, and when this is multiplied by the angular velocity w (which is the same as the circular frequency}, the phase angle ¢, in terms of radians, is obtained. Note again that the period T is the same Figure 2.8 Identical harmonic motions shifted ia iclatin to eachotherts means that the velocity of Pas a harmonic Aunction with the same frequency as displaces Asshown in Fig, 22.the amplitude! the nook is oF times trger than that of the displ the phase angle is 180°, wher all three cases remains the same eement and the frequency in Example 2.3 The simple hsvmon mation o body is expressed And the period T = 2 sec. Ifthe body is held Fred {ir & time #08 sce and then ie releas and it measured roi the same starting, point find the expression for the continuing ‘Solntion As explained, the phase angle «is described as £5 ty simple harmonic motion will bx 23° VECTOR REPRESENTATION Therefore th As mentioned earlier, the simple harmonic motion Of any oxcillting boxy ean he represented by the rojestion of the end point of a radial vector on the Siaser ofthe ele oe Fig. 29). Any one 0! the brojections of P will represent the harmonic mecions Mf, for example, ¢=0 when P is at z ana P rotates in the clockwise direction, the vertical projecion Will be z,coswr and the horizontal one wil! be 2, Sin ot. The latter may be represented by the ver icel ADDITION OF siMPt HARMONIC MOTIONS 9 7 oo [roe Finer 2.9 Vector representation of simple hnrinonic moe vector with a phase angle of —(n/2) For example, from (2.1), (2.2 andl (2.3) the rotating mayGts for displacement. velocity, and accelerains may be described as is: Fig, 2.10, If we diflerentiate the displacement vector by Og that the velocity vector length is raltip by w and advances by an angle of 9°. The weloe Tee eentation is useful if we are to add and subteset Hr.simple harmonic motions with phase Jillerences he resultant vector will represent the resulian motion both in amplitude and in phase, ‘Diplncement hws Fire 2.10 Vector representation of displacement, vee locity, and acceleration 24° ADDITION OF SIMPLE HARMONIC MOTIONS. ‘When tw6 simple harmonic motions have the same Period, they ‘can ditr-only in amplitude and. in hase, VIP : uyto SIMPLE HARMONIC MOTION igure 241 Veetar addition of two simple harmonic tor tions. Let Ay and. A be the amplitudes of two simple harmonie motions represented by OP, and OPa. potted feom a fixed point 0 (see Fig, 211). Let 8 Mipoee that the seconal motion, OPa» i, lexling peta the pase angle netveen the two ik. Let ce hago suppose that each motion is rotating in. a URchise direction with a constant angular velocity aoe ag/ Tewhere Tis tke peried for both motions. The projections of 1, aud Py on the reference tine Os) are P, and PY. respectively. They describe the Staple heemonie motions to be added. Both Pr ad P, ave the same period, while thet anmpl- tele are iy and df. respectively. The sceond mation jeads the fist one by the phase angled. Spoth of the simple harmonie motions are on the Same stenight line yout the same point O. the renatant displacement at omy tine being the sum of two individual disnfccments 2, and. 2. in Fig, 2.11, ¢, atal 23 are represented by OF, and oP; if we now draw the parallelogram OP,OP3, from the parallelogram law we have OP? = 2, which ie the sum of z) and z, since OP’ = OM, +0? The amplitude of the resultant motion, a is then represcatest by the length OP, since OP is the pre- jection of the rotating vector OP on the reference Tine and We can also obiain the stme result analytically instend of graphically. Let the combined motion bbe a costust +). But ma, cos at bi, costent 48) uy ensteit 8) =a eos B eos ont ~ dy sin Hsin eo Therefore combined motion = (a 1a, casi} cos ent = ag sin S sin ot = acos(ul +9) ics acoso! tegen ea <8 *n38) ard dsing = a, sind 2) sauaring. (28) and (2.9) an adding “hem. we Inve a fy ay 608 4} + (a, 805? ma} bad cos? 5 + Yaya C685 +a) sin? af abt 2a Goss aFiawraes 10) [Aiso, dividing. (2.9) by (2.8) gives of _ansin an \ay Fao where the resultant motion Teas the lugging compo- Ment represented by OP, by the phase angles Trig, therefore, shown that the graphical represe= tation of this case is very suitable for determining the amplitude aswell ws the phase angle of the Meeultane motion. In aukiGion, we have fearned that {he resultant. motion of two harmonic motions is iso harmanie and has the stm frequency as the inuividual motions, Note, however, thas the resultant tmotion is not a harmonic motion if the frequencies of the indivi gal mations 1) -xample 2 ‘A resultant motion is obtained by superimposing. two displacements, namely, sin oo seer! Find the amplitude of the resultant motion. and its phase angle in relation to the displacement of the first motion. 2, = the lagging component Kain oot wennADDITION OF SIMPLE HARMONIC MOTIONS 1 the two harmonic motions 2, and 2, as shown in Fig. 2.13. Note that the accuracy of the results will depend on the co uracy ofthe graphical construction. am ao 4349 ‘ om 10. S68 1012656 W 070 0 amy 299 * 10 mor as ‘amr ao soss 00 $656 ie ar on ee ie 212 Victor aldtion of simple harmonic motions g TAM = MO = S686 = 19 = DOSE wpe 2.4 * i Lt 0707-80 = 12949 24 = the leading component am on cate an = sa = reoe(on 3) el tn | Roni ee won a cn a je 00-077) 487 4989 Therefore, 7 Analytical Solution , = the phase angle between the leading and Iwe have both the lagging and leading components. lagging components erler) Graphical Solution ‘A graphical solution is oltained as. shown in Fig. 2.12. Another graphical approach would be to draws both 2, and =, a8 a fonction of f oF «ots the resultant motion could be obtained by superimposing 12080 0 ot -nf Plqwe 2.13 a as the cosine functions, we ean substitute the given values into (2.10) and (2.11) for both the amplitude @ of the resulting motion and. the phase angle « between the resultant motion and the lagging compo- where a, is the amplitude of the lagging compos hnent = 8, a, is the amplitude of the leading com- ponent = 7, and 3 is the phase angle between the ne Graphical addition of simple harmonic motions for Example?12 SIMPLE HARMONIC MOTION motion of the lagging component and that of the — Also from (2.11), we have resin. motion (ate) a ERP TTR HATH 60855 tan NEw tan 9a : + = 1186 = 209°Chapter Three SINUSOIDAL WATER WAVES RL DESCRIPTION Like, solids, Muids can also have translational, onal, und oscillatory motions, Translational mation af water igpresent when rivers val tavtion ina Whirlpool, and oscillatory motion in the distortion of the shape that travels outward, shape distortion of the water surface water, its weight pushes lover the water with whieh it comes into eontwel and ack n takes place, Siace water is incom pressible (for all practical purposes), room is made for the water pushed down by lifting the water in the immediate vicinity around the central depression. Because of the gravitational effect of the earth, the ring cf raised water falls back, and the weight of the raised water, acting like that of the stone, pushes water below. easing a larger rinig around the center comm ct Trough - of the disturbance. As this process continues, the faised water urface continues to travel outward from the center, However, since the total mass: of water raised by the stone must be spread out through fun ever-increasing eircunnference."the height of the fing of the raised water will be less and less as it ook farther away from the center of disturbance. “The center of disturbance is not the source of only ‘one wave traveling outward since, ax the ing of Taised water is formed. it pushes the water not coly nut inwarel a well, The water at the eester 1d producing a second wave traveling out However, cach successive wave is lower than the cone before, since each rise and fall of water causes some of the energy to be consumed because of the rnal friction of water and the production of some heat, Ultimately all the waves die out and the svater surface becomes smooth aati, but the tempera cn Direction of Teh Direction of Free surface for a regular seaway. YeeI SINUSOIDAL WATER WAVES Fh coiee— wa) of the water is increased slightly to account For the kinetic energy of the falling stove, Thos an initial disturhiwce is needed in order to generate the propagating waves. However, sithough the waves propagnte outwardly weross the surface of the water as described above, the mass of witer does not move with the wave. When waves in the sea arrive at a beach, we notice the up and down mauion of water’ particles that did not ome irom the sea along with the wave, tha i, the water particles Were there before the waves artived. Therefore the Wave is not the water itself: i is the disturbance of the sea surfyee that travels, The process is known 4 ware photon, A wilter wave is a transverse disturbance, singe the motion of particles is apparently in one direction (ie. up and down) and the direction of propagation of the disturbance is at a right angle to the direction of mnotion, as shown in Fig, 2.1. Note that in a long rested seaway the erest lines are also at right angles to the direction of wave propagation An idealized’ water wave is sinusoidal curve, that is, either a sine curve or a cosine curve, that {ravels outward, An example is shown in Fig, 2.2 The ware erest is defined the point at which the Water surface has the highest elevation. The point Which the disturbainee is greatest in the downward ion is called the srouyh. The vertical distance between ite maximum disturbance and the undistur. bed waiter surface is known as the amplitude of the wave, as inslicated by {,"-« The distance from ane erest to the next (or from fone trough to the next) is knows as the wavelength, Joe (Hi 3). As soon in Fig. 3.2, the crest C moves toward the right with, time (iis the shape of the disturbance, not the water itself, Ghat moves), and the distance traveled by C per second is called the hase velocity of the wave, Vy. in Fig. 32 poini C is shown to have moved a distance af 20 fin 2 so Figure 3.3 Wave amplitude and wavelength hence the velocity of thi wave is 10 fysee The number of crests (oF troughs) passing given Point in 1 see is known asthe characteristic rene J. which is the same as the velovty of the wing “dwided by its wascleng:h, Waves can bbe classified in vious ways. A$ mein- tioned above, a we hts a symmetrical shape in regard to both the gfest and the trough {Fig 33), Another type of wave with shape variation, Known a a (rochidal wyed his sharp. fartow ‘rest ard relatively at, Broad wougi yi ‘Waves can also’be elasiiied froin the point of horizontal motion of the wave profile.‘ penaressve ute is one Chat moves hor'zantally in rebition ie the water surfiee. If the profile sterely oscilistes Up and down at one place and does not move trina versely, the wave is alld 1 standing suas In ‘the “heoretical investigation of ‘scakesping, the seaway is thought of as a regular train of waves defined by simple equations. The actual appearance ofthe sea surface is quite different from this Wealized in spite of its strong timitaiions, ica seaway provides certain relationships that observations have shown to be valid, These * involve the velocity, period, and length of waves These theoretical relationships ars discussed in the next section ‘The assumption of two-dimensional irrotational motion sutisying La Pluce’s equation, for: which {he influence of the aeveleration of gravity is taken into account, results in the simple sinusoidal uquation of the wave surface, ‘The relationsnip of ‘simple harmonic motion cast be illustrated in the erse of wave motion by plotting the distancy OP of Fig. 21 as a fenction of time 1. This is shown in Fig. sey, where 7 js plotted as the ordinate against + slong a horizontal axis. Point P, is obtained by plowing a horizontal line through to the requited value at = 1 see. As P travels around the citee, PoP Py oPsPqPy is oblained by pits lines trom itferent positions of 1. ‘The distance (2) Siow wave Figure 4 Comparison of sinusoidet i teochoidal wave profiles,ncy wg ge eS ge fryy glow 2 0 y Aryl. Sef tin ost Foy Sangh He, where A Flgwe AS between the corresponding points on the sinusoidal « wave (eg. Py and Py or P, and P,. ete.) corresponds to the period T. IUwas mentiond previously that Oy the water surface at any position appears to rise t up ard down during the frmation of waves. In These equations are shown graphically in Figs. 3.5@ the cite .sidusoidal vanes such an elevation can and 3.3, which are sine curves, Let us now develop a general equation for a simple ‘water wave that progresses at any velocity V,. We consider first a stationary sinusoidal wave, that is, ee 4 wave that can be represented by a sine or vosine or more generally, curve as shown in Fig. 36. The equation of this Gai sino +9) (22a) curve is written as f= Ssinke (3.3) Figure 46 Sine or cosine) representation of a wave, Graben ate! 4 YIN16 SINUSOIDAL WATER WAVES Figure 37. Propagation of a sine wave after time ¢ where 24 non as the many mamber ‘Thus * gesin 2 y (3.30) jasin? (336) Notiee, however, that the curve described by (3.3) is a stationary one and does pot move forward like a progeessive wave in water. Consider the progressive wave in Fig 3.7. Let us assume that the dotted curve is the new position of cae wave afier # seconds and may be described by the equation Ssin Lis known that is.zero when x = Ver and agin when 1 = 0; thus, when ¢ =0, 0 must be kx as shown in (1.3). This is possible only it Om Kix = HA) 2n or Oa ele Wan 2n since eZ Thus the equation of a sinusoidal wave traveling a velocity V, in the positive x-liregtion is given as Setanta (3.20) Which shows that the wave star's from the position of the soli tine in Fig. 37 and moves toward the right. ye wave equation ean also be given i te wave frequency m,. After a period of tine of have the value of at x = xy asgiyen by lieexpression , =F, sin ex = 2nd) fora any other Gime rwe Rave (2) But from simple harmonic’ motion 2a gts fas ,sintky on) (4a) for, in general form, sin(kx — e298 48) G.4b) se 6 = any arbitrasy phase angle If we observe a wave passing a fixed point on the free surface, x is constant and so is kx. Let us then’ assume that fake +5 tion of wave motion becomes ‘Then the general ey) [trom (3.4)] a ysin( ng + 8) in(cngt ~ that is, the water particles within a wave undergo a simple hiarmonie motion, but the phase of one particle differs from that of another, as one moves along. singe ff contains ky.» Alternatively, (3) can be considered at any ant of time, and «yf then becomes a constitus, IP wo (0.2) and (2.4) are identical, Thus (2.4) dleseribes the motion of an individual partick: at all times at any point on the axis, a the positivis of tie atall plaves along the x = ais at any insVRLOCITY, LENGTH AND PERIOD OF WAVES 17 Figure 32 therefore ean pe consilered to be the ligplcement af any particle at a fixed position on the x-axis, and this depends on the time elapsed, since it began somewhere on the left of the axis, This re also shows the form of the wave joie at any st has been shown that the simplified wave profile is sinusoidal. Although a sinusoidal wave is not to be expected in a sea, an irregular seaway ean be thought of as being formed by the suiperpesition in the following section the properties of simple (ic. sinusoidal) waves are discussed, 32. VELOCITY, LENGTH AND PERIOD OF WAVES. Without placing.any restriction on the magnitude of water depth, h, relative to wavelength, sinusoidal waves have been studied and the wave velocity alse as the phase relacity ot celerity) has been the anny 2h yeaah 35) incre Vis the wave velocity or eelerity, Lis wavelength, and f is the water depth. Hf, however, the water depth is very much less magnitude than the wavelength (ic. h/Ly + 0), then eh, nh Ly _ tanh bh Substituting this 8.6) {Ht in shallow ware all waves travel with the sume velocity regardless of their wavelengths. On the other hand, when the water depth becoines large in comparison with the wavelengh, that is, when iL is very lange. then fhe ‘Oe an singe wank x —+ 1 when x -+ <0, Equation 3,7 shows that, cnlike shallow water waves, deep water waves propagate at speeds depending on their leagths. Although the atove equations have bem derived con the basis ofa number of assumptions and approxi- mations [150]*, the results are found to rgrce very umber in oct refe ten in the biography a the end faye hook -” well with ‘macls is tha actual eases. The only major the amplitude of the wi sumption very small, Example 3.1, A.wavein deep L,= 202, iter has the following dimensions: Galt Find the velocity and the wave profiles at different time intervals, namely, ¢ =0, 0.1, 0.2, 0.3, and 1 sec. Solution: From (3.7) from which the following table is obta wee er ee ee CO ° re 2 a rn ee) “ 097 4 ase 7 an 4 Lom : # a ktm Ch ‘ 5 tm $a «Caer ' foo husk nae 0 ee fsa ist nie te esto h rr er) ‘4 oso i lam ane is te Logt is cage 1s tm i 1 Lt ase te oer o tela ke kaw » om cam yoo na The vatues in the table are plotted in Fig. 4%, ‘As mentioned carlicr, wavelength is measured from crest (0 erest oF trough (o trough, If 7, is 1 required for a particle at a certain crest to s5ecf the next erest then Zeca Ly= VT, oo A \ where I= wavelength Vz = wave speed = Jab [3k 77, = wave period ne f= 7 = 0.442 JE in fps units 0.800,/T,, in ogs units or1 _ SINUSOIDAL WATER WAVES Figure AN Propagation Fa sine wave as piven in Example 3.1 Tae 3.1 i obionel fom te relia of ng Cm ae ramus a1 centro. ia Teanga BT 100 40 27 ma crete of Lines of eee ca Woe Pit 0 1h tw Pressure , ° : ’ pax ~f,nae *oostha ~ wit Maximum Wave Ste Period of waves, the yw'Gon for the sinusoidal wave can beexpressed as S = Coos ke — Hn) ‘SitaTAME OF ANY DEPTH tara Meare ao p conte =) octal water ebety mee Mente = bh wen Ary ont Wave Vet or Ceerty t= (inn ah)” emis = Pres Pemba «ere pei hyo prese, ad Aue sry ston wre foe he 2 Job ado een smerican ia eat da waves are given for deep water in Table 3.2 and for water of any depth in Table 3.3. The notations for Tables 3.2 and 3.3 are explained in Fig, 19, The origin of coordinates (x = 0, 2=0, at 1 = 0)is taken at the still water level under the ware crest ‘The s-eowedinates, the wave velocity (or eclerity) Vac and the horizontal component w of the water selocity are positive to the right, The ordinate for tnd ¢ is positive in the downward direction below the sillwater level z and £ have positive value The vertical component w of the water velocity is positive in the upward direction, The water depth ft is taken asa positive quantity. Note: At tine bottom, that is, when = : =0 since -24h=9 and . w=0 1 partite al the bottom moves along.a straight ident with the bottom, as, of eourse, should be the case, In other words, the vertical velocity is ero. Example 3.2 4. What is the speed and period of a deep-sea wave 1000 f long? b. A wave is 1000 f tong and 40 ft high, and the depth of water is 150 fl Calculate the velocity of the wave and the amplitudes of the water particles al the. bottom of the channel. Compare the speed of the wave with that of a deep-sca wave of the same dimensions. VELOCITY, LENGTH AND PERIOD OF WAVES 19 1 PROPERTIES OF HARMONIC WAVES IN WATER Solution 8. 1, 1000 ft From Table 42 ; -( Mt (2m x 190 eae g aeeeeemenaas AT, _ 322 x 13.96 in ae b. Ly = 1900 fh, = 40 fl, h= 150 1. Since h, the water depth, is mot greater than 1/2, we wouid consider this problem as a shallow water one. From Table 33 716 fyfsce where or ven 2252 aan ctor tf” = 61.9 NYsce : Now Amplitude at the free surface - f, ‘ 20 For any depth the vertical displacement is cos k(x ~ Va) ‘sinh i and the amplitude is where, in this case, cos k(x — V,,) However, since at the bottom —2+h==0, sinh K(— 2+) becomes zero in the numerator, as docs the amplitude of the waves at the bottom. But, the water particles at the bottom have a horizontal displacement according to the equation cosh k(— 2 +h) og SOMME stu and the amplitude,of the horizontal displacement is, sh R(— 24 doen wg, SONA = 2+ I sinh id AL the seafloor, =! __ Sas sin kh ye20 SINUSOIDAL WATER WAVES o Figure 240 Since cosh = 1.0, ceosech kh = 20 x cosech 0.942 0 x ODIT = 18.4 NL Wave speed Vin shallow water is 61.9 f/sec, almost fivessisth as much as that in deep water, whick is The tisec Nove: a we consider i to be smatfer than £,/20, which js considered to be the upper limit of the shallow rater fie 50 fe), we car use (see Table 3.3) Vem Jah = J3225 50 b. Ifthe path of a particular particle is traced through ‘complete eyele, it will he found that in deep water all perticles describe circu that are g, (the maximum) atthe surface and deer with depth; that is, at a depth z the radius is Gye", where 2 shouk! be measured to the center of the silat path described by the particle. In shallow water the particles move in ellipses with horizontal and vertical gemiaxes that dininish with inereasing depth, At the bottow the verticsi semiaxis is zera, and the particles oscillate back and forth on straight lines 40 Nyse 3.3. ADDITION OF WAVE TRAINS If (wo wave trains happen to arrive at the same time, we have & superposition of these "vave trains, ‘This addition of wave trains can be regarded as the adkdition of two simple huarmonig motions, “Te illustrate, let us consider (wo wave trains as follows: e0s(kx ~ engl = 64) Vector addition of two sinusoid! waves an Gy = Gy costhe olf) Note that two simple harinonic motions can be Rided. if their circular frequencies m, and wave numbers k are the same “Therefore, the combined elevation is Ge Gy enstky = gt =) #4, castor 48 =) ‘This combination is shown in Fig. 3.10, 34 STANDING WAVE Standing waves-are formed by the superpesition fof two trains of waves of the same amplitude traveling, Pique 30 A staning waveSTANDING WAVE _21 in opposite directions. Standing waves merely oscillate uup and down without progressing in cither direction, In Fig, 31a the curves describe five successive positions of progressive wave 4 at different times, moving toward the left. The carves in Fig. 3.11b show the position of another wave B for the same times, Wave # has the sume amplitude and length as 1 but is moving in the opposite direction to A, Figure 4.11 shows the addition of the dis of both waves, A and B,for the sine times. At position 1 the displacement of the combined wave is maximum. AL position 5 the crest of one wave is added to the trough of the otker. The resultant wave then has no dlisplacement from the undisturbed water sur Ax and BF continue to’ move, the re oscillates below the line between Land M Tine between M and N. Such a wave is known as a Sanding wave, a8 no direction of travel is involved in the motion of the ecmbined wave. Anclytically, a stonding wave can be icpresented ied form as the sum. of two sine waves, traveling in opposite directions: tntse mfr i) Therefore, © =o, 46; is ‘ssn + z) (207) sine hl 0.for all values of tif ant Sm ae bene AE ME, Bordo ( + Ve Also, at each point x, we have a harmonie motion because of the expression sin ongt in (38). On ihe ‘other hand, the amplitude of the motion changes from-one point to the other by the factor oo) Now 20s 22% i, The points of zero amplitude (ic, obiaived from the aodes) are nx cos == 0 oy or the distance between two nodes is given by Example 3.3 Standing Wave In (3.8) assume that L,, = 20 and 7, = 0.25 and determine the elevation of the standing wave as a function of time, i Therefore «= x and £ = 0.5 cos 0.1nx sin nt, Results obtained from this equation are presented in the following table and in Fig, 3.12. Solution 1975 = 2 see FeO Fee reMh2we Fhe 1 Odsee 10.406 yout ‘ eee € fy mmm tm uo as aap oan” oak 080 Oe ae one fan oe al rr soo oo oo 7 0 0m an om -09 Koo 0M =o Doar woo on oan 050 i 0 =0w Saat 0 S09 Saar <0m Lon a ie =) te oo fei an 07 geo) a an 09 ast m 0 Os aoa 0 ‘Note: The same € values are ohitine for P26 se wefort = 04 1207 see wafor #04 FROM fe arfort = 03 109 ser ut for = OE fe Lsecasfors=0 Example 3.4 Show that a combination of two standing waves ‘out of phase by /2 produces a progressive wave, Solution; Let the equation of ae wave 1 be = Gym Bycos sino, ‘The equation of standing wave 2, out of phase by S7022__ SINUSOIDAL WATER WAVES, os tos 10a 06 10307 tr 02-08 07s bby n/2 from the first wave, is then Therefore, u = tor 09 025 Figure LA2 Standing wave of Fxample 3.1 surface increases. Ata distance of a few wavelengths fee from the free surface wave motion is. aegligible, in cos on although, in the stricter conse, the whole Nuid mass 4 is involved in wave motion. 2, si ba ing trigonometric identities, we ha ECTS ree ‘The radius of the orbit of a particle in deep ee es decreases vapidly with its depth fom the su att 2 ‘This is expressed analytically a: a Let A = 2. Therefore the equistion of the combined Se wave is vuhere {, = wave amplitude at a depth below surface C= wave amplitude atthe surtice This is an equi amplitude A, In the discussion of wave motion thus far, only motions of particles lying on the surface have been considered, bat movion is no! confined to the free surface. The amplitude of motion at a point sereases as the distance of the point from the free almost nonexi inasn per ny : mean cigpth of the particle below the surface + ave number = 2n/Ly jon for the progressive wave of ‘ ‘Therefore e-Watan Taisle 3.4, which is calculated from this equation, shows shat at a water depth equal to twice the waves length the disturbance due to a sti ce wave is (see Fig, 3.13). The expressionoy TURBANCE TADLE 34 DECREASE OF WA\ write peevit Depth of Water = Rut ot Wave Am & ‘Wevelength e oor ‘asm 02 oxni9 oor aan 04 ome ‘0 7304 on asus 0 os a3 onsik os 04nd 10 one aw oncom for wave profile at any depth is therefore given as = Geant = Fd =e Moos 20 — Held ‘or by first approximation, costkx = ont) ‘The water particles on the surface during wave motion are not absolutely still but possess a velocity of constant magnitude while rotating steadily, When ‘a water particle is on the wave crest it moves forward with the wave, whereas a particle moves backward, in the opposite direction of the ware motion, when it is in the trough of a wave. The wave particles move vertically downward or upward when the wave passes through the undisturbed water level (sce Fig. 314). Tn the case of deep water sinusoidal waves, which have, strictly speaking, very small amplitude, the paths of the water particles are cifewlar, but for waves Df finite anaplitude the water particles possess forward velocity for a longer period of time than back ward velocity. That is the reason why in reality the paths ff the water particles are not closed but axlvanes steadily in the ditection of wave motion (sce Fig. 4Ll5a), although the velocity of water particles very much less than that of waves, The motion of PRESSURE IN WAVE a Figure S42 Wave profiles at different depths. water particles follows the same pattern below the free surface as on the surface (sce Fig. 3.15b). The yelocities of water in the horizontal and vertical directions are given as wm Kee M ens ie = Val) (horizontal direction) wa kEWerM sin kx = Vel) (vertical diretion) One: of water particles: diminishes with incre from the Free surface. Jn sce from these equations that the disturbance ng depth 3.6 PRESSURE IN A WAVE, For many problems the most important aspect of waves is the distribution of pressure below the surfice, His convenient to compute the pressure in relation to horizontal fines of constant pressure in still ater. Pressure al any point under waves in water of any depth (assuming that the wave height is small— sirictly speaking. infinitesimal) is paz 0) i) where 2 is to be measured downwards from the stil, ‘waver line, and ¢, known as the clevation of lines of ‘equal pressure in a wave, is either positive of negati depending on whether the wave profile is in the Oss LAI Nd | Motion of water particle in a wave. “Ale24__ SINUSOIDAL WATER WAVES > Diton of wee notion o o Fiqwe 3.18 Water particles during wave motion, (a) Wa'er particles in a forwaed-moving ware. (4) Motion of water particles in a wave. trough or crest region, (see Fig. 3.9) and is expressed by cosh k(—2-+) lear loos k(x ~ Kut) (3.10) fe is the depth of water. In deep water (large fh) the ratio cosh k(—2-+iJ/cosh kh approaches e-*, and f= Se" cos kx ~ V0) oy ‘These expressions show that contours of equal Dressure at any depth are cosine curves which are functions of time when observed at a fixed point %q oF functions of distance x at a particular instant 4, Since « decreases as z increases, the contours of equi pressure areattenuated with depth, approach- ing. zero amplitude as Moreover, tess contours are the sime as those generated ‘by the cbital motions of the individual particles, as ilus: inated in Fig, 3.14 29. 37 -ENERGY INA WAVE {must be emphasized that the propagation of waves: is brought about essentially by (wo things: (a) the inertia of the Mid, and (b) pravity, whieh tends to maintain the surface as a horizontal plane, ‘The interwetion of these gives rise (© periodic motion; a wave system possesses both Kinetic and potential energies. The kinetic energy is due to the fact that the water particles have an orbital motion, andl the potential energy is due to the elevation of the water level. For a-sinusoidal-way2 the potential energy is aiven as E, = ipaiiL,, per foot of breadth or per unit of area of wave surface 3.12) em bea Similarly, the kinetic energy cai be capressed as E, = Leak? per unit area of wave surface (3.13) Therefore the cotal energy for a sinusoidal wave is the sun of (3.12) and (3.13), given as, E or it can be said that thetotal energy per-unis area ofthe mavesurice is. puG3L., per foot of breadth Eng Example 3.5 In a model tasin three flash pictures of a traveling wave have been tiken as illustrated in Fig. 46, ‘The first picture is labeled ¢ = 0, although: the motion was initiated earlier, Lecause the stopwatch started a this time,t : C , SS |, oo ENERGY INA WAVE, 8 torn So s02n Den 40am st] a @amasosn igre 3.16 Determine: 1. The wave speed and period. The wavelength and frequency. ¢ The mathematical expression for the wave. 4d. The total energy. ¢. The pressures at’ Br=25 Mand 2= +05 1) for 1-0 (ic. a wave crest), for t= 0.28 sec, oF when a wave (rough is above B. Compare these pressures with the values for the same depths of water if there Solution From the data in Fig, 3.16 we have a, Wave speed: Distance _ 41 ae tlic = 715 hee Period Piz p10 i - fs = 1.396 see b. Wavelength: 12 é Frequency: Thus the cireular frequency is «, = 2nf'= 4.49 sec". . Mathematical expression for the wave: ‘Sinusoidal wave motion of Example 35, piven in) Tables 3.2 and 3.3 is expressed as bo = Scostkx ~ ot) : ~u 1 =0and x=9 bombs But the first wave profile shows that, at r= 0, fo = 0. ‘Therefore there isa phase diference of n/2, that i & cof $= thx e on =(,sin(kx cn)” & Since C2038, and «@=449(from the solution of part a) the equation of the wave can be written as fp = 03 sin(0.628x — 4.451) 4. Total energy: E=Jogt3L, per foct of breadth E= hone Therefore Em ibe 401.9905) 32.2)(0.37 10 29.016 per foot of breadth ofthe wave ©. Pressure at any point in crest is expressed (rom Table3.2)as + +, or per square foot of surface . P= paz + patje~* cos(kxe ~ cat) he.26 _ SINUSOIDAL WATER WAVE! Since we have established that the surface profile san be expressed by a sine function, the pressure at any point in the wave should be expressed by S as + Spe" sintkx = 01) + CM sin(k — oo)} nr G44 2 + 0.307 82% sin (0.628x ~ 4.491] ee e0se Gg . 322, 0628, "and, 449 Now for 1=0 (ic. for the first wave profile) the pressures at all values of x from 0 to 10 fland 2 = 0.5 fic. ax a depth 0.5.0 from the still water level) are calcutated in, Table 3.5, » Nore: ‘The point (20,5, x= 2.5) is under the rest, and the point (z= 0.5, x= 7.5) is under the trough, when (= 0. Therefore point B, which is under theerest alr = 0, hs pressure of 46.3114 psf, whereas, when B is under the trough (when 1 = "72, ie, when 10.7 see), the pressure at B will be the sume as Uhat at the point (x = 7.5 f when r= 0 see), thi IS.ONN6 psf see Hig. 3.17), bor any other point at any depth from the still water fevel and at any time, the pressure ean be calculated by using the equation in part e, as was done for Table 3. If B has the same height of water in still water as in the ease of the erest above, the pressure will be p= pole +6) 64.4 x 08 IED has the same height of water in still wi in the case of the trough aboxe, the pe ale €) tH, §(05= 03) 644 02 = 1288 pst or sok sea TAMEAS 22050, t= 0seq k= TT ak 24a we"? . Se sin he Presore [sf] ° 6 ua os 967121 de 507 ho on 94945 Ls our sNo168 w 208396 #6207, 2s, 0219121 oid no 0201396 80207 as orm 16h 40 0128796 oan 45 ong 345007 si ° m2 3 00677121 ra «o 012K 290s as a aamaT mom. * an 0 aki96 bam 1s Sou oki 0 20308396 lars RS 0173 zm? an SRK 2a0ss os oo.77121 rawr 00 oo ha Thevefore the dif_erence in press depth at the same point is 4631 ~ 51.522 '-5 es for the sa 2! psf under a crest and 18.09 ~ 12.88 = + 5.21 pst under a trough ‘This difference was first pointed out by Smitl: [112] and is known as the is 38 GROUP. Vt Wave groups ma (oo traine of a LOCITy. be formed by superimposing ig the same amplitudes but ea zee ec gore 07 1 Prose nt 0.2 den 1 father ha une ve “6 6) 8 9 ae i ‘Change of pressure during wave mation,8 GRour VELOCITY 77 “itte : rand a variable amplitude of 7 Vet uy Haw . | for evan Sf = 20s Pf ; : slntkyx = 44 e Saint Hf) Ca Now C2 is maximum when and pee coe . Spe esin thy = 40) was, shy 04 2un, mm 2 (Not that different wavelengths correspond (0 gat Cf is zero when Jiffer cat Kanal. witless) * ration a the Ho wae yl . Ih, and K, are very nearly equal, the cosine term . of (.16) changes very slowly with x; therefere the wave at any instant has the form of a sine curve Sihere the amplitude changes between the minimum Value of zero. and the maximum value of 24. The tre turface will therefore look like a series of groups fang) Stoves separated hy bane et sooth water at cqual intervals of time, as illustrated in Fig, 3.18, ring (216) with (14) oF (315), we not The group velocity in water of any dept is given thot through (M46) we have a ware motion with aby the expression tispleement proportional te oh fase) a= iner th eowt(™t) gar me * bith mete, Morag seni) Gin sin" 2 For the deep water case the ratio h/L, is rather large, 3 too = hth 12] fertigeen : tlinaon sing but ste . igre 28 oy Group wave of Example 16. the__ SINUSOIDAL WATER WAVES, and s0 Vem ihe since Sech? (2h/L,} +0. This means that the compo- nent waves will appear at the rear of the group, will travel through it at double the velocity of the group, and will disappear in front, This is often observed in deep water. ‘The group velocity is of great physical importance, sinee itis identical with the rate of transmission of energy in waves. In other, words. an isolated group of waves cannot advance “urotgn sill water unless its energy is transmitted at the velocity of the group [1s0}. In the ease of shallow water wave speed is indepen dent of wavelength, that is, V,= Jali and h/L, is very small, and (3.17) is stated as Weeden Jn ether words, in shallow water the velucity of a group of waves and that of the component waves are the same, For this reason ome does not see waves appearing and disappearing when one looks at waves from the beach. At the beach the sea is so shallow that the waves and the wave groups travel forward atthe sume speed Example 3.6 Wave Group Let, for 1 and a «, ~s0sa( 25.) &, > $.0sin: eu - (20) 26 EXAMPLE, OF WAVE GROUP VELOCITY t ° » ao ow & 1 ws a7 47s & O 2k kas aay Se 08% as sha . 20 wn 0 w ws 47 aT 98 ee ae a aa Cite Oe te eal role ay) . 40 ato 5 & at es cig 2 tee an . Se Tae 938 Te where and Find the elevation: of the group w: Solution Results of the combinstidn of ¢, aud {are pre- sented in Table 3.6 and also shown in Fig. 3.18. ‘The wave groups for x-£0 fl and fer various ¢ ues raunging from Oto 330 sec ae sllstated in 3.19, which indicates that thé node exeated 0 by the combination (Gy, +", rug Will coour every 260 acc. we plot (C4, +¢,) at other x yalues, the nodes will again appear at 269 sec intervals, although at diferent valves af ¢ from those for = 0, Wis also observed from Pig, 3.19 that the envelope of a group wave is wavy instead of consisting. of two parallel straight lines as is the ease with ecmpo= > nent ways a9 The ibsolute period of the waves, as described in Section 3.2, may not be the same as the perions of the lip during its travels, A ship heading directly imo waves (in a feud sex) will meet successive waves much more quickly and the weves will appear to have a much shorter period. On the other hand, a ship moving in a fallow ing sea 0 a7 a7 0 ars * san 24” 140 a7ss S41. 902-969 Lar Sa mo WO MeO ana -28 4747 298 Grd as) =4m 24s | “—285 <3on luor ost Soa Las 50020 sa 5) tae 0 es aaa Om 22 4s Lag anes Ma 218 on Lam a4 L39530 SINUSOIDAL WATER WAVES {will move away from the waves, which will then appear (o havea longer period. Ifthe waves approach a moving ship from the broadside, there will be no difference between the absolute period of the waves tung the apparent period experienced by the ship. ‘The period of waves thus encountered y the ship, known as the encountering period T,, is a function of the absolute period of the wave, the ship speed, and the angle between the direction of wave travel tnd the direction in which the ship is heading, ‘The encountering period T, (or the encountering frequency «, = 2r/'T,)is the important consideration inrogad to ship motion in waves, sinc: the encounter- ing period tells how the ship meets the waves, which then affect the motion of the ship. ‘Therefore, in ail ship calculations, the encountering period (or fre- ‘quency) should be considered instead of the absolute wave period (or frequency). Tpewreouernusauulay ibs is, theanglenetween (he-direction-of-wave-travel. and the dicection-of-tne shup's heading, is-measurcd_in_a_clockwise_manner from the direction of wave travel, When the ship ng. into. train of regular waves, the angle jr is considered to be 180", as shown in Fig. 3.20a. ‘Similnely, itis shown in the figure that the enconnter- ing. angles jr for the following and the bean sea are se 0" and 90°, respectively, 1 should be noted that, ‘because ofthe symmetry of the ship on the sea surface, fone should consider only the eneountering angles from 0° to 180 ‘The expression for-frequency.of-eacynter when a vesstt is traveling at anangle.y.frem Jh adyaney fof the waves is now, derived. Let Fength of wave V,, = speed of wave and = speed of ship Wve cee Wave crest Liiililll Leite Ks ) The component of V ia the direction of the waves ICV cos p, while the relative speed of ship to waves is V,— Veos st. The time required by the ship to {travel fram one crest to the next is — 3. Wea V corn (188). which isthe perigd of encounter. But =(W7",)e0s 1 Nove: opposite dire ship and waves are traveling in 8, ens 1 is negative. Henoe 7) 605 jt where «,, is the cireutar frequency of the waves, that is, ‘Therefore wpe an) is the gicculte rquenc,-of encounter, Abs. ‘Therefore the rxittiosship between the freqnency of encounter ancl te wave frequeney 1s a When pe 90" (i.e, 60s j= O}, thea 1, = oy (3.18) Figore3.20 Definition of heading angles, (a) Heal sea. (On Following sea. (1ves, ASHP IN WAVES 31 esting art Figure 121 Vessel moving in a regular wave train. * b. Froctive wavelength = (L,), = L4/eos (Fig. 3.20. Now we have two kinds of frequencies, one being the absolute wave frequency «, and the other the Frequeney of encounter my. tn the study, of slop motions it is essential thal we always convert the absolute wave frequency into the frequency of fencounter becuse the Istter is the frequency th the ship experiences and (o which it reacts. The ship speed and wave direction must be accounted for in the frequency of encounter. The physical sig cance of the encoutering frequency , can be described as follows. From (3.188) we obtain anv, — V 60s 1) ars) ‘or from (3.18) we have ol) urka) Now, consider the following a. When «, is zero, the ship remains in the same position relative to the wave profile, This is posrible when y= Lor ¥y~ V cos jr= 0, that is, when the ‘waves and the ship (component of ship speed in direction of waves) are moving at the same speed. See Fig. 3.224 ty: When co, is negative, the ship overtakes the waves, which then appear to comme off the bow of the ship, although the opposite is actually the ease. This oceurs when n> 1 or when V,,— V cosy <0, that is, ¥ cox 1. huis the same dirsction and sign but is of larger magnitude than H,. Such sea cornlitions are described 1 as following seas (O° << 90" and 270° < p< 360") (Gee Fig. 3.225) c. When «, is positive, V,— V.cos>0,¥, and Veos j may be of the same sign; however, Vy ik greater than V cost (ic, 0<1-< 4) and the waves approach, the ship from aft and travel so rapidly that «a, is only slightly less than «(See Fig. 3.22) On the other hand, ¥,, and V cos may be-of the same sign and the waves may still approach the ship from aft, but they may travel so slowly compared to the ship that w, will tend to ve small (} <1) <1) (Gee Fig. 322d) Such sea conditions are defined ‘overtaking seas, that is, when 0 {fis ° 23 this 5 "2M, ana 225) pike nya t~ [2 mn 2.5} = 229) masrnon 5 rem aan =emin = 0.0623 oF 6 For example, if H,= 10 f then p= 6190.22) willy the other probability values are caleu- 9.258. There is a probability of O25 that the wave tated a hewn in Tuble .5.and plotted in Fig. 56 ight willbe greater than 11, 104, tn ther works . ‘out of a number of waves N. Ne"!!! waves will under the Raykigh distribution Ke nigher than Tf, Note: Thetot sare ftoull cal L0G the total retablty "rem set lation one can fil he average staid be 1 Q i Tah, or the eight of the onesthird Simpswn/ intognyt wave height, oF the average height of the ona From Sowehave EON SmPn/ segt ya he or the avezge Rog of he fetid : ‘Ava from 25 to 225 = {12 Preluct, using the highest waves, and soon. For example, in the pect Simpson rule for integration ingexample the average wave height is = 4199010623 « 1 4.00049 (y= ost 4 400407 x 2 40.0075 , acme the average height of the one-third highest waves is . 092 (5.0 -1) (yy = Lay (5.36) Arca from to 25 = (2.5)[5(0) + 8100623) he average hight ofthe one-tenth highest wave . Cs + none7 the average height ofthe one-tenth highest waves rule for integration (yo 8074)" (530) = 008 : ‘These expressions are valid, however, only if the ae Rayleigh distribution is correct. Some’ corrections which should be the probability for all waves. are required if the actual distribution differs from _ fo Percent 8 } Foot at 3 O} ce i nce : yh non ; Een i rene i 1 1 4 id a 10 1s 2 ES a, Wave height [ft] Figure 56 Wave histogram andl theoretical Rayleigh distribution, on19 IRREGDLAR SEAWAY TABLES He Numbsr — Cumstie Naber int crWaves | Nawber sf eight © ° @-Ox® is sha vant 1s 12300 sun is \an20 200) ns is. ex ns 100 720 sum 16000 ir the Rayleigh one, as will be shown kite Table 56 has been compiled in accordance with ‘Table 54 in order to compare the actual values of the average wave heights with those predicted by the Rayleigh kaw. Trcrage svave height is 116,004/16,000 = 7.25 fh ‘According to the Rayleigh distribution. average wave height is O89 x 8.59 = 7.65 fl. One can ser thiit the theoretical Rayleigh distribution fits the example The histograms as deseribed above can define only one characteristic of the irregular seaway, namely, either period, height, or amplitude. Only the wave energy spectum method of describing & seaway takes into accaunt botlr the freqrency and the wave amplitude, This is discussed in the following, section. 5.3 WAVE SPECTRUM Jar wave pattern ean Jv generated if large immbe> of sinusoidal waves of different wavelengths hy r7easa ny $6202 nr i Acontinaion \ iy oni ~t a Vy tk ea ee ee ior volt { iy vy I Ww te igure 7 Adlon of four sinusoidal wavesample define seaway, e. Only ibing a pey and lowing fe large elengths Hioge ae = ys BaD cians Gone and tieights are superimpcsed on each other, The resulting wave shows no sefinite pattern for either wave height, wavelength, or wave netiod. 1 iMlusirated in Fig, $7 by considering waves, cach having its own particular wavelength and wave eight, The combination of four waves, shown in Fig. $7, is of extremely irregular shape in regard to both wavelength "Not only does the superposition of many sinus waves create an extremely irregutir seaway, but abo the pattern of the scaway is never repeated from ‘one time to another, There i, however, only one way to take into account the irregularity of the wa and that is to determine the total energy. This is ‘obtained! by adding together the energies of all of the I. regula? sinusoidal waves that produce the by their superpesition. The severity of the seaway is then measured by the total energy content of all the waves present, AAs mention in Sec siuspidal wae is-given-as (aint | face. Therefcre the total N of-surface of all the waves, is given by [a Foto AL SA) “Thus any’given Seaway ean be described hy the energy distribution versus the different frequencies (or wavelengths or wave periods) for various wave coniponen's, The frequency distribution of energy A. Vine_enengy of at square fo netRy Per. ‘vit amplitudes <, yee ge Lahaye m uta Aoki’ Orns fue Bash CrwryE WAVE SPECTRUM m1 isealled the guczay spectrum for the as illustrated in Example $3 Example 5.3. Find the energy distribution of an irregular seaway composed of four different waves having the following, characteristics: Wave number 12 3 4 Length [11] (265 582M 202 Heignt {ft} Dos sac? Solution; The circular frequency expression is Jere _ : Pe PD = fron which 204 m=O mye og ued y= Let 7 ie Thus the total energy per square foot of the wave surface : . Meese ae 3h 83, FO FD is sast eed = 10.24 195-4 12484 M2 = 421.216 SEH anys fot (h. \y i) = iF a7 7 aoe = bait / oF J) o7stheme : . 7) oe / 524 we | \ pon siz * em ~ Foz inte Aree 198 tre} Aro 124.8 te 1 ca 4 4 can ° oF 0 a0 ae 70 heute rewney. tite "8 te Figure 8 Energy spectrum for four waves, —_—_—— h ee12 IRREGULAR SEAWAY Figure 89 Approach toward final spectrum, © where put 62.41b/f0 for fresh water, The distribution of this total energy cceording 10 the frequency of waves is given in Fig. 58, where the ordinates are obtained by dividing the’ individual energy content by the bandwidth, which is 02 in te, iis pueticular exam Note that the dimension of energy (see Table 4.5) is th-fi. Since the area under the total curve should give this dimension, the ordinates represeni Ibeseu/, singe the abscissa has the dimension of see ‘The tolal area under the energy spectrum gives the (otal energy of all the wave components. Note that the energy «ue to,cach frequency has been given ausmall bandwidth bv, in order o obain a gontinuous curve, aé shown by the dotted fine of Fig. $8. Since the seal sea is mide up of all frequencies and the wave pattern itself is never repeated, the encrzy spectrum has to be a continuous eurve, eomposeal of the contributions of sn infinite number of repair fh oe Hi waves, Inving all differant wavelenths and very. small amplitudes, as Fig, 5.9 shows, The energy spectrum in Fig, 5.10 covers the entire range of frequency; the bandwidth dw, is decreased, and the number of individual wave trains increases vant it infinity. At the some time the energy gntent of each individcal wave component is also Ucereased; however, the total amount of energy lable in the seaway remains the sane. This continuous curve between «= 0 and 19, = 00 Actually represents the energy spectrum of the waves, Tis to be noted that for a given vind speed the waves that sre first generated ave short; the longer wavelengths are generated when the wind continucs to blow, Ultimavely a fully developed sea is procuced which is stable and does not change as ihe wid continues to blow. ‘Thus the en-rgy spectrum also changes continuously until a fully developed sea is formed, During its growth longer waves. are produced (je,, the contributions from the shorter —™N“ etd we.10 Final energy spectrumWAVE SPECTRUM 113 shorter Fire the generation of longer waves, the maximum value of the energy spectrum shifts toward the lower frequency side. This is also the case for a fully deve- loped sea when it is expericncing increasing. wind ul, See Fig, 5.12 ‘We have seen that (84) represents the energy in waves and that the aren under the curve 58 yields the saive quantity. Now, instead of drawing a spectrum as in Fig, 5.8 that is, froin (5.4), one can draw a different figure in which the ordinates repre- sent Wardentey] a fed cuit, and the area under the curve Note: pg is di eee atoms Weer aero wy (eT Fire $12 Energy specita of fully developed seas for ‘various wind speeds oo 11 Energy build-up of parially and fully developed seas, of the new figure, generally denoted as mg, is later multiplied by yy to sbtain the nergy. The new figure is called the wape s and the ordinates are represented by Tmo At, whic i called the spectral density of wave eneray. The wave spectrum for example 5.3 is shown in Fig, 5.13, In Example 13,4603, 4-03, 402) = HPS) 4025 = 6.7551? Pei} Therefore the total area under the wave spectrum in Fig. S13 shoukl have a value of 6.755, which, when multiplied by gg, that is, about 62.4 1b/M? {for - fresh water) gives the eneray, which is 421.2 t/t ¢. As in the case of the energy spectrum, the ordinates of the wave spectrum are cbtained by dividing the individual }(amplitude)? vatucs by the bandwidth, which is 0.2 in this particular example. Tu conclusion it should be noted that there isa limit on the number of waves to be considered in obtaining the maximum wave height from. the Rayleigh distribution, Although we may obtain a very high wave if the wave record is made for a very long time, the probability of occurrence for the extremely high wave is very low. Therefore oflen, 2 record of 100 waves is considered (o he sufficiently representative for the determination of the wave spectrum, and the “most probable” value of the cone-thousandth highest waves is taken to bs th? ‘most probable largest value [152] Sometimes it is not the number or observations bbut the period of time that is coasidered in obtaining fa wave record for statistic evaluation, for example,114 IRREGULAR SEAWAY % sm 2080 i en a8 17 | * ea = C0 se2s | 2 4 a ent ye I ge sta Wave specu forfour waves the total number of waves passing a pont within hour, or the total number passing a point during longer period of time. The total number of waves is obtainnd by dividing 1 hr by the siwif period. nt wave S4_ PREDICTION OF AN IRRE SEAWAY To be able to define a seaway itis nec sample records of the wave heights and the freq fof the particular scaway concerned over a im period of time. Although the wave pattern will never be repeated, the statistical characteristics of the sea state, that is, the energy spectrum or wave spocteuni, will remain the same, This is the advantage of statis- ‘ical investigations. In other words, the sinusoidal components that «pproximnate a record for a parti- cular sea state are the same regardless of time and place and differ from one record to another only in the phase orientation, thereby keeping the enzrgy- of the wave system constant Although a spectral density curve may be drown from just one wae record, it is often preferred to obtain tie average wave charactersties for any given area ‘by taking many samples of wave records, The Speeteal density curve omy also be approximated by an analytical expression based on probability theory. ‘The procedure for plotting a spectral density curve to a base of. wave frequency is illustrated below. Let us suppose that a record hay been made of four component waves of wave frequency, «,, between O.75 aid 0.85 (ie. ry = 08 40.05), and that dn, = O85 = 0.78 = 0.1 fs the bandwidth, ‘The wave ample fuses of the wave record are f= 0806, Gy = b44, Gye hl8, and 6, 0.707 f Thus 2075, G3, = 200, G=128, and Gd, = 0s Therefore 975 +2004 1.25 +0.50= 4.5 0? a, and mo or the area under the eurve overs certain bandwidth is the sum of {(amplitude)* values for all eomponent waves. Thus Sw,) 50, Sten), $4.8) = 2.25 1bility curve below. « F four, tween B00 ampli ne ndwidth Jmponént co oe hear equeney [adel igure which is the aren under the energy density curve for rm, between 0.75 and 0.85 sce '. Since dw, = 0.1 sec™', that is, 0.85 — 0.75 in our records, 225 sored“ This value obtained for enetgy density its been plotted in Fig 8.14 Now the total eneray( = mimi per square foot cof wave surface, where mi the aren under the eneray density spectrum, or, dimensionally, = (ML) (LTA) or E=(ML-FT™*) for the total wave surface. Thisis the dimensional expression for energy. asgiven in Table 46 Note that it is-not the’ energy spectrum of the secaway that has a Gaussian form: it is the scaway record (histogram) for ware eeverion that is Gaussian, ram for the'wave heights of an irregular ‘considered to be more or less a Rayleigh tion, ‘The energy spectrum may have any functional form. To use the principle of the energy spectrum for cugineering studies, the quantitative values of the ‘weave spectrum for different sea reyions and for different climatic conditions should be known, Although there are differences between different wave spectrum formulas, the ordinate of the curve is generally taken as the spectral density, which is rei! to represent the fll eneray of the component waves, Since the energy of the component waves is ditectly related to the square of their amplitudes, the spectral density can he referred directly to the synare of the amplitude of the waves. The notation = 225 M?sce PREDICTION OF AN IRREGULAR SEAWAY 15 4 (ad Lgeray density fora particular frequeney band. (H) Surface clevation at equal intervals of time for the spectral density is Si(,).and the area under the curve is cquivatent to the statistical variance, Furthermore the significant height is obtained by the relation (hays = 40 Jarea or where (hiss = 40% Ig = [*sgoaao, (5.6) is the nroa under the curve of the wave spectrum. The factor 40 ix obtained on the basis that the + histogram for wave height follows the mathematical approximation given by the Raylcigh distribution, which characterizes a rather narrow wave spectrum. Again, SO 4)/ 50 = HCE, +2, + oo) (5.7) for the particular value of bandwidth do, as mer= tioned ‘fore. The wave spectrum so obiained not only gives the various average values (the significant amplitude, average amplitude of the one-tenth highest waver, etc) but is also used for the extreme values, as will be shown later. ‘The following. useful information froma wave spectrum: a. The range of frequencies that are important for he contribution of energy to the seaway. b. The frequency at which the maximum energy is supplied. €. The content of energy at different frequency bands. 4. The existence of a swell at low frequencies. te etme aah Aw bbe derivedHo IRREGULAR SEAWAY. TAME Anite Average wave’ 125 Jing ‘verge ofonethied highest waves: 200, ‘varge oF netenth highest waves: 258 5 the motion is no longer oscillatory and is known as perio, This is of no interest for us, since in ship motions y is always very small in relation to «2, ‘As mentioned above, the constants Cy and Cy ‘be found by prescribing the initial conditions. For example, when 1 =0, de dt (ay) ces, andale (bh) Consider (a):if1 = 0 in (4.4), thea and me Megcoseng + C, sin of) Consider (b): aa fo we M(C ye : Fase IC, co8eng CSNY!) 09 age MC) sin wg + C, Sin og) We have already specificd that, at (= O,dz/dt =0 Fiqwe 42 Free damped oscilation, any38___ UNCOUPLED HEAVING, PITCHING, AND KOLLING MOTIONS or (= = 0C, +a. Irom which since C, = 2, and, therefore, Lal Forced Heaving Motion In this ease, for the equilibrium condition the equa- tion ef motion is Pte bers Ky cosens (4.74) ‘The solution of the equativin is LOC, COs engl & Cy sin N+ ,c08(m,6 — Fy) (4.70) Eo de *sintend ~ fl) 1 zc0s(eng-~ 6) is the amplitude of the freed motion. and fi the phase age ofthe forced motion in relation to the exciting foree, According to (47h), the motion is se sum of two oscillations: the Sst term describes A free, damped oscillation [compare with (6.4)} and the second (erm an oscillation with the same circular frequency as that of the exciting force for heaving. AS long as both oscillations are eiective, the result is calle" a transient motion However, the firs oscillation decays more or les quickly. depending fi the magnitude of ». For the steady condition the anoplitud ofthe forced heaving motion 2, is given by Fal wire y= stati saving ample = imation ctor = 44¢ "giation Mr to VOR A aAD a OP (aa Frequency of encounter tuning factor = - Natural frequency “ha i (4b) = nonuinwensional damping factor - (4xe) vo asin (sn asin (4.3) angle between the exciting fo and the motion 2wA ie IF itis assumed that a Wave or a certaih lengli and amplitude jiasses along rather slowly, 80 that the ship is it. position to balance itself statically on the wave at every instant of its passage; the ship will then rise and fall slowly withthe encountering frequency s0 as to keeyr balance betwoen weight and buoyancy, and a sfatic amplitude, Gy will-cesult. Ifthe wave is now considered to move at its correct velocity, a dynamie-amplitude, namely (Z will be produced, The ratio of the amplituce in the dynamic ease fo that in the static eave is called the mggnificution factor, By plotting j= 4/5, t0 a base of A we obtain the figure for dynamic response, as show in Fig, 43. ‘The maxinaum response is abtained when the quantity under the root sign of (48a) is at minimus. ‘The condition for this is obtained by differen: iating. with respect {oA and equating to zero. ‘Thus, when Ae Ji det, then stan"! For a very undamped heaving motion (ie, when x is very small, Ay fOr fig is nearly equal to unity, ‘This condition, that "is; when the encountering’ seney of the exciting force is equal to the axtural icy of heaving for the ship, is considered to be freq it eritical one, Also it can be seen from Fig 4.3 that for larger and larger damping the maximum response tc.ds to shift more and more toward the Felt, that i, fag is obtained for A somewhat less than unity. In ny ease it is recommended that tuning fuetors near 1.0 be avoided if possible; in other words, for a given wave height, more moderate and less objec tionable motions are expected at speeds far removed from synckronism. Such is the ease when the shipy speed is high and the effective wove tengths are short (ie, A< LO, Ic is true that a ship's scakeeping is dependent ‘mainly on the forced oscillations, but the free ascllae tions are also important for two reasons: 1. The fequeney of a ship, whicis is evaiuaied from the free oscillations, determines’ the valuecis ty. ing ral HEAVING 07 ute ‘tere 43. Mapnilieation factor versus tu cof the tuning factor. A in Fnding the region of resonance (ie, A= 10, were the motion is largest 2, Even in regular seas the (ransient motion that may eause a large amplicude is dependent on the free (though damped) oscillations, In an irregular sevway, the transient motions may take place at random. ‘Attempts are therefore made to reduc free oscilla- tions as far as practicable, especially by introducing thigh damping, as in motion stabilization, ‘Once the forees for inertia, eamping, restoring, aud exciting are known, the various expressions for the motion ean be easily determined. In other words, 10 ae tee ing factor, efore we can determine the heaving motion, we must evaluate the various force coefficients, namety, ache, and Fy of the equation of heaving motion, equation 4.7a, Inneriat, Foret A body having an accelerated motion in a continuous ‘medium of fluid experiences 1 force that is greater than the mass of the body times the acceleration, Since this increment of force can be defined as the product of the body acceleration and a quantity having-the same dimension as the mass, itis termed cadded_mass. This concept is needed 10 discuss the inertial force of a ship; thus the inertial force is40 UNCOUPLED IIBAVING, PITCHING, AND ROLLING MOTIONS, yy accelerating force 4 liquid sce where M-= mass of the vessel and 51 ‘ment of liquid accelerating foree, Thus force incre ome Inertial force = One should remember that the concept of added miss is introduced into Muid mechanics for cov: venience of evaluation and does not have any physical significance. For example, one should not imagine shat a body accelerating in an ideal fluid in a certain ireetion drags with it a.certain amount of fluid mass. According to Ref. 135, an inertial coefiicient Cis defined as Added mass of the section of unit length, bear Half of the seginent of unit length and diameter Now, half of the added mass for a circular section segment of unit length and diameter B, is pnt = OB ip from Ref. 135 where breadth B, = 2r, For shapes other than semi- circular ones, the added riass of a ship section, ayy is found to be [135] : px ae ‘The coefficient € for Lewis-form sections is obtained from Fig. 44 as a function of the draft/beam ratio, and the area coefficient of the section (defined as section area divided by'beam x draft), as well as a function of circular, frequency of oscillation, It is assumed that the added masses for sections other han those of the mathematical Lewis form will not Ulifler appreciably as long as the beam, draft, and area of cach section are equal in both cases. For conventional Fall forms the Lewis-form represen= tation of a section that has the correct beam, dra, and area, but not shape, has been found to be quite sitisfactory, ‘Therefore.the-added_massof the total. nA Ditetion of ship eavel shipcan be calculated as Using the value for a, and noting that 1, == 294%), where y(x) is the halbreadth of the waterline, we 5 (" CAN dy of Adied Mass Example 4.1.Calculat Groen: - mngth of model L= 19.2017 janie beam — B= 2.592f Draft T= Laat ‘Wavelength = ship length = 19.20 f Longitudinal center of gravity LCG = + 0.48 fl forward of 0) Longitudinal eenter of buoyaney LCB = +048 ft torward of G2) Modetspec! —u = 4.788 fysce Displacemeat A = 2837.76 tb 1¢= 180° fie, head sea) Station B, t No. fm tn) 0 a 144 0 5 2592 Liga 2.944 10 2592 Lida 2944 15 2592 Liga 2752 20 0 Lia 0 Find the added mass for heaving, in terms of the model mass Solution: From Table 3.2 the wave freqveney is = ag, (2x suis 22 td wT 1520 = 3.245 rad/ece and the encountering frequency is Geos ys " ub ld where w is the model speal in feet per secant wai de Vem) wa) een ay ohthe | : MEE Mas 8 Ta 8 3 Piwre 44 Added mass cooficients for two-dimensional Noating bodies in teaving motion. 89} aAND ROLLING TIONS, 42 UNCOUPLED HEAVING, MITCHING, TABLE AL ee Simpson's Prost sien Fr - « ho Te Se em AIT, BT com Mem ‘ultipier omer (HY THY AM) 4 ©. 8 8 ©. o.% oO. 8 8 8 Swen tis emo omy ugoo osm acm goo aa oN ET icon om Le Om age amass 93 ame GTR HS aug TRE HL 3S gpm. baw ames a” ame erie $1) Aye 2 1woR2 TENG Bsa osm 2m 256s age OM EIR SIN) 4 mu ee rete os eee te ee 1 fm Deseraton 1 Calan Raber eat eserpton a Satna Number w Fea Stal, EA ® Draft Station, 1 ‘ Sectional Arc a Staton, S317) via (od d= My {Seay eo) Henn Dra Ratio, BM, ye UT + Sectional Arca Coetirint = SAB, * 73) “The data for this example are presented in Table 4.1. 5 ile 4 x station spacings) x SUM Adaled) ass for heaving. ol Figure 4 Cohn Number Description, ® ‘Add Mass Coelicent, Coban (013 ine un the values From ad) oO Nenn Squated ® amen B= ‘Amplitude of the heaving motion ‘The amplitude ratio A can be oltained from Fig. 4.6; therefore the total damping coefficient can be calcu- lated by integrating , over the entire length of the ship, that is, ua a ' ona coefficient & for the same values used in Example 4,1 Solution: ‘The data are presesited in Table 4.2. a ae Simpson's Prodvet Matipler ® © © © 2 ‘0.000 000) , 000, ‘sto 0325 4 rc as%0 0325 2 tum 0660 oats 1369 4 3476 ‘0.000 0.00 8000 ' ‘0000 suM Column Number Description ‘ith the values fom columns >.c) anil @ ar om Sectional Damping Coeticlent by py? A/a} Simpeon's Muli Pradust = O«@ ee9co3,05 fy o8 Hawa Fiore 46 Amplitude ratios 7 for twoulimensional floating boties in hea Here fs seetinal ing. motion (8) ea coeficicnt, H, is breadth of cach seetior, and T'is drata ‘The damping coefficient for heaving is be fats =4}xs%SUM + abd x 66567 or b= 106.67 [b-see/. 1 should be noted that damping is sery important in the evaluation of amplitude of motion synckronism, whereas it bas less effect on the arspli- tude of motion at frequencies that are further away from synchronism, However, the damping hax greater effect on the phass lag of motions at frequen- cies ciflerent from the synéhronous one. Ii strip theory the internetion between adjacent sections is ignored, However, the results obtained from such calculations agree well with experimental ‘ones, Vhere are three different methods of obtainin damping by model tests [242] 1. Free oscillations in alsa wate: 2, Ferced oscillations in calm water, 3. Forced oscillations in regular waves. Meihod 1 is not very accurate, since there is a large amount of damping in heaving motion and an extinction curve cannot be determined accurately, By using method 2 all the factors determining the damping force can be determined accorately. Th inespocially the ease with the exciting forces generated by am oscillator, Although metho! 3 represents a more realistic situation, it is difficult to determine HEAVING 45 the exciting force accurately and thercfore this ‘method can deliver results only for a more qualitative study. In any event the values of the damping co- llcient can be different in the three experimental Procedures, since the physical conditions in these procedures are different. Determination of the damping coeffi method 2 follows, by Experimental Determination of Gamping. ‘The ampli= tude of the exciting force (here the driving force) F, can be kept constant for a wide range of frequencies both akove and below the natural frequency of heaving, and a diagram may be obtained experi- ‘mentally as shown in Fig. 47. In reality only a part of this diogram is obtaived by the test, and the scale of the ordinates is not important, The maximum value of the magnification factor j, is measured and put equal to 1/2k. A line is drawn parallel to the thase having an ordinate value of /3/2 = 0.707 times the maximum ordinate or equal to J/2/4x, The horizontal tine crosses the dynamic response curve al two vahies of A, namely, A, and A;. Now from (48) 7 2) 4 ant BETA + 4etn + = Solving for A, we obtain T T T T so} 4 4 t sof 38 = 2o- x02 4 20 notre 2280 4 24 70] tol 4 Ogee = 1 104 i ; 0 5a -0m Martie 1S 20 7 — - Flare 47. Plot of nmgnification factor versus turning factor. —_—_————46 UNCOUPLED HEAVING, PITCHING AND ROLLING MOTIONS and Am tae? 26 fL ae Thus Aj= Abed (Tim Since the damping fuclor x iswally has « small value in ship motion, we can neglect the value of x? and et ARF ie Again, as both A, and A; are approximately equal to 1.0, we may write A#AS2 AJ-AP=(A, FADIA, A) = 4x or A, = Ay) = 40 so that In Fig, 4.7 we read the values of Ay anc Ay as, 9.700 and 1.125, respectively. Therefore the non+ dimensional damping coefficient w for this particular cease is determin WA, — Ay 1125 = 0.300 ® =021 ‘The experimentally obtained comping force co- efficient" obtained by the forced oscillation method in calm water is shown in Fig. 48. The results have been plotted nondimensionally. Both (eoretical and experimental investigations enable us to dew the following conclusions: a, ‘The damping force coefficient is priportional to the square of the waterplane area, bo, Ships with V-type sections experience more dimp= ing than do U-type ships for th: same load waternkane, ¢. The nondimensional damping coefiiciont, when plotted te a base of w,VB/a, reaches *: maximum value and then decreases rapidly (see Fig. 4.8). In the region of resonance, where camping plays a very important role, this decrement in champing does not appeat fo have a large effect. d, The higher the speed of advance, the lower is the, wave damping. In general, it can be said that the damping cos Kxtsyeos.n,t (4.16) However, if the surface’ wave profile is taken to be the affective wave profile (this assumption means a greater exciting force and the design will therefore be on the safer side), the expression for the exciting force becomes (20m. reosaats)sosent (4.126) F = Fy cos ot co cmomny 1 Note tit the exciting force F is postive if it acts in the positive direction, that is, downward Comparing (4.10)-and-(4.12a), we find the phase angle belicen the-wave-profile and the heaving force due to. waves to be Ew (4.126) the amplitude of the » city free gam be expresset nondimensionally as Fo alli eo Fil seoemitocosmnde ain Note: Kar.the beam.sea_condition, (ic. «=.90° or 2107) the exciing force—for heaving teaches: the ‘maximum value. Examples.6 Calculation of the Amplitude of the exciting Force for Meaving ‘for ‘The Ship Model Described in Example 4 1 From that example the following data are available Lo Lee an B= 25020 g 0208 p= 19 RTbiseet nt Find fy and Fy. : olution above values, the wave number is Qn 62k 1,” 9.20 07K! and the simensionless force aniplitude is 2 pee aif _ahOreostkccoss)de The numerical values of fy and F, are determined with the help of Tabled Thus Integral = x sx SUM =} 48 x 9.92 = 1587 ‘Therefore = aby = 3962, Note: If more stations than the Fve taken in this example are considered, more cocurate resvil can be obtained for Fo, The typical exciting force coefficient for heaving. fy asa function of the ratiovf encovintcring {o ship lenpth for differen: values of tise water area 1 is given in Fig. 4.10. The following e drawn about the heaving force [242] 4, The heaving fores is small when the effective wavelength is less thaw half of the ship's length, b. When the ratio of effective wavelength to ship length is equal to the waterptave arc the saving force seems o be zero, coefficient,HEAVING $1 the TABLE 44 Ssaion a feo : Speers Prodvat wi ren ET cmthecnnt reongconn Smee @ @ ° C12. 0 ® ° ° 0596 =m oma 1 : ee ts 4 ® iw 0s 8200 om 196 2 rk Pe Stee OM a tH ‘ » ° eee eaten real tec cies 1 Description of Table 4 Colony Naber Dewrption Colum Nner Description 0 Staion Number © ‘Ga th cn ° {et (alread of watered y= o Cos ike co 0) o Coon 8 Simon's Matter @ Dystance fous LCG, + © ® econ = fective wve number 16 eee : : : 4, 4 ° os 0S aa ling force coeticient or heaving, /, (242) ¢. Tite easing force is small oF modevate when the value of the waterplane area eoeficent. effective wavelength is equal to the ship's length 4. As the effective wavelength approaches infinity, I itis assumed, as mentioned carlier, that the the aondimensional heaving foree approaces. the waves pass along the ship very slowly, ve vertical os : we, oP $ ») es SeS2__ UNCOUPLED HEAVING, PITCIING, AND ROLLING MOTIONS displacement of any section in the wave is termed atic fivate aid is given by ‘The static heave amiplitude is then wer(O ii ning at Fa Fcosen,t - ames cos (kx = oy dx Example 4.7 Given: L 4500 B= 7h Cre = 0.80 A" = 12,500 tons ” |. Theradded mass for heaving is, 80% of the actual mass of the ship. 2. The coefficient for damping is given in the none dimensional form as by gL JA = 1.0. 3. The amplitude of the exciting force for heaving ‘motion is given nondimensionally as fy = Ey/pgé 1 ONT (see Fig 410, Find the heaving aruplitude of the ship. Solution, Inertial foree ssthore Ue virtual mass is = 1,565,222 Ib-sce?/ft b, Since = 79x Vat.” fii ‘= 395,42/ Ibs-sec/ft (by muluplying by 2240) . The restoring force coefficient is €= 1.99 x 32.2 x (450 x 10-x 0.80) [from (49)] = 1,614,766 lb/ft d, The dimensionless exciti I =0.17 pag so tha Fy = O17 1.99 32.2% 10 x 450 70 = M4N377Ib The tuning fuctor is ~_ festa V1.565.222 = 1016 rad/see and the damping factor is ¥ 0.126 roie k where 2 = 0124 The heaving amplitude Say “1,614,766 VEE Cat) fb (0.1247 » (LAGI)! =4708HEAVING 83 Example 4.8 With the a following given in Example 4.7 find the a. The plase relationship between the wave motion and the heaving motion, b. The maximum beavi seaway. The relative mo Ship.with respec! t0 th . The magnitude of the urtximum eesultant relative motion (i.e. displacement) of the ship with respect to the waive surface, on (ic. displacement) of the lation The phase.angle between the waxe_mation and the heaving motion is expressed as te where 1, is the phase angle between the watve motion and the exciting foree.edused. by. waves, the phase angle between the ee heaving motion, Now =0'Trom (4.126) sand fron (4.76) : no ( ws \ at) O12 1 is) Note: The investigation of pinise angles is a rather important aspect of the study of ship motior is will be shown kater, bath dleck wetness aud resistance of a ship es depend on the ship's relative position with respect to the wives W should also be noted that, if the frequency of encounter is very nearly equal to the natural frequency of heaving, the phase lagsprediction may become ‘extremely uncertain, since in this resonance region the damping influence: the heaving motion appreciably. Gn the other and, if the damping is very small, che phase ki i 0" below resonance ane 1RO? above resonance, Near the resonance rane the wotion amplitude is also very sensitive to damping: therefore motion predictions near resonance are not always isa. b, The.equation.of heaving motion ofa an @ Tim — F0bcos(o,t =A aim ~ Famheonlng 0 The magnitude of 22/4"? is maximum when 0s (= 8) = = LO thus Oro ae 4.70 x (L187 = 6.54 fYsce! Let the equation 6f wave motion abou point on the calm waterline be given as y fixed C= Geos ‘The heaving motion of the same point for the steady= state conditien is then Fm 2, c0s(«,! — 0) where «is the phase angle between the wave motion and the motion of the ship. Thus the relat 4 = SLens., cost 9] The maximum relative motion of the ship is obtained when ds 0 dent) : cor, differentinting, we have 2 og — sin ong + 24 sin(eag 6) =6 reba +E sim(oogt )) Since ¢,#0, the expression inside the brackets is vero. thatis, = sins + Psinfns ~ 1) =0 rd + eAsinlongs —F) from which msinog + (sin 0, cos £ ~ cost sin) =0S4__UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS, Now, inserting the values of =,.é,. and 6, we hive 47 ee ~ sim eng +g [sim ng x cost ~ 326") cos wt x sin -396)] = or ~ 0.638 sin «1, + 0.299 cos «o,t = 0 from which tan ef = 0.469 Thus 9,8 25.11 (or 205.10") Figure 4 und s is maximum when «ot = 25.11° ‘The maximur resultant relative motion is ob:ained by inserting this value of «,t into the equation for he relative motion, that is 47 = tOfeos25.11°- Tcost25.11? +3860" 1] = 708 Nose also that by drawing curves for gz, and itis seca that al «,f = 25° and 205° the neisimum rtotive motion of 704 ft is obtained: Also note that in Vig. 4.11 the motion curve precedes the wave curve since s=5,cosfo,—(—39.6)]. that is, the phase angle et deg) eo Motion relative to free surfaceACCELERATED ROTATIONAL MONON $8 is positive in relation to the wave curve (see Section since 22) Then Ship Model Correlation From the dynamical analysis. (see following relations hold between the ‘model able 4.5) the ship and the Leak Mm an Note: In place of a seouit.a geometrically similar ship ean also be considered (using the appropriate le factor seale factor) for finding the physical dimensions of quantities occurring in ship dynamics, where ___Venathof ship * Length of model M andl L are ship quantities, and m and Fare moxlel quantities Consider two ships (or one ship and one model) 42 ACCELERATED ROTATIONAL that are exacily similar in all xespeets except dimen. MOTION sions: in other words, if the rclation between any linear dimensions of one ship and the corresponding Ifa purely rigid body has an accelerated rotational dimension of the other ship is 2 (ic. 1, = Al) prove — motion, the aeccleration of any particle of the hody that the periods for small aseillitions are in the ratio ata perpendicular distance r from the axis of rotation of or T= AUT, (T, and Ly are for the kirger _hastwo components: hull, and 7; and L, for the smaller one.) We know from Example 4 that 1. The first is ro, along the direction of instantancous velocity, 2. The second is rev, directed toward the axis. and Here the instantaneous angular velocity is da _ 7 ade TABLE, 48 PHYSICAL DIMENSIONS OF QUANTITIES IN SIP DYNAMICS ac om mae gt and time franca at, Qn Meuse Quanity Measare | Rotem Forma Mase Volume and first moment of area e Uength Second moment ats Tne Density Sprite chvity Mase pot unl ae Accel Maes moment ‘Momentum and imple ‘Moment of neetin and product of inertia ore thee Sree an preture (eer nd work ‘ Sain mer ower loti moda MT Moment of fare of mort Angi svomicntn or omen am Mart nen ites (onsen pt rian) wrt Awe ‘Angular sifoes (moment pe radian) mar? Asse velcity af ereulaefesweney, 0 Linear Resiblity oe receptnnee(dieplacement evolion re anit orc woe Ang wecieration rt icy ante Nees 8 Kinematic vsedity eT ®$6 UNCOUPLED HEAVING, PITCHING, ate 412 ‘Two components of acceleration of a pariicle ‘accoerated rotational motion, : See Fig. 4.12. The component forees acting on the Particle in two directions, as shown by arrows in in 4.12, are F = mass, x acceler = mass > aeeeleration = mru? we consider the body to be composed of different particles i i clear that the resultant force on each individual particle has all diteetions parallel to the plane of rotation. It is; therefore, meaningless to ek all these forces, although the contribation of each particle must be added to the total rotational elect of the body. Thus we adkd the moments of forces about the axis of rotation. Therefore tie sum cof moments of forces Fal about the axis of rotation ispiven by Pre mar = med The total moment of all the forces rotation is about the axis of EF y= Limp? eb Eine Se i apy ae where 1 is the moment of inertia of the body about the axis of rotation, that is, Zp?) ‘The quantity Binny2) depends eit the distribution of the mass of the body, as well as on the axis of rotation, and itis referred toss the moment af inert of the boy about the particular axis. "Therefore i ‘ust be remembered thst, although the total mass M-= Em, of & body is « singlesvalued quantity. the AND ROLLING MOTIONS ‘moment of inertia of a bowy may have “ifferent values. depending upon the particular axis in question. In other weds, there is no such thing as the moment of inertia of @ body; rather, there are moments of snertit, each referring to a particular axis, such as the moment of inertia of a ship bout the x-axis (ic, for rolling), the moment of inertia of the same ship about the y-vtis (for pitching), and simitarly about the avaxis (for yawing), and: all thes? values are «lfcrent from each other, Ni, if1 is the moment of inertia abcut a particular axis of a body of total mass M, a related length k is defined by the dimen- sionally homogeneous equation rast where bis ealled the rads of gyration of the ship about a particnar axis. Thercfore we may have radi of gytition for three diferent rotetional motion namely; rolling, pitching, and yawing. Thus, if we have the nraper radius of gyration, tke moment ot inertig at aI is obtained fom the relation In practice, the radius of gyration of a vessel ‘about any axis is obtained by considering the total weight of the vessel as the sum of mtny sinall weights ‘ad then adding the products of each small weight and the squire of its distance from the particular axis concerned, that is, R Elwye? A re wy is the weight of the ith element, ris the lw ‘rou 6; Figure 4.13, Radius of gyration for rolling.ACCELERATED ROTATIONAL MOTION 57 "ar vous 69 Pique ata direct distance of the ith element from the axis of of total rotatien, and A is the total weight of the vessel, dimen ‘Radius of Coration for Diffsrent Angulne Notions v Rants oF Gyration: ron ROLUNG ‘The moment of inertia for rolling is (sce Fig, 4.13) Hoots fant : 7 fase (8? estas Thus 1 he Safwan +N] 20, where 1, = weight of the ith clemen! Ny stransverse. distance of the CG of the ith element from the axis through the ship (ie, from the rolling axis} = vertical distance of the CG of the ith element from the axis throgh the CG the hip 1, = moment of inertia ofthe ith element about itsown CG Note that the axis of rolling is through the CG of the ship and perpendicular to the plane of this page. However if the ship is subdivided inte sufficiently sonal weights, he radi of eatin ean be foun from + Latif? ean Hm Elmot +201 ‘ls oun & Figure 4.18 on Raulus of gyration for pitching, from which Sept e al | me eee aay 3 RADIUS oF GraaTiON FoR Prrcinc With reference to of inertia is ig. 4.14, the pitching moment = MR, = Jame fase + sincef=aft shor - ; “ 4 1, 1 3 Efw(sd + 29] +2 Bom g Ems? +210] However, if the ship is subdivided into sufficiently small weights, the radius of gyration can be found from aa! waa nl ap ad 4 a2 Ty Key g ELwdad + 22) thal is, weg a] (4.15) Rantus oF GyraTion rox YAWING ‘The yawing moment of inertia is 1, = Mk, = fare 5 fares ay) Radius of gyration for yawing,S8__UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS 4 a a 1, \ Ew lat Af) 4 EL, a ‘The axis of yawing through the CG is perpenclieular to the piane of the paper, as in Fig. 4.15, Again, if the ship is subdivided into sufficiently small weights, the radius of gyration ean be fovnd from el fia =! spe 7 emg lM wi that is, (4.16) Example 4.9 ‘A homogeneously loaded barge (A= 600 tons) is considered 10 have 12 uniform divisions, exch ‘weighing 50 tons. Find te radius of gyration for rolling, pitehing, and yawing if the weights are considered (o be eentered at the CG ef each division, at is, assuming that (he mass moment of inertia ‘of cach division about its own CG can be neglected. Soe Fig. 416, Solution The londs and the positions of their C in Table 4.SA. c sare listed Equations 4.14, 4.15, and 4.16 yield, respectively, 54.750 a ae 32S, ieaky= 550K 360750 2 SO 625, esky 2 65 Begg HU DS, ey = 24.02 ft = 525.00, ica ky, = 25.00 fk Note: Since the barge is homogeneous, it may be considered to he mace up of many more small boxes than just 12, as shovta in the above example. Then he radius of gyration for rolling, would approach O.28K7H, and the radi of gyration for both pitching ane yawing would also approsteh O28K7L, This is illustrated frelow for the pitching radius of gyration For a homogeneous boxly t= [nga “TABLE 454 lan Cy vey yy ey 1s =m 82s mas a8 Be to saa ee ee acs eo 0 esl 0 as 4 4M Fs 2s om sas 5 9 0 ts 3s eos tas 6 ew 8 8 wh tas i De aks ks el ol ay as 9 “em 35 wo 3. 635 he es om 3s a8 Me poles O28 62s a ee ones as ooh tas ut Woes badd af tat wOtech wieltst) wise fs ey ey eH ene) fiomte] ftom] yas waas, 935 sans 4a "0 mas eis as ages aes an 0 M36 wwe OWENS aS az) M26. 9S Hs HRS aa Ma "ais as Ngas. os © lam 8 N36 meas Rs ES wQMES ange M28 onn3s ms USS ATES aaa iat ects) ois ates eras ti 08 MIS WO mS LIS AIS 2H 0 Mas mmas BS Aes AIDS aM ey a MOS mm2s as SRS ALES aa SUMS TA@ Mw OM 9 and 1 fing Ge ede NM a Foy the determination of pitching radits of pyrae n S/S a eis 5 A Ae ee alt | |< —20 1. + Figure 446 Barge of 12 uniform divisions.TABLE 480, Satin ™ z Ne pace?) Distange fons ching Avis urn THeretore ye AS tion, k,, we have the values shown in Table 4.50, Therefore : 1a bx 45s = 12877.64 ton-see" Mt fia itis Be My cOn/32.2, 2S 9KO7A (ie. O2KRTL hove 600 rece! MO toneect Example 4.10 c ‘A mantel weighing 7.50 Ib should be ballasted to 11.50 Ih in order to have a displacement correspond ing to that of the prototype. However, after ballasting the model, as shown in Fig. 4.17, itis found that the pitching radius of gyration is i2 in., whereas that Of the prototype is 0.25L. Ifthe leith of the model is § ft, and if the equal weightsare to be equidistart {om the CG so that the CG will remain at the original Figere 47 ROTATIONAL MOTION 59 mat Simp’ Prot Mati ans \ ans nat wand ° ‘ ° asm 49500 ae ' ane Ar sco hawt jon, how far wxty tom the CG shoukl the weights be located? Solution: : “The desired mass moment of inert: should be is us : u = «(0.25 x OOin,)* @ ¢ 2590 Ihsin.? 118 ie 168i? 6 aglisec? ‘The deerense in the moment of inertia is 25901655 _ 935 Ib-i a a alfijsec*) The contribution of (wo weights (each weighing. 2b) to the total moment of inertia is However, the weights should produce a moment of an.2/gffusee?] mores that is, the Determination of pitehing gyradius of a model60 __ UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS oe wy x Figere 48 Illustration of vessel in Example 4.11 (otal moment of inertia due to the weights should be 400 995 _ 1355 bun? gg gf{ftjsee*} mtg then or re I8in, This means that the weights sivold be plied at a distance of 15.3 in, apart from the Example 4.11 From Fig. 4.18, T= soon Bah A= 13,000 tons CG = 10 ft afi of 00nd 30 1 above keel ‘and on the centerline of the ship kg = 040 of the ship's be 25 of the ship's lengih 22 = 0.25 of the ship's length, ‘A weight of 200 tons located ata position 100 ft forward of (0, 50 ft above keel, and § ft on starboard is shifted to a different position that is 50 ft forward of 09, 20 fl above keel, and 10 ft on starboard. Whit Will be the new CG, K... kyy and k,,? Solution: ‘A shift of weight can be considered in two steps oct Stotoord Rolling, pitching, and yawing radi of gyration for Eximple 4.11ACCELERATED ROTATIONAL MOTION 61 in the determination of the radius of gy (ny weight xl (yp ition of the same weight atitsnew location, ‘a. Removal of weight “The weight of 200 tons is considered to be removed from is original postion, Thus, referring to Fig. 4.1%, Coen 1 Mae, =M 13,000 = 3.0 (04 x 707 Bag * (04 1) 00 24 52 = Fp « Loo + 57) 313,842 ton-soe?-ft ‘and from Fig. 4.196 Crredaais Urn agen ~My oon =e (125 Say * (28) 200 = 38,» [otto + (200) = 6,230,590 ton-soe hf and, referring to Fig. 4.13¢, aeecdasey = led eqen — ME 13.004, x (128 jaa tt SP 200 ~ 322 = 6,232,919 ton see? x [C108 +54] Because of the removal of the weight the new CG of the vessel should be determined. Taking the moment about the forward perpendicutar, we have 13,000 x 260 — 200 « 150 13,000 — 300 61.72 from the forward per- pendicular ‘Thus the shift of (CG), is 1.72 f. “Taking the moment about the centerline, we have 13,000 2D = 200 x (+5) 13,000 ~ 200 ~QO8M (port) that isa shift of (CG), oF 0.08 ft “Taking the moment about the baseline, we have 12,000 4 30 -- 200 $0 14000 — 200 = 29,6941 above baseline New(CG), New(CG), New(CG), = “Ths the shift of (CG), is (30 — 29.69) = 031 fh ane (an where h,, is the dircet distance of the x-axis through the new CG and the x-axis through the old CG (Fig, 4.190, th Vevey OM = Ms h2, = (shift of G,} + (shift of Therefore on = s1agn2 {3.000 200) x [0.397 + (008) = 313841 tonsoe't and Urpen enon = Urree eeey —OM =P, where fi, isthe direct distance of the yaxis through the new CG and the (Fig. 4.19¢), that is, xis through the old CG 12, = (shi of G,} + (hift of 6)? Therefore 5 " 40) — 200) npg denen 8230,890 =" 55 x [1.727 +0317] = 6,229,376 ton-sec*-f and rt Denco 7 stan anea (M = where ly, isthe direct distance ofthe z-axis th: ough the new CG and the zaxis through the okt CG (Fig. 4199, that is, 2, = (shift of G,)? + (hift of G,)? Therefore (1300 ~ 200) es, = 6.232.919 — 00) erga ana * 622919 = 355 x [L727 + (0.08)7] = 6,231,740 ton-sec*-ft bb. Additions of Weight The weight of 200 tons is now considered to be placed at its new position, Thus, from Fig. 4.20dGI UNCOUPLED HEAVING, PITCLING, AND ROLLING MOTIONS t 21000 00m? + onan 2960/1? Nee ate Nea roy? (60.0 917297 4 (29.69 2018 ne? he? = 9.60~ F956 + un72— 10772 We o fa? (608 41.727 + 120.4 0.00)? 0? Ay? = (N1272~ 10707 + (908 + 000) rm ” Pique 420° Shit of center of gravity in each diteton, (en darr *Usadaguas IES, x [{61.72}? + (19.0877) anne a = 6.25602 tonsee?tt 2 09.69%" But, because of the addition of weight, the CG * [1008 + (9.6997) of the ship is changed, Taking the moment about = 15,055 ton-soet-n the forward perpendicular, we have From Fig. 4.206, : ee New (CO), = 22 200 2 62293764 é 260.77 ft from the forward % {161.72}? 4 (9.6983 Perpendicular 62: 20 ton-see?-| mi " that is, shift of (CG), of (11.72 ~ 10, 71) = 0.95 f. an from Fig, 20. Taking the moment shout the eanterine, we have (he) 5, = HOO (— 0.083 4 200 10 Newica, =— 128005 300 F008 (ie, starboard)PITCHING 69 anil the shift of (CG), is (0.08 + 008) = 0.16 1. ‘Taking the moment about the bascline, we have 12,800 x 29.69 + 200 x 20 Ta 300 = 29.54 Ml above the bast (29.69 - 20.54) = 0.15 New(CG), The shift of (CG Relurning to the moments of inertia, we have, from Fig. 4.204, Doan OM man, hy, = (hilt of G,}? + (shift of GP? “Therefore 12,800 + 200 = 315055 - 5 x [10.169 + (0.15}4) = M5036 ton-sce?ft and from Fig.420e, Oss aee —(M + mil, (shift of G,)? + shift of Gy? Therefore 12.4004 200 = 6,253,620 ” Une ann = 625,600 — CHE * (C015) + (095)7] = 6.253.267 ton-sce?ft while from Fig 4.29% (bmi (shift OF 6.) + (shift of GP? Therefore (12,800 + 200) 32: [rossi + (0.16) = 6,255,657 ton-sec?t Unracad eevee 6256022 = Since See 7 then : or and 1 = 12448 f Also, as calculated earlier, (G,) New = 10.77 fa of 60 (G)) New = 008 fn -tarboard (G,) New = 29.54 1 above baseline 44 DITCHING AAs mentioned before, a ship may undergo a simple harmonic motion about ‘either a transveise axis (ie, y-axis) or a longitudinal axis (.e.. x-axis) if itis displaced from its equilibrium: position and. then feleased., or iit is given an initial velocity away from its equilibrium position. (See Fig. 4.1) 1 tas also been noted that we should always refer to the moments of forces, rather than the forces, when we describe angular motions like pitching and rolling. AAs in the case of heaving, the following four moments actin pitching and rolling motions: J. Inertial moment 2. Damping moment. 3. Restoring moment, 4, Freiting moment, Pitching motion is described in this. section; rolling motion, in section 45, ‘The equation of motion of pitching ean be written as ao do oF + 4 c= Mycosis where: a. Inet moment co : ‘ae Here(@is the virtual.mass_moment of inertia, and @PO/de is the angular acceleration of pitching. , Darnping moment = Hae Here @ is ‘the damping -mamcut coefficient, anid d0/dtis the angular selocity.ots uNCOU JED IIA VING, PETCHING, AND RO! LING] MOTIONS, The damping moment is again considered to be proportional to the angular yelocity for the ¢ of simplicity, as in the ease of heaving . Restoring moment = Here ¢ is the restoring moment coefficient, and {is the angular displacement in pitching Again the restoring moment is considered 10 be linearly proportional to the pitching displacement. ‘This is true only for small angles of pitching. 4. The exciting moment, My cos i,t is considered to be Muctwating with An encountering frequency I've can determine the various values of a, by ¢ and My we shall be able to determiae the motion characteristics for pitching. It should be noted, however, that the coefTicients, a, by ¢ and Ma of pitching are not the same as those of heaving or rolling, Therefore they should be determined separa tely for the diferent kinds of motion. Determination of Coefficients for Pitching Motion The virtual sass moment of inertia for pitehis «iis the vessel moment of inertia for pitching plus Use auldedl mass moment of inertia for pitching, that is, a= yt Syy (4.163) where af, is the added mass moment of inertia for pitching, and k,, isthe radius of gyration for pitching. The virtual mass moment of inertia for pitching, can also be defined as «= (vietual mass) x (radius of gyration’? M4 SM) x 3, where. Aly) is the seetiona Here it is assumed that the longitudinal distribu sion of mass is the same as of the longitudinal dis tribution of displacement: thus the vertical sist tion is aeglected, cn itis also assumed that the CG ke ship is ut the mi¢ship section, Note that for the nornutl ship Form the radius of gyration for the Pilehing motion is k,, = 0.24110 0261. where Lis the length ofthe ship. The added mass moment of inertia for pitching cean be determined by experiment or by the method of strip theory, that is, the shfp is considered to have different sections, for each of which the added nas is obtained. The: of Fert is obtainesl frou. the added amass, as is the ship's moment of inert the added mass mom« ‘4.l7e) where a, i the added mass for each scetion as deter= tnived in Scotion 4.2, and x is the distance of = sectio from the L Equation 4,17¢ ean be written as ate af cettay wnere’C is the aided mass coefficient, the values of, which are oitained from Fig. 4, example 4.12 model for which th Example 4.1. The data for this example Table 4.6, given in ‘ ded euss Solution, From the valves in Table 46, the monent of inertia for pitching is ie fagtde cok ede ee ixsx SUM =} x48 x 895.3 © 1368S Ih. where sis the station spacing, Figure 4.21 shows the values for added inertia for pitching. Mrom thr figure one can see that the added inertia is of the same order of m: is the inertiz of the actual ship, and the the determination of pitching motion adéca inertia should be ken into consideration, Paster Conericenr roR PITCHING The damping coulficient for pitehing can also be obtained by the method of str determined ior cach section and then integrated Heory, that is,ae PITCHING 65 7 Tavinae Staton a : oo Simpson's Product . Ne Kream eae 1] fa ny foo) M : ey © ® ® 0 ® ve on on hi ‘ sin an ousis F 2 0 sot = 048 an ust assis iH ans 2 sae nen 197% jertia » om = toe 101406 ‘100 ship's sum 4.176) Description of Table 46 Catcon Nebo Pesos Cohn Numer Deseripton Joter- +o Sinton Numer ° 42" = 0) < @ = Aled Mass Moment tert ah ® ‘Aled Mas or Fach Section «ined rom (of Bach Section ool ot Tabet 2 ° Lever Arm, gsdianee ofeach scion Kom LG ® Lever Atm Squared. =O *O) over the entire ent, fllown, wy for pitchingis |, ee Cee . Panesine -[ Bouton XE be fi bd ues of em herd 6) is the damping force cosfficient for each =4xsxSUM 2 strip along the ship's length, and@is the distance = 4x 48 x 1316.17 of the individual strip from the. LCG (same as the = 2108,9t-lb-see LCR) position, behing The dam i ay lamping for the pitching motion is increased ea) maine by the following: ne Find the damping coefficient (Gr pitching motion (1) Increase of beam 5 + ef the ship movtel for which the data are given in (2) Decrease of draft 7 Example 4.1. The relevant data are presented: in (3) Decrease of vertical prismatic coefficient (ie, : Table 47, increase of V-form), Ga On the other hand, there is rapid reduction in Solution : damping with an increase in frequerey of oscillation. From the data of Table 47, the dampingcoeMicient Such a high frequency, however, generally occurs TTT To : = inertia t ds ; 7 inertia lt 1 J °% > * © bane evi : at is, Figwe 421 Nondimensiomal added mags moment of inertia fr pitching motion {124 grated»66 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS Description of Table 4.7 Clans Nurier Description 5 Station Nunsber I o Seetional Damping, Cocticint, b> 214402 [A tm Fig 46} I © {Ee Laver Avo eet nee of lv ction fea the LCG sta ‘outside the domain of resonance, ‘of not much significance. Figure 4.22 shows the experimentally obtained nondimensional damping coefficient for pitching I motion [72,73] where damping is, Reson Maeve Comment The restoring moment for pitching can be expressed ke siinple forts 2 ae rao Xy(dde = (ly where ¢ is the restoring moment coefficient, ‘aad 1, is the moment of inertia of the load waterpkine 070 TABLE AT No, ta wy © ® ° on wi 5 an 662 0 - aK 0230 bet Simpson's Proxet hisecc] Maltpier ® © om 4 30 oT 4 ry nas + 2 270 sun 13167 Cora Number Desciption 8 Leer Aem Squared 6 tn @ xO 6 Sings Muir ° Pret = 2 © ‘Thus, since BR, = 1, = py0VIR, = pgVGR9 for small angles of inlinotion, andl therefore or Note, however, that the restoring moment coelficient determined in this manner is valid only so long as the restoring moment for pitching can be considered tobe linearly proportional to the angle of inclination 0, Example 4.14 Devermine the restoring moment for the model nour 75 28 of qo l2e a7 65 25 on Figere 422 Nondimensional damping coefficient (124). 0.706 0977 07s 090s oun 2004PITCHING 6 EG Simpaon | Prvet (12) [is] Motiler oo 0 mM t ° $2892 16LIN IRGA2 JOINE 4 1OTES to a9 G64 03M M2 Ma Is 2392 16LR TATE asioto 4 rRnaOa One ol inns ato) 1 ° described in Example 41, The data for this example are giver in Table 48, Solution: ‘The restoring moment coefficient for pi en} x ax SUM $48 x 30,1914 48,3062 {Ib Pitching Motion in Calm Water ‘The equation of motion for pitching in calm water is ao do alga tb te 20 (4.18a) or a 0 5g +b + AGHyy=0 (4.18) on, (ity This equation can also be writ 04204 o}0=0 (4.184) where wean (4.18) and % (4.18) 4 Here gis the nataral frequency (circular for pitching. The expression for the natural pitching period, Tris given as by on fade (4.198) Now, the solution of (4.184) is written as “d= eMC, cosmg + Cy sine) (4.182) or = en" Asin(og ~ 8) (4.188) where uy is the damped frequency = Jing = 7. ‘As mentioned in Section 4,2, the motion is not oscillatory in nature if v> cop and is ealled aperiodic. This case is of no interest in the study of motions cof marine vehicles. ; The damped pitching period as then be expressed! sincew,= Jaf —¥ (4.190) where Ty 2n/ey, is the natural pitching period! as given by (4.19a). We see that the period increases with damping; however, the damping is very small in ship motion, and therefore the increase in the period is negligible. Example 4.15 Given: Ifthe added mass moment of inet of the mass moment of inertia of the sl natural pitching period, Solution: The naural circular frequency is where a = Iyand c= OM,6. UNCOUT Now 11, = 1.901,,= 1.90 x ou, ‘Thus ,- [ReMan [Be 3 Me Five,” THU (15) and Pitching Periods he natural pitehing peviod is comparatively small Andis generally close to the leaving period av: almost tal of the rolling period. However, the. pitching Derind is more important than the others in view of the dynamic eects; namely, dosicwetnsss, ing, and ions. The pitehinge period an be increased by inéeasing the longitudinal radius of gyration, ky, that is, by moving. weights toward booth ends ofthe vessel. However, for all conventional vessels fy, is fairly constant and is about 024L to 8.26 L. where L. is the length of the ship ‘vn improvement inthe longitudinal stability will reduce the natural pitching period, Full ends, CC PEES'STE* él ED HEAVING, PITCHIING, «WD ROLLING MOTIONS a flare at the bow, and flatness at the stern have a considerable damping =ffect on the pitching motion, To avoid resonance the pitching period is kept as small as possible so that Jy/T, remains very small This small value nnikes it possible for the ship to pitch with the waves, that is, the bo eer should rise and fall with the waves, thereby reducing the possibility of the dynamic effets. For different sires of geometrically similar ships, the nondimensional quality for the pitching period, TAL, in constant. In. Fig, 423 the pitehing periods for both merchant and. naval ships are. given ais functions of another nondimensional quantity, the displacement/length ratio, 6/(L/100)* (127), A simple fied formula for the pitching peticd ean. Fe obtained from the scattered points of Fiy. £23 as follow: ee cL “fay 0 where C Ant» 0.009 to M01. Topical values of pitching periods fo various kinds of ships are given in Table 49, Example 4.16 From the data presented in Example 4,15 find the Assumed erm tenn rai, 1 112 Pwiad-ter gt a, Figure 4.23, Teg (ME ve mont 8 0350307380400 wavor Pitching period as 9 funetion of displicementjength rato (127)PITCUING —_@ Tamieas Now, at = 0, (= 5° s0 that from (4.18) Type of Ship at 1% = Asin(—5)-= —Asind ne] UY [tows 428 ee \pifterentiating 14.188), we have lecbrater swt om ates : ao Coma pn Was $5 ‘disemnteng 8) e6 “await cd casi fom 4ins 3 eee ‘cat eae rs9 toy 24 80 Cres theas) sid tot 6372 ALE =O, dlflt = 0 0 that Maw wd SRT as = Amy eos( — 8) ~ vA sin( Feige 5 Sh Ss 4586 gr Destro Sis an dass et Dastioger exo Aas dus 4082 eas Patten sim man 96.80 ¥ ~~ 0.090) Lo 24S 40-50 from hich” mom nana WAM HN GRRE AB" or ~ 1.48 rad mM TS 627K and therefor Araphis ranspeet SOO agin ‘nie de oom S900 $93 . _ {anding ship dock 1127 si $4.67 ang 752! ‘nding ship tink ni 23 $2 61 {anger ty) wo Us a a of pitching motion ean, therefore, fanding cat tmechanived) "11786029 44 Peat gino 2 MS hs 29M Riser ptt at Lead x $021 sin(0.7311 + 148) a ae fee SESE. By inserting diferent values of r into the equation, iss 4912 2.77 Table 4.10.was prepared. ano a0 eatoye mis) 64) ST espa hip sam 4% 60-78 keting Moment for Pitching Motion Stine ome no — pitehing motion at 1=0 sce and exactly after 1, 2, and 3 perious, if the coefficient for the damping toment during pitching motion is known to be, 2,500,000 ft-ton-see and the initial conditions: are specified as = 5° and Oayr=Osec Solution The equation of motion for damped pitching in cam water is given as Oz eAsiniing 3) from (4.18), Furthermore, ne PS om 0.947 see" " " agp? 2,500,000 1.9 5 (151000/32.2) « (125) ya The exciting moment for pitching is duc to the unbalanced moment caused by the waves about the transvers: axis of the ship. As in the case of heaving the pitching moment can casily be developed by rucans of the hydrostatic pressure distribution (but without any Smith correction: see Chapter 3), tha Now, substituting the ire surface expression = S,cos(kx cos = wg!) and assuming that the ship is symmetrical about the midship section, we have 2vixde (4.19) Mex [arn 00 sind con nde fino a (4.194) Tap 410 Peviad te] lsc ‘teat ataee] ° ° foes 5 i - ke anne 20 2 2 ous ‘0s ‘ 2k ome oan Serer Sree tree 7 ERI Bee 9 Fe a) Se ae Bs NereeeUNCOUPLED HEY -o1 Figure 426 Coclicient for pitching exviting: moment [242} Let us now assume that My = My sin ont My = Mg cos(nt =X) where My is the simplitude of the exciting moment anid is the phise angle of the exciting, moment H(8) % sith eos ply {4.19e) Hondiniensional amplitude of the exciting moment for pitching is given as My fo Fie BEE 4 phn fe], sin Gxcosyndy (190 Note that for the beam sea condition (i.c., for jes 90" or 2°) the exciting ment for pitching, Af, boonies ze. Figure 4.24 shows how the nondimensional ampli tude of the exciting moment for pitching. fe. vases with the ratio of effective and the waterplan fied hull forms, velength to ship Fength rea coefficients of some simpli- ie 4.17 the data from Example 4,1, calculate the ‘exciting moment for the pitching motion ‘The required data sre presented in ‘able 4.11 Solution The value 6" the integral of (4.191) is (2)(4.8)( ~ 35.18) = — 96.288 0? Thus the nondimensional amplitude of the exciting moment of (4.191) is Jy = jt limogral 5628 a= itera (= 56288) 2592 « (19.3) = = 0.2356 ‘and the amplitude of moment is My beg! GLASBA 10.22.92) « £19.2)"]( ~ 0.2356) = 408 12length : simp late the iL. exciting 5.288) 2.592) ) or PITCHING 71 Tam Station vom, ‘ Hi Kgem—Sintkgconad—yEainthfconn)Sioptons Prods No ra m ti i I)" Mutinier "tmp ® 2 ® ° o ® “ ° 4 ° -19 101m ‘om 1 000 ‘ 12% an 2 Sams Lam kan 4 ons w 1% « ° ° o 000 2 Dam 1s 12% 4h ans am 440 4 Ins » ° =96 ° 157 1000 ° 1 000 sum “3s y v Colon Naber’ Desriten Coa Naber Description © ‘Station Number ds cos ea = 08 ® Naletrendthe of Waterplane \ © sin : ® Discs om FCC «Mo @ NEHA csp) m fink ° x © Simpeoa's Munir ° AScon where k= wave numer © Prout © ® = afte Baty Fy performing numerical calculations, we can and reach the following conclusions [242] :,v/igu © a. When the effective wavelength is less than half the ships length, the pitehinig moment is small b, When the effective wavelength equals the ship's # length, the pitching moment is high. I attains its + maximum value. which is dependent on the form (specially the walerplane coefficient, for 1.0-< EL < 5, ©. The asymptotic valve of the pitching moment as the effective wavélength approaches infinity is zero, since for constant wave height and infinite length the wave slope tends to disappear. Ditching in Waves, 5 Tieeyuionatmotion for pitchingie-wavesis on | wo ao sine. ed eT ee com Mysinens | 198) adit 8 a Om Mo sine ae ing (4.19h oe rt (4.19h) ‘This equation is similar to the one for henving and leads to a similar sols where Q, i the static pitch angle due to the appli cation of the maximum pitching moment, that i 0, = Me = Mo © "AGM, (4.191) ——_ ears is the magnification factor for pitching motion, where .v matt art (a3i) and ee (4.19%) is the nondimensional damping coefficient, The solution of (4.198) is, then, = Be™ sin (wg + 9) + Csin(ot ~€,) (4.191) which, for a steady-state condition (when the first term dies out with time #) i Oa, siniot—¢) since C=O, (4,19m) or. 4, ole int 85) (4.190 Va age NOt aa) (19M) ‘We sce thai isthe phase angle between the exciting ‘moment and the pitching motion and awal ae ( abe 4 Aon 1-5 (4190) tans, = - The same type of response curve is obtained as for heaving, and the maximum pitching amplitude is obtatned when32 UNCOUPLED HEAVING, PITCHING, AND KOLLING MOTIONS, Gee again for lightly damped systems, resonance can be saic to occir at AL. However, it would cin that with the values of x normally obtained for ship hull forms resonance would probably occur at A= 085 to 0.90. The total phase angle between the wave and the pitching motion is where 0 Example 4.18 Given j= 180" (Ke, head sea) Ga ton p= 1.99 theses cg = 118 rad see Assume the added mass of inertia to be $47 of the miss moment of inertia of the ship, and the nondimensional camping coefficient of pitebing motion, bJ@L/AL3, to be 0154. From Vig. 4.24 = nondimensional amplitude ofthe pitching moment Mo. Tea, 2B fa 025 Find both the amplitude of the pitching motion and the phase differences between the wave and the pitching motions, Draw a figure showing the wave ‘motion, exciting moment for pitching, and pitching, motion as functions of we. Siar “The pitehing moment of inertia is [y= Loy t Slyy = by F OSH, = LSA, or A 12,500 1 184-2 i, 2 1.58 x 12 (LO py SAE Kw 18 SSS a (OF 7,233,000 ton see? Since befALTAL? = 0154 the dempiny sation Fr pilchins b, becomes b O.1S4AL? 0.154 (12,S00)(45)" val Vind 450 = 3,240,000 ft-ton-sce “The amplitude ofthe pitching moment, My, is Mg = fol) 122 0.25(4) 1.99 x 32.2 « 10 « 4507 x 70. = 506,250 f-tons after dividing by 2240) “Thus the state pitch deflection is = $06,250. 713300 x 455 a2 ead sce Q ! fee ya iy Tre Jimirae 940 from which 0,086 rad (or 493") “The phase angle between the wave motion and the pitching motion is oa titty where &, is the phase angle bstsveen the wave mation and the exciting, moment for pitehing, and x, is the phage angle beuween the exciting momenfor pitebing fand the pitehing, motion, Now from (4.9) ifor * » . and the and from (4.19p) ~ mony) tan Hf 2% 0254 x 1.338 _ (338 =u" eee the equattion of wave me so that « C= Ccosu,t and the equation of the exciting moment for pitching is My = My sino = M, costs — 90°) The equation of pitching mot Us Wis expressed as lt) that : sings AY = eam PITCHING 73 (= 0, cos(er,t = 49°) The phase relationship between the wave moti and the exciting moment for pitching is 90°, that is, the maximum exciting moment cccurs after the ‘maximum wave motion by an angle of 50°. Similarly, the phase relationship between the exciting moment and the pitching motion is +41°, that i, the maximum pitching motion takes place 41° earlier than the maximum pitching moment, There> fore the maximum pitching motion is to be expected at an angle of 90° ~ 41° or, as illustrated in Fig. 4.25, 49° after the wave motion. The model results for heave and pitch of three Series 60 hull forms in regular head seas fr different speeds re presented in-nondimensional form in « Fig. 426, This figure also shows the phase relationship between the pitching and heaving motions, with heave following pitch, One shewkt notice the consi derable differences in motion amplitudes among the three hull forms. In most cases the hull form with n= 080 has the smallest pitch amplitudes. The Meteora Hiewe 428° Wave clevntion, pitching excting moment and pitching motion as functions offer) sogee se,ndos ut sodue aseud pue sopminsse woney oe aA4 . a {dampi AMEE 42 73) ® cya fee} (ee) fee |G 0 was oh ao 8s ao 8 0 os ne a heave amplitudes are alse smalicr for this hull form except in the case of excessive model speed. The reduction in heave and pitch is quite appreciable, especially for wavelength equal to or less than 1.281. ‘Anotlir interesting phenomenon is the small variae tion in the phase lag. Table 4.12 summarizes the approximate natural frequency values obtained for these Series 60 model forms. 4.8_ ROLLING, ‘The cau analogous 10 that for ie do, aie th yeh Macon t \ (4.194) where gid? ids2as the inectinl moment andi. the virtual mass moment of i is the angular acceleration of rolling. dal is. the ‘moment|and pis the damping moment cvelficint, andl didiis the anger. eloxity, in the simplest ta moment is considered to be linearly propel nal to the angular velocity dbfd. Also, in (4.199) of, is the-restoring moment, ¢ is the restoring monient cvefficient, and the gagular displacement of rotting, ‘As in the case of pitching motion, the exciting moment My cos cg! is thought of as Mvetuating with the wave encountering frequency «7, If now the various cocficients ‘can be assessed for the rolling motion, {he rolling motion of a ship van be determined, However, it shou'd be emphasized! here that the coeficients for the rolling motion are different fram those for pitching or heaving. ‘eteresluation of CoeMclents for Rotting Motion * ‘The virtual mass moment of inertia for rolling is the moment of inertia of the actual mass of the vessel tia for rolling, Zd/de (derivedin (Ref. 115) for estimating the Virtual radius ROLLING _18 lor the addled mass moment of inertia; thus (aa bat Bla] é HH, + 51, (4.198) where k,, is the radius of gyration for rolling, and 61,,)s.the added ass. moment.of inertia for rolling. value ef wean be found experimesitally or by using analytical expressions. By both anaiytical and experimental investigations it has been found that the added mass moment of inertia for rolling is ‘about, 20%4)of the mass moment of inertia of the actual ship. The coefficient a can also be expressed as Me hat Alyy S a . (: 20, o Ke at ea 7 (4.199) where A’ is the virtual displacement of the ship for rolling, that is. ae = Asal 1 Which is the sum of the actual weight and the added weight. ‘Note: When-no-data are. available, the, added ycight can be taken as about 10 to 20% of tne actual displacement of the ship. Figure 4.27 shows the experimental results of the aude radios of gyration, whieh is defined from (4.190), that is, _ af Ae ate Me + Hay Sige (auton) a a the x-akis (ce Section 4.3){&.,)isthe.added.radius of gyration about the x-axis (sce Fig. 4.27), and, k’, is the \irtualadius.of gycation. The quantity kis ‘tten expressed a8 a fraction of the beam of the ship and is normally in the range of 0.238 Ski, From experimental resulis with models of kinds of ships the following itwo formulas are | Thus gis, the radius of pyration ofthe ship about oy “af gyration for the rolling motion:| | 76__ UNCOUPLED HEAVING, PITCLING, AND ROLLING MOTIONS : 09 a20| 010 ° ae tk ab ah ah ak a ah ah Fguee 427 Added radius of gystion for rolling [20 1. For ordinary merchant ships and | J constant, depending oa the type of I me) alee. : He ay ship, where 7 Cr) silences HBCU C7 220) f= 0.125 for passenger, cargo, and possenger ‘ we ~cargo vessels nes (4.190) = 0.133 For tankers # ale catchers where A, = virtual radius of gyration about the = 0.200 for bonito fishing vessels x-axis through the CG ofthe ship py = block coefficient CL = upper deck ‘area coefficient = Area/ G I (angth » Breadth) | 11, effective depth ofthe ship superstructure | = D+ (AjLgg) Ds dept to tain deck (moked) 4 = projected lateral rea of superstructores, where B= molded bread ofthe ship 2 and deck houses above the main deck d= mean draft (moked draft, if the ship Jayy > iongth between perpensticulars hhas a block keel) 1” dratt (molded) 8, = maximum breadth uncer water . B= ship's beam exposed deck area coefficient : |of ger ship * ee ROLLING 77 H, = D+ Alyy 1D" = depth Trot the top of the keel to the upper deck (i... moided) A, = sum of the projecte' laterel areas of the forecast, under the bridge and gun f= 0.177 for battle ships 172 for -eruisers, destroyers, qnud_ tor- pede boats. Wt should be noted here that a very accurate deter- the alee mon tia for rolling inertia is much smaller than the mass moment of elf for the rolling rsotion, cu on a ship during rolling ion of tite follow- Bee leae a, Waves gene b, Water Friction on the ship surface ur eddymaking. ©. Bilge ies fhe and other appendages. l, Resistance betiveen the ship and the air. energy loss because of heat generated dur the rolling motion. £. Surface tension, The effects due sa, 9, and ¢ are significant, whierens those du se)and(fpre considered Ab be very small As in the ease of heaving and pitching motions, the damping goclficient is very. important in rolling motion, especially because the roll damping cocfficien} is relatively small and the magnification factor may reach a value between 5 and 10. ‘The damping coefficient , due to wavemaking during the rolling motion, can also be calculated by the strip method. The damping coefficient_per ‘unit lengtb is.espressed as PB oy in (Y a om where A, is defined as 2 = f A= =d(“ (B,/2) ( y ) By using the strip method the total damping ‘moment coefficient b is obtained from the expression bm fost Figure 4.28 gives for ‘LEWIS sections [135] the values of (dg\ as a function of jndividual_ section coefficient Fran wh Figure 42% Coefficient d@ for the determination of roll dampingUNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS | Js mom = ico ‘7: Wey Fea eo) en ae ooo eo 68 @ | The values in this figure are vasid for (02 B,/2y) less Solution: - than o2 fous Example 4.19 where Using the data foom Fainple 4.1, ealette the wicca of damping for elling motion. The eleva nee (“ values sve presented in Table 4.13, wi\2 pac a 7 1 aed 5 5 | » fa Ces igure 429 (a) Rol motion ws a Funetion «time, (6) Conve of declining anROLLING 79 Thersfore hm fx 8 SUM x 48 « 2580 4128 ftb-see Note for column @ that is, wy, (taley _fasura? ay) TL 08d = 0.129283 dy Therefore #.94(32.2)? (4Rt)' x a) = 45D xO Since frictional effect plays «significant role in rollalampiog, the damping due to wavemaking nay not be sufficiently accurate, Ti the first phic, the bilge heels or other appendages fitted tot ship vay eonteibate significantly to the (otal rot! damping elfect caused by the generation of eddies. Second, WH = 452002 Ad @ contribu clamping, which thas beer found to he as much as Uvoe times larger when the ship is in. motion than when i is not under way. Lastly, ifthe angle of rll is Jarge. the linear elamping kaw {roll damping moment = Md is not valid Danese Corsica ‘ur CALM, Waren Consider of roll port ship that experiences successive amplitudes ind starboard, which are : 15°, 11°, 85°, 65°, 5°, 4.1", 3.3", 26" Then Fig. 4.290 can be drawn ty a hase of time With the direction of inclination ggnored a curve drawn through point a, which represents the original is. ¢ a, and so on, which represent the inclinations at the ends of the successive rolls (o left ane righ as sitawn in Fig, 4.29), This curve ix known as the curve of dectino ales. Now. it is scen,that the difference between two. successive jagctinates, such as HP and 2c, isthe derease in inelinas tion for a single roll due to damping, If preferred, ale z i a i ‘ 5 Aye ”TAWA a ‘ * ied (el lace] : ") 1 ae 7 t : i 6.5 7 Fe v : bho iy ondinates may be interpolated like those drawn at iad and the deerease for a single roll to angle Ur way he decermined fron igs In Fig. 4.40 the decrease @Pnelination for a single roll is presented as an ordinate and the (0% iow as an abscissa, the inelination being the mean angle of oll caleuated in Table 4.14. “Vhus 4a fie.) isthe deerease for the first single toil from The wean inclination of 1, lh bs the decrease for the sezond roll, and so on, The eurve though the pgints thus determined is called the curse of extinction of rolling, From this swerve the decrease for single roll from any angie of inclination is readily determined In Ref. 1 itis sugested that the eurve of extinetion for ships ean, in general, be represented by an equt- Adh per swiny (4.20) resenls the angle of inclination at the fF roll, and Ag is the loss of amplitude for the next single roll from side to side, Equation 4.20 is called the evtinetion egquation. line is supposed to go through the origin ‘nee there is only one arbitrary constant, one vation is required, to determine the equation words, by taking any represe lative point on the faired curve of extinetion, the Ky cin be determined, For example, in whieh re beginning Ky T= 21 or Ky 0.3 from wa 2 hl Therefore i ah 2034, tin " | A UNCOUPLED HEAVING, PETCHING. AND ROLLING MOTIONS: : 10, ‘dn Tienee, fer ah Moa x We ¥ an and for ¢ de 3x Se LS Naver nese two preted ins (ir 10° and Sy fie vory clone to the cave diet “ica the experi inet points in Fig. 4.30 “The value of K, does not depen! on te vnit of which may be given i either rains oF degree, ‘Also it ean be shown [132] ths jb eb [an 2 igacni, ver 8 te damping cotton Tike, conspaig” 20) und (2a) kives wh aaa) be 2 Note, however, that this experimental approach a vs not adopted for the determination of damping for heaving oF pitching motion, sines the damping is of much higher magnitude in these motions and data obtained experimentally are not accurate enough, The forced oscillator twehnique, which employs 3 anival oscillator 10 produce exciting forces for ng is a batter method shows the nondimensional da coefficient k of two models. and! B, and illustrates the effort of bilge keels, specd, nd amplitucle of roll angle on the roll damping moment ( wes derived from extinetion curves) oping LL ‘The restoring moment of a ship for rolling motion is the righting moment (transserse) at say particular unyle 6" ine! nation and is express fad (4216) For small angles of inefination [hts rats) ch ~ AGHT, sirup . . (4.21e)of roll derived tic (4.216) re ROLLING 81 i geet vba ous. Lee amatittes oot we oy Seats a ! 1 L f L a : Fewe 4.41 Roll camping coefcient, function of rome nmber 242) so that Solving this last differential equation, we obtain es eaVaM, (ia b= eMC, cose + Cysimenf) — (4.24a) However, (4.214) is valid only for smell amplitudes °F of volling displacement (say, to 10" if the curve of =e" Asin(wg ~ 5) (4.240) Fighting moment is finely proportional up to an where ‘ inciination of 10") — ’ > Sok (424) Rooting ie Calm Water The ed! tatian of motion for rolling in eal water is abs ple oS tilt sepa (4.220) or inserting the expressions for ac. and nits its agT4 (4.22) from which 6 548 oe {$e rMbsaibao (429) where nate! mee wm, (424) and * ty 435) Let us now sce how the damping of rolling motion affects the magnitude of the period. The damped rolling period is where T, is the period without damping, as given by (4.25). IC follows then that the period increases with damping, but this increase is almost negligible since damping is very small in rolling motions, Example 4.200 A certain ship 4800 tong hi 12,500 tons and aw radius of gyen tudinal axis of 30.8fl. The transverse_metacentric 4 © height js 5.79 fl, Find the natural and the damped period of roll if the coefficient for the roll damping. moment is assumed to be 32,000fi-ton-see and the added mass to be 20% of the actual mass of the ship, a dis sccment of82 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS Solution From (4.25) the natural eireular frequency is wher Thus from whieh the natueal period is Also, 1551 2n de ro 15.51 see my 15.52 see Given: A = 20,000'tuns: GM, 4K Ty = 20sec Pinar 4.92 (Change in gyradins due to weight removal CalgulateT, when a weight of @ tons removed froin «position 40 fe dicey above te CG. Mik assumed tit Gil, remains unchanged and that the added mass moment of inertia for rolling is 20% of the mass momeat of Mert ef thes Rete to Fig. 432 Solution On the assunsption that no davaping exists, 4.22) 1b ae lot + AC 26 OGM, cae ‘The natural frequeney is obtained from oy = SoM and the rolling period is Feag | by ‘Vy 4d Hence 1, = $10,000, using the values for A and Gi given, But 1, 1.20/,, since the added moment of inertia is 20% of the ship's moment of inertia, Thus 1, = 675,000 ton-see?-f The new f,, about the original CG of the ship is y= haem, 60 = 6TS.000 = 5 x (4) 675000 ~ 5555 « (40) = 675,00) ~ 2981 = 672,018 ton mass where iw 00) m= 305 and Furthermore, cep ME _ A AO Han OE 0.2 Ce yaw 19.940 : i 72019. 90 Now I, iboutthenow CG = 672019 = x19 19% = 672,010 ton mass-ftesee?is removed CG. this and-that rolling is f the ship. ists, (4.226) ROLLING 3 TADUEA.1S TYPICAL ROLLING PERIODS ‘Type of shine Tele] Passenger 20 28 los 14s oon 9-10 rain oat 38 10 Web ons aitlesin tas.70 : 120 130 Tepe at 74s while Now Fy = 1.20 x (new f,,}= 806412 ton mass-see?-M and the new period is too m2 issarea = 19.98 see Typical rolling periods for various types of n vehicles are given in Table 4.15, ine Es muple 4.21 A ships having. w displncement of 1000 tons rolls with a period of 10 sec and has a metacentric height Uiranaverse) of 4 fits sister ship has a displacerent fan 0 anetne ric height of 12,000 tons sind 4.25 fh, The weight distribution in both cases els. (The adkdec: mass for rolling. a) is 16°, of the sf a. Calculate the period of the:sister ship without added mass, by Caleutate the perind of the sister ship: with addled Solution a Tar 4, _ 12,000tons 5 _ 6 A inion tons" “5 Therefore A= 1,062 a= 0M ‘Then T, = 1031 x 10 - or 10.31 see on : b haar ‘Therefore ” A= 1,062 AN = 1.031 ‘Thus T, = 10.31 soe 1 is obvious that consideration of the added mass does not change the relationship of periods between wo sister ships. Exampte 4.22 A ship has a radius of gyfation (about the rolling axis) of 30.8 ft, a transverse metacentric height (GMA) of 484 ft, and a displacement of 15,000 tons. If the coefficient for the roll damping moment expression, » [where damping moment = bidd/at)], has a value of 32,000 ft-ton-sac while the ship is rolling in stil water, determine the amplitude of roll after three complete oscillations if the ship was initially inclined al 7 (ic, when ¢=0, ¢= 7 and déjdt = 0), The Added tras moment of inertia is 20% of that of the in this case of rolling. Solution: From (4.226) where + 5M = 1,28, ‘The solution is b= e%(Coosg + DSi og) 32,000 = 0.0603 see" 1.2[15.000 * (30.8)") v= 0.0301 seo"! and = 0.137 rad/sec? ‘The damped rolling frequency is 142 Lo H = [TTT = DOH ~ 0.369 case At ~ t=0,6=7%, 50 T=C =fM UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS: ey | a oe. | 9 = 4° (7 eos 0.360 + 0.571 sn 0.360") Ace dapisarent Figure 423 Danyping elfect om rollin calm water. in al C= O,dd/dt = 0; therefore ‘Thus Ome "nny + Doyen) pat 7 00001 gan “rete + Dain oo ast or = De, ‘and the solution of the equation i: ‘ b= 07017 cos 0.3691 + 0.571 sin 0.3691) a= fh «roe after 3 periods, that is, after 3 17 see for wf = 9,309 x 3 x IT rad), b= 80140177 G8 (0,369 x 17 3) 40.57 sin(0.369 % 1700 x 3) = e174 0) = 1.50" Figure 4.33 shows the decay of rolling amplitude with time « ag Moment for Rolling Vhe exciting, moment for rolling is due Lo the change in the buoyant force while the shipy is in the wave Fiqwe4.M Roll exciting moment due to change in buoyant This moment is ealeulated by integrating for each Fowee ship section the difference it: buoyancy ofthe trianglesamplitude ROLLING —_&S Grawn as in Fig. 434, The slope of the free surface 's tun ont y so that pay slope Thus the area of POR is fy xy xslope, and the moment of bsoyaney for this riangle is py (volume) x fr. For both triangles the rolling moment is $My= 2p (volume) > 2 = pathy? tan pdx)dy anger Boast Sea = [Epgy?At, sin je cos(kx cos idx] sin ot Since {,cos(kx cos jt — 0,8) then A — wae stone ey epstke cos 10) = ki, sin preastky eos 1) “The moment is, then, ote=[Boaenne costkxcos "de [sino a J (4260) AF we agstime that Mg= Masintng 4) the amplitude is My donk, sin nf costhcos eye (4266) ext) exciting. moment and The nondi moment is ensional amplitude of the exciting (4.26) For beam seas (= 90°) the amplitude of the rolling moment is Mo = 00 VKC,0M, (4.266) Since 3" de is the transverse moment of inertia of the waterplane arca, Mg = ra¥ayGM y or My= day GM, sino, = coy sin ot where cis the restoring moment coefficient = AGM. ‘Note: For the sake of simplicity the rolling moment ‘Mg for any angle of wave direction other than that fora beam sea is taken to be . My = cay sin cog (4262) where 5 iy = ay sin (4.26n) The rolling moment coefficient fa hns been plotted in Vig. 435 against the wave dlitection for several ‘waterplane area coefficients and L/L ratios. Example 4.23 tate the exciting moment for rolling of the ship for which the data are given in Example 4.1 Assume that the longitudinal center of buoyancy is at the midship section and also that ye= 120" (see Example 46), Solution: 8 From the data in Exampte 4.1 Table 415A is nee (4.266) prepare 1mm) pared since 2 ‘Therefore the integral becomes cos -5 ) 4x8 SUM =} x 48 x 16666 = 26.666 TARLE, 4184 \ Station « . 8 Axcorn —Cantkeeann) pean * Product kee) 9 oo ° “1m 0 5 an lame RIT Tams 007 sw 6186 ° 12% nim ° 000 aim 43s s an 96 iim ms 707 1319 i386 » ro6 ° ism. 0 :o ° SUM 1666686 _UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS 1 1 > ides igure 4.5." Coclficient for roll exciting: moment [242} The nondimensional exciting mplitude for rolling is 1g moment 2 singe 2 eg * imegral / 0.866 12x (RIPE KT = 0.1043 teow “fag * 26.066 fand the exciting moment plitude for rolling is Mg = pak, LIPT fy 9B 92.2. 0.927 x 0.2 x 19.2 x (2.592)? % 1.144 > 0.1043 = 62.6 ft-lb, Ro fing in a Kegular Seaway For rolling in a regular seaway the equation of me:ion a 0 acm AGTtey sing tit or : Wg by db ATM, AGH, di? * wie ant ead, Nae iy sin ot (rn For beam seas a, can be repkiced by «,, which is the actual wave frequency, since wy, = 1, for = 9" When a ship's found w be rolling heavily, tie proper Procedure is to alter course anjar speed. ‘his will alter the encountering frequeney (or encounteringIno 42 which is H 6 proper This will wuntering Period) and destroy synchronism, which is nearly always the eause of such rollin ‘The general solution for kind of differential Cem D . ( ayind ) lend ~ nd det oe = eMC cos ind + Dsin wf) + d, sinfwgt ~ 64) where aes (428) (429) (4.30) From (4.27a) or (4.27b) it eau rolling motion ina regukir scaway is composed of (wo forms of oscillations --natural and ioreed, Naiural oscillations have the frequency of the rolling cof the vessel in still water, ens andl as a resull of the nee of the ficior e°", graduslly die out with Forced oscillations wre presented by the en- frequency due to the exciting force. The amplitude #, and ihe phase angle ¢, of the forced oscillations’ do not change with time and do not dépend on the initial conditions of the motion. “Therefore for the steady-state cond (= d,sin(oge Now, comparing this equation with tne exciting moment for rolling, we see that there is a phase difference between the motion and. the exciting moment. This phase difference 2, is given by (4.30), Note that, when v= 0 (.c., when there is no damping) the stip motion takes place at the same time as the exciting moment, AAs in the cases of heaving and pitching, A and x are now introduced and defined for the rolling motion, The tuning Feta is bbe seen that the Ate my ‘and the nondimensional damping coefficient is om oy ROLLING 87 Note that for conventional ship forms the value of * lics between 035 and 0.10, From (4.Ra) the rolling implitude is 4, coe (4.30b) Sieewrere and the phase angle is obtained from (4.30): cA a (4.306) From (4.306) the magnification factor sis ca Singe Hq is also called the mugnificarion factor and has a ‘maximum value between $ and 10. I there is no damping. v and © are both equal to zero, amd afte! Me TE ‘The magnification factor jig. which is shown in Fig. 4.36 as a function of A = tory. shows the following eharacteristies: 1. AU A = 0, we get for all values of x for extremely small periods of encounter), we get the magnificaljon factor (4.32) 4. To deiermine the location of the maximum magni= ) and =A? erro For the mi imum of y the firs: derivative of y is180° —- reo" — nao Prue ale T ca} a ea a ea Pere 4N6 Magaitieation Factors ane phase ales between exeing and rolling mon,Set equal to 7er0, and we obtain, dy Wanda tig > ~ (0 = 4 anf From whvch = AL +4nt=0 and An Jie at aay Thus the maximum of the magnification factor does niet coincide with the position of resonance ‘o,Jeng = 1) but occurs to the left of it, depending on the magnitude of the nondimension coefficient x. Knowing the position of the maximum magnifica ion factor, we ean determine its magnitude by swhstituting (4.33) into (4.31), Therefore Equations 4.33 and 4:34 show that a large amount of damping not only lowers the peak amplitude of the forced! oscillation but also makes it occur at a lower value of A than in the case with less damping. When k> I//2 or 0.707, there are no penks in Fig. 4.36, : Note: As the damping factor x for rolling motion is usually small in comparison to unity, one may, in practice, consider that the location and magnitude of the maxitnum magnification factor coincide with those for the resonant region, Corspare with (4.2) Example 4.24 7 Gisen: 1 #500 V 35 knots Ly = 9008 Determine the heading of the ship relative to the waves when the largest rolling would be expected Solution: ‘The largest rolling motion occurs when synchro- ROLLING _&? nism takes place, namely, when Aston to that is, when = 0% wa and j1 is the heading angle relative to the waves, where Thus v tn _ mn yn a e049 rade " igrOsiead ey Also ae tng 0, 0g — PF Veo a Thus For deep water waves: ope [hm [PRR H2 oe = 0ATéruice and, since V = 35 x 1,689{/sec, (0.474 = 0.419) x 322 or = 825° or ~ 82.5" The rolling motion in a seaway can be drastically reduced by changing the ship's heading in the ranges of 0 to 45" and 135 to 180°, Thercfore, as mentioned previously, if for any reason a ship rolls heavily in Wie proper action is to change the course and/or speed of the ship. The encountering frequency is thereby altered, and the synchronism, which is normally the main reason for heavy rolling in a scaway, will bedestroyed, The equations given in this section are to be used for computation of the AMPLITUDES and PHASES of rolling for vessels oriented at any angle to the direction of wave travel, provided that the amplitudes of the motions do not exceed the limits of linearity, that is, ¢loiy remains the same for all values of99 _ UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS Sy, alchough giving the same value of 4 (28 ou 1, ‘The phase angle x, depends on the dumping factor x as woll as on the frequency ratio (or tuning factor) A, as is shown in Fig, 4.36. IL is interesting to note that for A= the phase angle is 90° regardless of the damping factor, and for-small values of x it varies very rapidly in the neighborhood of A =I. ‘The figure also shows that for small values of A the displacement 4 is nearly in phase with the exciting moment, but as the frequency of Fareed oscillation increases so also does the phase angle ©. For very high frequencies (Le., as A+ :0)e approaches 180" regardless of the amount of damping. cample 4.25 A certain ship encouniered two trains of regular waves of wavelengths 300 and GOOM, respectively, during its voyage in a beam sea, However, if the ‘maximum wave slopes in both eases were 5°, what were the amplitudes of rolling movion on those two ‘occasions if the natural period of rolling of the ship is known to be 15 sec?. Consider the motion to be both undamped and forced. Solution: For the steady-state condition the rolling motion, is obtained from (4.304), t where q, is the emplitde of rolling motion, From (4.300) asin en ~ 6) wT LAT assuming that there is no damping. For the beam sea condition (i.e, J Tes 0, = Oy a For 2001 length, deep water waves hiave a period of [6.38300 apg = 1.05 sec so that 821 radysee and : 4, = 0.0308 rad = 1.77" >. For 600M length of waves the wave period is, ft P85 assce @ 2 0 that : 2x 2 tg Ge gg OSD adlsce 2n_2n tng 2 2 419 cad sce wa Tse OM Iara and A 389 The rolling aunplitud is a | Examle 4.26 A ship is heading the wave direction 3 au angle of 150° relative to spec! of 20 knots, 4, Plot the magnification facior’ for rolling against the tuning factors for wave frequencies «4, ranging from 0 46 2.00 at an interval of 0.10, The relevant dimensions of the ship areas follows: 4508 2, = 308K GAT = 5.79) A= 12,500 tons ‘The added ma s is 20° of the mass of the ship, and {he dampiag moment is 32,000 (dH) i-ton, b. Kind che amplitude of ‘tie omximim rolling motion the ship will experience if the waye height istaken to be OM,oo, ranging relevant ROLLING 91 Solution: a natural rolling freaueney is, from (4.29), ICM; [SBM a5 v = Tai The damping factorsare yeas 3.000 2 GY HOTU, UD « 12300533] "= 0.0362 see"? and ee oe 0.089 an 7 408 The magnification factoris oe Misa aA? were the tuning factor Aw ten ™ The encountering frequency is , w.(1 eo veo) a With 1° 20 knots = 205 1.66 = ANIRAYsce and HAS, the numerical values are presented in ake 4.16, The magnifieation factor is shown in Fig. 4.7, b. The rolling amplitude is ven by the expression Mn TABLE 46 wc Timtscel Oe © ® ° 10 on ° own 008 a1 2 Lome 020 Foun 02% Osh tao7 630 Som m2 0982423 040 0363 034s 1M6 179 90 04s ont 1795 aaas ow 0345 0927 2k as on Hos is 2R7 | 0143 an 076 13a saio "0094 0% Loar Hes An 0045 100 = 090 tok 4 047 10 = 0999 2098 sak ams 10 ow 297 I 007 tio = 1aK0 2h G9mK mnt tao =n 3978816 10 162 Asa ate? ti Vash home gaat 10 19M 434 19676 0.909 to mins sim 417070007 190 Huns SIT, 127830006 200 = 1aN6 568i "13908 005 where 1 is the magnification factor for rolling, and by is the static rolling amplitude, that ew Me ATM ag ee NGA 7 em tus = 05a since sin je sin 150° = 0.5 Thus @, is maximum when the magnification factor Ng is maximum, Figwe 4.17 Ratio of roll and wave amplitude to tuning factor,2 UNCOUPLED HEAVING, PLTCHING, AND ROLLING MOTIONS Now fig minimums at a position Ne fia = Ji 22 5 flowy? 992 From (4.31), when the value of A is 0.992, of py is 5.64, Thus 1 value 64 x 0.504 ‘mum wave slope, has to be deter= mined for A= 0.992. By plotting o, against A, we have m= (0.312 for A= 0.992. Also, the waves length is 2nq_ 2m x 32.2 Wai2y = 2078 fe aie etre aM 20 0.091 rad so that (PQgy = 282 * ay, = 2.82 x 01001 257 rad (14.79") Example 4.27 The equation ofrolling motion ofa ship is expressed igen sin ct Hf the maximum effective, wave slope ay ean be considered to be a consiant, namely, 3/20 rad. for a certain encountering frequency af 0.20 radl/sec, shaw that the natural oscillations will gradually disappear with time while the amplitude ofthe forced oscillations will remain unaflected, The initial condie tions spevified are as follows: both # = 0,and didi = when Solution The general solution for the given differential cqutation is given by (4.27) o C eosengt + Cy sin 4h) + sin (wt — 65) where ' Via aE and From the a, When that is, the ship is iu an upright position when itis hit by the waves, Thus gno 0. At da ig 420 we ve Thus, at ¢ = 0, dp/dt = 0, and Om = HC) +0464 Hc 4) or YC = eh, cose ie the value of C, previously obtained, we get Using the given values of the coefficients of the squation of motion, we obtain for the clamping and rolling frequencies yn 20724 0.0362 see and tog» Vidi 1405 radisee Fespeective:y; ius the damped frequency is 0 Joh = (OA TING 2 = 0403 rad/see The tuning factor i tg _ 020 An =040 cg” 0405 "4 since «,= 0.2 factor jy = 1.314. Sines nd from (4.31), the magnification 10302 ay ‘Oos 7 8ROLLING 93 p usight | o ' p, we have Be ° 30 700 + cos awe 4+ Natura fore, an ol sesponse for tolling motion at fetions of time 2) the amplitude is Ratio. et Response Amplitude to Wave Amplitude ' e . (4K Bem nahe = nyt bald xs fe 20 tty Fig, 4.36 the magnification factor si = d,/e,) has 0.206; (or 1L8Y) heen plated on a base of the tuning factor AC ig) weg where For a particular tuning factor the value of My %8 - i consiant. Therefore 4, is lincarly proportional to 4-4 ay ints of the . f ‘The rolling amplitude @, can also be determined Furthermore. from (3 (per foot of wave amplitude) by means ofthe following mping and Fhetbermors fr (8.30 expression: an 40.11675) =O. rad (or 665 ant therefore C, = 0926:and E xg) ranueat a 162 x 0.116 ~ 0.20 « 0995 the) eter tea) oF _.2040.0362 x 0.116 ~ 0.20 « 0993) ron a

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• The Subtle Art of Not Giving a F*ck: A Counterintuitive Approach to Living a Good Life

  

  От Everand

  The Subtle Art of Not Giving a F*ck: A Counterintuitive Approach to Living a Good Life

  Mark Manson

  Рейтинг: 4 из 5 звезд

  4/5 (5794)
• The Little Book of Hygge: Danish Secrets to Happy Living

  

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  The Little Book of Hygge: Danish Secrets to Happy Living

  Meik Wiking

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (399)
• Devil in the Grove: Thurgood Marshall, the Groveland Boys, and the Dawn of a New America

  

  От Everand

  Devil in the Grove: Thurgood Marshall, the Groveland Boys, and the Dawn of a New America

  Gilbert King

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (266)
• Shoe Dog: A Memoir by the Creator of Nike

  

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  Shoe Dog: A Memoir by the Creator of Nike

  Phil Knight

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (537)
• Elon Musk: Tesla, SpaceX, and the Quest for a Fantastic Future

  

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  Elon Musk: Tesla, SpaceX, and the Quest for a Fantastic Future

  Ashlee Vance

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (474)
• Never Split the Difference: Negotiating As If Your Life Depended On It

  

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  Never Split the Difference: Negotiating As If Your Life Depended On It

  Chris Voss

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (838)
• Grit: The Power of Passion and Perseverance

  

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  Grit: The Power of Passion and Perseverance

  Angela Duckworth

  Рейтинг: 4 из 5 звезд

  4/5 (588)
• A Heartbreaking Work Of Staggering Genius: A Memoir Based on a True Story

  

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  A Heartbreaking Work Of Staggering Genius: A Memoir Based on a True Story

  Dave Eggers

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (231)
• Principles: Life and Work

  

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  Principles: Life and Work

  Ray Dalio

  Рейтинг: 4 из 5 звезд

  4/5 (599)
• The Emperor of All Maladies: A Biography of Cancer

  

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  The Emperor of All Maladies: A Biography of Cancer

  Siddhartha Mukherjee

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (271)
• Yes Please

  

  От Everand

  Yes Please

  Amy Poehler

  Рейтинг: 4 из 5 звезд

  4/5 (1891)
• The World Is Flat 3.0: A Brief History of the Twenty-first Century

  

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  The World Is Flat 3.0: A Brief History of the Twenty-first Century

  Thomas L. Friedman

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (2259)
• On Fire: The (Burning) Case for a Green New Deal

  

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  On Fire: The (Burning) Case for a Green New Deal

  Naomi Klein

  Рейтинг: 4 из 5 звезд

  4/5 (73)
• The Hard Thing About Hard Things: Building a Business When There Are No Easy Answers

  

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  The Hard Thing About Hard Things: Building a Business When There Are No Easy Answers

  Ben Horowitz

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (344)
• Rise of ISIS: A Threat We Can't Ignore

  

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  Rise of ISIS: A Threat We Can't Ignore

  Jay Sekulow

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (137)
• Team of Rivals: The Political Genius of Abraham Lincoln

  

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  Team of Rivals: The Political Genius of Abraham Lincoln

  Doris Kearns Goodwin

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (234)
• Fear: Trump in the White House

  

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  Fear: Trump in the White House

  Bob Woodward

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (738)
• John Adams

  

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  John Adams

  David McCullough

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (2409)
• The Unwinding: An Inner History of the New America

  

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  The Unwinding: An Inner History of the New America

  George Packer

  Рейтинг: 4 из 5 звезд

  4/5 (45)
• The Gifts of Imperfection: Let Go of Who You Think You're Supposed to Be and Embrace Who You Are

  

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  The Gifts of Imperfection: Let Go of Who You Think You're Supposed to Be and Embrace Who You Are

  Brené Brown

  Рейтинг: 4 из 5 звезд

  4/5 (1090)
• Steve Jobs

  

  От Everand

  Steve Jobs

  Walter Isaacson

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (806)
• Angela's Ashes: A Memoir

  

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  Angela's Ashes: A Memoir

  Frank McCourt

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (440)
• Bad Feminist: Essays

  

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  Bad Feminist: Essays

  Roxane Gay

  Рейтинг: 4 из 5 звезд

  4/5 (1015)
• The Glass Castle: A Memoir

  

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  The Glass Castle: A Memoir

  Jeannette Walls

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (1712)
• The Light Between Oceans: A Novel

  

  От Everand

  The Light Between Oceans: A Novel

  M.L. Stedman

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (789)
• The Sympathizer: A Novel (Pulitzer Prize for Fiction)

  

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  The Sympathizer: A Novel (Pulitzer Prize for Fiction)

  Viet Thanh Nguyen

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (121)
• The Outsider: A Novel

  

  От Everand

  The Outsider: A Novel

  Stephen King

  Рейтинг: 4 из 5 звезд

  4/5 (1839)
• Brooklyn: A Novel

  

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  Brooklyn: A Novel

  Colm Tóibín

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (1937)
• A Man Called Ove: A Novel

  

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  A Man Called Ove: A Novel

  Fredrik Backman

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (4609)
• The Woman in Cabin 10

  

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  The Woman in Cabin 10

  Ruth Ware

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (2322)
• Wolf Hall: A Novel

  

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  Wolf Hall: A Novel

  Hilary Mantel

  Рейтинг: 4 из 5 звезд

  4/5 (3811)
• Manhattan Beach: A Novel

  

  От Everand

  Manhattan Beach: A Novel

  Jennifer Egan

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (792)
• The Perks of Being a Wallflower

  

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  The Perks of Being a Wallflower

  Stephen Chbosky

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (2102)
• Little Women

  

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  Little Women

  Louisa May Alcott

  Рейтинг: 4 из 5 звезд

  4/5 (104)
• The Art of Racing in the Rain: A Novel

  

  От Everand

  The Art of Racing in the Rain: A Novel

  Garth Stein

  Рейтинг: 4 из 5 звезд

  4/5 (4200)
• Sing, Unburied, Sing: A Novel

  

  От Everand

  Sing, Unburied, Sing: A Novel

  Jesmyn Ward

  Рейтинг: 4 из 5 звезд

  4/5 (1103)
• Her Body and Other Parties: Stories

  

  От Everand

  Her Body and Other Parties: Stories

  Carmen Maria Machado

  Рейтинг: 4 из 5 звезд

  4/5 (821)
• A Tree Grows in Brooklyn

  

  От Everand

  A Tree Grows in Brooklyn

  Betty Smith

  Рейтинг: 4.5 из 5 звезд

  4.5/5 (1929)
• The Constant Gardener: A Novel

  

  От Everand

  The Constant Gardener: A Novel

  John le Carré

  Рейтинг: 3.5 из 5 звезд

  3.5/5 (104)