1. CAUSES OF THE SIX DEGREES OF FREEDOM.

a. Pitching - Swaying along the lateral Y-axis.

- Motion about the vessel’s transverse axis.
- To have a constant trim (trim being the difference of the forward
and after drafts), stability in the motion of pitch must be acquired.
- Governing stability – Longitudinal stability

b. Heaving - The yawing along the vertical Z-axis.

- The vertical bodily motion of the vessel.
- To keep the vessel on the surface at a relatively constant mean
draft, stability in heave is necessary.
- Governing stability – Positional motion stability

c. Surge - Rolling along the longitudinal X-axis.

- Longitudinal bodily motion.
- There is a desire for a vessel to maintain a constant speed, this
would require that the vessel have stability along the surge axis.
- Governing stability – Stability in motion ahead & astern

d. Rolling - Motion about the vessel’s longitudinal axis.

- One of the most undesirable characteristic of ships. Setting up
stresses in the structure, causing discomfort to both passengers
and crew.
- Generates risk of cargo shifting and increasing the cost of
operation.
- Rolling is sometimes a direct cause of speed reduction but more
often a change in course, which in turn, may result in speed
reduction.
- It is a concern to keep the vessel from capsizing, stability in rolling
motion must be sufficient.
- Governing stability – Transverse stability

e. Yawing- motion about the vessel’s vertical axis.

- Rotation of a ship about a vertical axis approximately through its
center of gravity.
- This is undesirable because its correction requires the use of a
rudder with increase in resistance to propulsion and because it
produces yaw-heel.
- It is desirable for a vessel to be able to stay on course and not
swing wildly from it. This can be construed to mean that the vessel
is stable in yaw motion or heading.
- Governing stability – Directional stability

f. Sway - Bodily transfer of the ship in a lateral direction due to orbital

motion of the water in a wave.
- Lateral, side to side, bodily motion.
- It is important to minimize a vessel’s sideways or lateral motion.
This requires a high degree of stability in sway.
- Governing stability – Lateral motion stability
2. COMPUTATION OF ROLLING PERIOD.

- For ships of ordinary form at moderate angles of roll, the axis is not far from the
center of gravity; and, where the simplification assists in the solution of a
problem, the axis of roll is assumed to pass through G.
- Under this assumptions, the equation of motion of the ship is:

IdØ+M=0 - equation no. 1 where:

dt I = mass moment of inertia of the ship
about a long’l axis through the
center of gravity

M = is the righting moment

Ø = angle of inclination of the ship from

the vertical

I= Δ k - equation no. 2 where:

g k = radius of gyration of mass of a ship
about a long’l axis through G

- For small angles of inclination:

M = ΔGZ = ΔGM sinØ = ΔGMØ - equation no. 3

- Substituting these values, we arrive:

d Ø + g GM Ø = 0 - equation no. 4
dt k

- Equation no. 1 is the equation for simple harmonic motion having the period:

TØ = 2πk - equation no. 5

√gGM

- Therefore the rolling period of a ship is:

TØ = 1.108k - equation no. 5

√GM

- For induced rolling (sallying), rolling period is:

Period = 1.108k
√GM
2. DRAW THE SIX DEGREES OF FREEDOM.

HEAVE

YAW

SWAY

PITCH

SURGE

ROLL