Zokertit dynamics of Rigt Floating Shuctures ee Are ocean stmetort, be sd x surface shor, underlie vehicle, ov platform, tp fundantatally ee Far syanale, fs luce of a sum ship duce & ine nig-mode tr er adel lod re Ge ete Se shearing fa comple, nitration medalil Of ocean) wavlo we file leat confi ee Be begord) Ha star, F- thie course. tie E Hee limit. our Cis cussiona ty tha. rigid nai fono of a fk bole due & sunfoce wares, mou spre cally) dire % grav wallto, 11.1 Kinsmaties D_ motions we (une) Perel!) a pie) g r(yaw) ye Wsaay) w(heave) Fag dL Zz, Table of Body Fined Guanlibits CoordinaLia + “=(x, 9,3) Trammslatiaral velocities? wl wu, Wd (surge, suse Bult omgles (ro pate, yor) a : (4, 6, ro i aus) floc idocttee oe rent) wien, ca aay’ e tr beat A+8 A ot Bi -0 \ era) RX ‘ pez Ob am | hata : Poem \ BB = Ao wh fO= (aa -& b= Wha +U-worlarnyn -Oxa sinBot Lt nelio, of, n= lo, t,o) and na=le, o, 17 and b=cBna C 2e9BL + C1 Geng) DT ~ ey (1.2) Pe | Oe me | [N23] _ he \ 20 cf ood + 8 Bed: Clea» “f “| :

ing | =e 2 g a cant Oo -s6 o Lt °| ht) $6 9 Ct rat BPE Oye fH s | us) 1 Honer, He prsce ding othhogonel rotations result se te wllhnone Euloe angle : Show, we howe L= CU, me) COG W)C($.0) % | (n.6) oe w= C(h2,)C(6,2)C UY}, 2) Z She omg velocity vector @ ont b ia rtlbel wa #2] + ctén)/s] + citasconals| U7) De medium. compulettaons, the Euler prams definselos e-[£]- n pin & (me) are wasd) radaed of he Cube omslin (46,4).02 the ompudian. vebeite, ® cam be shoe t te nelebol F te Eure peromibind oucrling tr b=ClE AA } CCEA) = Cord. Oe +286" -2ak wy e=(é t aa grand 1) > ° 5 o “6 (ve) “8, -8, a | vith Bay el2)= iz (axa). U2 Trmalational Eguateoro ot Unbihe a sing be cmtattd wass, Ke onyen Be boty- fixed) coordinabig mesy not crinede with. the mass conti ae Wh a customary % choose the navigaleon corikich wikiw K te te origin, Referring te Fig 14, wre news Lyra { rpaT (nn) 7 sud tek tq BY, + Laie Ie Yer Lette, Lees Keyronty (2) teje™ wrty, a,2 erkA Bie + OXY + DeLee wx(WXG Re) — (M13) Jhint fou , the tama liteonal 0 opualernd TE moti ae Bivin to m (Ye + xy, txt, + @x (Wx Lop)) = £ (4)& Tf Yefe=0, then (it) Keducce & m(¥e + OxK dat, Cis) WB Retationah Eguallcrna ma Te Moti - rm te dofiniti He a obrotute. ee omen / ae J we botet (et tee Ho (f prxe dr (6) Va derivative xo givenly: ir A= [poxkdr + [fi xed =m (ur) Since Bo : erhtk o bau y (en) ond UX =O we hone Bos mM «fe rbdr 2M ve xflpdre (ls) Frm (1) : my, = SPLew =m(wx Lee) (9) Subratititing Ug) nhs (18), we ob teens He = Me ~ mV xX(@x Lee) (19) Now, pouritis 16) wading (s17) Aes [poe er = ferx(y+exeyer am Leyx Ve + [pex(wal dT SMe XVe tl , ee [Kt ArL-rPypar (121) (ze)op Hames, = Lo + Wx (T,®) +7 ( WK Leg) ® Ye + mG (+ YxYe) = Me ~ mY x( % XMGK) yp en, AX HERA 22) + mre, x( 2+ wx, eve (u. 22) vin Era, Ne, 4 Ord Cormac, than. We hone tre familiar elassital eprateon i Tp. + BxX(Ke) = Me (hea) WA Reshrring Forts Merrsnty fon. Uirdbrwsciter Voh tele Th. forces and motile ane ~He daira free oor the. buoyont foray whack con be sated stabiel. Fy C.(ohey#, Cm, mre): [: wWhre "3 (24, CLL$,6,41, trem) = C(b 2)-C (0,22) CC, Ms) 0 FL =- CCCG, 8), 08, 22.081) 5 (28 YE Whe TE io tre vo lume of flurd dap laced ty he vehicle, The mamet da given +9 =~ XGex £- ~ by XF, (28) dle 9=gk, ther we hone the follow ina, simpli fisd force & momok 505 E-Btk “(nano (206-0 (429) 4 W 4B ease cont + (BW - 2,8) exe ponep MO 4 (am BB) ane + (XW ~%B)tond-coag (h2a) = (4G -%)cosind — — (YgW -YgB) Amd Whore w=ma B=GGVE, onc (146%) om! (Lp, Yo) ) re the distance from CHG Gud) te buoyaneny cot. G, pespctivaleyg US Lintaniyed Qeslong Fireta & Menorts fan Suafpee Ships