PART A

1. Define regular wave.

Regular wave is wave which has its amplitude, wave period, wave height.

2. Define wave length.

The distance between successive crests or troughs of a wave is called as wave length.
3. Define wave period.
Time taken to complete one cycle is called the wave period . Wave period is inversely proportional to the frequency of
the wave.
4. Define wave frequency.
The number of waves that pass a fixed point in given amount of time is called wave frequency . It is inversely
proportional to the wave period of the wave.
5. Draw Ship coordinate system.

6. Name the six degrees of freedom motions.

 Surge
 Sway
 Heave
 Roll
 Pitch
 Yaw

7. Name the translational motions of the ship.

The translational motions of the ship are Surge, Sway, Heave

8. Name the rotational motion of the ship.

The rotational motion of the ship are Roll , Pitch , Yaw

9. Name the inertial motion of the ship.

The inertial motion of the ship are Roll, Pitch, Heave

10. Name the non-inertial motion of the ship.

The non-inertial motion of the ship are Surge, Sway, Yaw.

11. Define heave motion of ships.

The motion along the z-axis is called heave motion of the ship. It is the linear vertical up and down motion.

12. Define pitch motion of ships.

The motion about y-axis is called the pitch motion of the ship. It is the up and down rotation of the vessel about its
lateral y-axis.

13. Define roll motion of ships.

The motion about x-axis is called the roll motion of the ship. It is the tilting rotation of a vessel about its longitudinal
x-axis.

14. Define surge motion of ships.

The motion along x-axis surge motion of the ship. It is the linear longitudinal motion of ship along x-axis.

15. Define sway motion of ships.

The motion along y-axis is called the sway motion of the ship. It is the linear lateral motion of ship along y-axis.

16. Define yaw motion of ships.

The motion about z-axis is called the yaw motion of the ships . It is the turning rotation of a vessel about its vertical
z-axis.
17. What are coupled motions?
The phenomenon of a consistent association of a motion along or about one axis, whether it is a translation or a
rotation, with another motion about or along a second axis. Some of the coupled motions are
 Heave and Pitch
 Yaw and Sway
 Yaw, Sway and Roll
 Roll, Yaw and Pitch

18. Write the equation of motion for heave.

𝑎𝑧̈ + 𝑏𝑧̇ + 𝑐𝑧 = 𝐹˳𝐶𝑜𝑠𝜔ₑ𝑡
 a = added mass (inertial coefficient)
 𝑧̈ = heave acceleration
 𝑏 = damping coefficient
 𝑧̇ = heave velocity
 𝑐 = restoring coefficient
 𝑧 = heave displacement
 𝐹˳ = exciting or encountering force
 𝜔ₑ = encounter frequency
 𝑡 = time taken

19. Write the equation of motion for roll.

𝑎ф̈ + 𝑏ф̇ + 𝑐ф = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡
 a = added mass (inertial coefficient)
 ф̈ = rolling acceleration
 𝑏 = damping coefficient
 ф̇ = rolling velocity
 𝑐 = restoring coefficient
 ф = roll displacement
 𝑀˳ = exciting or external moment
 𝜔ₑ = encounter frequency
 𝑡 = time taken

20. Write the equation of motion for pitch.

𝑎𝛳̈ + 𝑏𝛳̇ + 𝑐𝛳 = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡
 a = added mass (inertial coefficient)
 𝛳̈ = rolling acceleration
 𝑏 = damping coefficient
 𝛳̇ = rolling velocity
 𝑐 = restoring coefficient
 ϴ = roll displacement
 𝑀˳ = exciting or external moment
 𝜔ₑ = encounter frequency
 𝑡 = time taken

21. Define radiation forces.

Radiation forces are caused by the fluid on our frame when it is oscillating in still water. Important forces here are
the added mass and the radiation damping, which more or less depend on our frame geometry.

22. What is strip theory?

The ship is sliced in strips and then the hydrodynamic loads acting on each strip is found, then it is integrated over
the length of the vessel in order to get the total force acting on the ship.

23. Define tuning factor.

The ratio of the encountering frequency to the natural frequency of the system.

24. Define magnification factor.

The ratio of the forced motion amplitude to the static amplitude.
 25. Define non dimensional damping factor.
The ratio of the decaying constant to the natural frequency of the system.

26. Define static heaving amplitude.

When a ship is in a position to balance itself statically on the wave at every instant of passage, the ship will then rise
and fall slowly with the encountering frequency so as to keep balance between weight and buoyancy with an amplitude
called as static heaving amplitude.

1. Explain inertial force.

A body with accelerated motion in a continuous medium of fluid experiences a force that is greater than the mass of
the body times the acceleration.The increment of the force can be defined as the product of the body acceleration and
a quantity having the same dimension as the mass it is termed added mass
2. Write a summary on damping force.
The opposite direction to the motion of the ship and produces a gradual reduction in the amplitude of motion is called
damping force. To determine the effect of damping, the equation of motion must include the damping force. The
damping coefficient normally depends on the following factors.
 Type of oscillatory motion, Encountering frequency of oscillation , Form of vessel.

3. Explain why heave and pitch motions are coupled.

The ship will naturally heave due to the incident waves simultaneously, the ship is also moving forward, so it will pitch as
it encounters the crests and troughs of waves. the two motions are not independent of each other
4 . Describe the coupled ship motions.
 Heave and Pitch
 Yaw and Sway
 Yaw, Sway and Roll
 Roll, Yaw and Pitch.

The one dealing with vertical motions, namely pitching and heaving can be investigated easily in a model basin. Coupled
heave and pitch for head seas can be investigated analytically by strip theory.

5. Illustrate free undambed heaving motion.

For free undambed heaving motion, 𝑎𝑧̈ + 𝑐𝑧 = 0
Let 𝑧 = 𝑒 𝑘𝑡
𝑧̇ = 𝑘𝑒 𝑘𝑡 , 𝑧̈ = 𝑘 2 𝑒 𝑘𝑡
a𝑘𝑒 𝑘𝑡 + 𝑐𝑘 2 𝑒 𝑘𝑡 = 0
𝑒 𝑘𝑡 (𝑎𝑘 2 + 𝑐) = 0
𝑎𝑘 2 + 𝑐 = 0
√−4𝑎𝑐 2𝑖√𝑎𝑐
𝑘= ± => ±
2𝑎 2𝑎
𝑐 𝑐
𝑘 = ±𝑖√ 𝛼=0 𝛽= √
𝑎 𝑎
−𝜐𝑡 (𝐴𝑐𝑜𝑠𝛽𝑡
𝑧= 𝑒 + 𝐵𝑠𝑖𝑛𝛽𝑡)
𝑧 = (𝐴𝑐𝑜𝑠𝑤𝑧 𝑡 + 𝐵𝑠𝑖𝑛𝑤𝑧 𝑡)
𝑤𝑧 = Natural frequency
𝑐
𝑤𝑧 = √
𝑎
2𝜋
𝑇𝑧 =
𝑤𝑧

6. Describe free damped heaving motion.

For free damped heaving motion, 𝑎𝑧̈ + 𝑏𝑧̇ + 𝑐𝑧 = 0
𝑧 = 𝑒 −𝜐𝑡 (𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡)
𝑏
𝜐= [Decaying constant]
2𝑎
𝜔𝑑 = √𝜔𝑧2 − 𝜐 2 [Damped frequency]
 2𝜋
𝑇𝑑 =
𝜔𝑑
When 𝑡 = 0
𝑧 = 𝐶1 ; 𝑧𝑎 = 𝐶1
𝑑𝑧
= 𝑒 −𝜐𝑡 (−𝜐)(𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡) + 𝑒 −𝜐𝑡 (𝜔𝑑 ) (−𝐶1 𝑠𝑖𝑛𝜔𝑑 𝑡 + 𝐶2 𝑐𝑜𝑠𝜔𝑑 𝑡)
𝑑𝑡
0 = (−𝜐𝐶1 + 𝐶2 )
𝜐 = (𝐶2 ⁄𝑧𝑎 )𝜔𝑑
𝑧 𝜐
𝐶2 = 𝑎
𝜔𝑑

7. Write summary on forced heaving motion.

𝑎𝑧̈ + 𝑏𝑧̇ + 𝑐𝑧 = 𝐹˳𝐶𝑜𝑠𝜔ₑ𝑡
𝑧 = 𝑒 −𝜐𝑡 (𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡) + 𝑧𝑎 𝑐𝑜𝑠 (𝜔𝑒 𝑡 − 𝜀2 )
𝑧𝑎 = 𝑧𝑠𝑡 ∗ 𝜇𝑧
𝐹˳
𝑧𝑠𝑡 = [Static heave amplitude]
𝐶
1
𝜇𝑧 = [Magnification factor]
√(1−⩘2 )2 +4⩘2 𝑘 2
𝜔𝑒
⩘= [Tuning factor]
𝜔𝑧
𝑧𝑎 can be decreased by
 Increasing the non dimensional damping factor.
 Increasing the tuning factor.
 Increasing the encountering frequency.
 Decreasing the magnification factor.
 Increase in C hence decreasing static heave amplitude.

8. Explain forced pitch motions.

𝑎𝜃̈ + 𝑏𝜃̇ + 𝑐𝜃 = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡
𝜃 = 𝑒 −𝜐𝑡 (𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡) + 𝜃𝑎 𝑐𝑜𝑠 (𝜔𝑒 𝑡 − 𝜀2 )
𝜃𝑎 = 𝜃𝑠𝑡 ∗ 𝜇𝜃
𝑀˳
𝜃𝑠𝑡 = [Static heave amplitude]
𝐶
1
𝜇𝜃 = [Magnification factor]
√(1−⩘2 )2 +4⩘2 𝑘 2
𝜔𝑒
⩘= [Tuning factor]
𝜔𝑧

9. Elucidate the forced roll motions.

𝑎ф̈ + 𝑏ф̇ + 𝑐ф = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡
ф = 𝑒 −𝜐𝑡 (𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡) + ф𝑎 𝑐𝑜𝑠 (𝜔𝑒 𝑡 − 𝜀2 )
ф𝑎 = ф𝑠𝑡 ∗ 𝜇ф
𝑀˳
ф𝑠𝑡 = [Static heave amplitude]
𝐶
1
𝜇ф = [Magnification factor]
√(1−⩘2 )2 +4⩘2 𝑘 2
𝜔𝑒
⩘= [Tuning factor]
𝜔𝑧

10. Show that, if the linear dimensions of a ship and those of its geometrically similar model are in the ratio of λ, the
natural heaving period of the ship is SQRT(λ) times that of the model.
2𝜋
𝑇𝑧 =
𝜔𝑧
𝑎
𝑇𝑧 = 2𝜋√
𝑐

𝜆3
𝑇𝑧 = 2𝜋√
𝜆2
𝑇𝑧 = √𝜆 2𝜋
Hence proved.

11. A ship having a displacement of 10,000 tons rolls with a period of 10 sec. Its sister ship has a displacement of 12,000
tons. The weight distribution in both cases is similar in all respects. Calculate the roll period of the sister ship.
Let us consider the sister ship as a model,
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑠ℎ𝑖𝑝
W.K.T 𝜆3 =
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑚𝑜𝑑𝑒𝑙
12000
𝜆3 =
10000
𝜆 = 1.06
𝑇ф𝑚𝑜𝑑𝑒𝑙 = 𝑇ф𝑠ℎ𝑖𝑝 ∗ √𝜆
𝑇ф𝑚𝑜𝑑𝑒𝑙 = 10 ∗ √1.06
𝑇ф𝑚𝑜𝑑𝑒𝑙 = 10.3 𝑠𝑒𝑐

12. Given: L = 160m; Kyy = 0.25L; GML = 160m; Disp = 1500tons; If the added mass moment of inertia is about 90% if
the mass moment of inertia of the ship, find the natural pitching period.
𝐼𝑦𝑦
𝑇𝜃 = 2𝜋√
∆𝐺𝑀𝐿
𝐼𝑦𝑦 = 𝑀 ∗ 𝐾𝑦𝑦 2 ∗ 1.9
𝐼𝑦𝑦 = 1500 ∗ 1600 ∗ 1.9
𝐼𝑦𝑦 = 4560000
4560000
𝑇𝜃 = 2𝜋√
1500∗9.81∗160
𝑇𝜃 = 8.74 𝑠𝑒𝑐

13. Given: L = 160m; Kxx = 0.35L; GML = 10m; Disp = 1500tons; If the added mass moment of inertia is about 20% if
the mass moment of inertia of the ship, find the natural rolling period.
𝐼𝑥𝑥
𝑇ф = 2𝜋√
∆𝐺𝑀𝑇
𝐼𝑥𝑥 = 𝑀 ∗ 𝐾𝑥𝑥 2 ∗ 1.2
𝐼𝑥𝑥 = 1500 ∗ 3136 ∗ 1.2
𝐼𝑥𝑥 = 5644800
5644800
𝑇ф = 2𝜋√
1500∗9.81∗10
𝑇ф = 38.92 𝑠𝑒𝑐

1. Explain in detail about strip theory.

Strip theory is a popular approximation of the 3-D Neumann-Kelvin formulation for ships which are slender as it
most often the case when vessels are expected to cruise at significant forward speeds.The principle assumption of strip
theory is that certain components of the radiation and diffraction potentials very slowly along the ship length loading to
a simplification of the n-k formulation
 In head or bow seas where heave and pitch attain their maximum values, the encounter frequency is usually
high.
 We slice the ship into strips. Our aim is to find the hydrodynamic loads which are acting on each strip.
 The whole problem of finding these forces is caused by the geometry of our frames which is not regular.

𝐵 𝐼
, = 𝑂(𝜀), 𝜀 ≪ 1
𝐿 𝐿

2. Write a detailed note on equations of Ship motion.

The energy distribution over the wave frequencies is known. Theses waves are input to a system that possesses linear
characteristics. These frequencies characteristics are known, for instance via model experiments or computations. The
output of the system is the motion of the floating structure.
As a consequence of the linear theory, the resulting motions in irregular waves can be obtained by adding
together results from regular waves of different amplitudes, frequencies and possibly propagation direction the
calculated frequency characteristics of the responses of the ship the response spectra and the statistics of the responses
can be found.
Free undamped, 𝑎𝑧̈ + 𝑐𝑧 = 0

Free damped, 𝑎𝑧̈ + 𝑏𝑧̇ + 𝑐𝑧 = 0

Forced damped, 𝑎𝑧̈ + 𝑏𝑧̇ + 𝑐𝑧 = 𝐹˳𝐶𝑜𝑠𝜔ₑ𝑡

3. Explain the detailed procedure to predict the motions using strip theory.

A ship has a long and slender hull shape in comparison with its breadth and depth. Taking advantage of the above
assumptions, fluid motion around hull surface due to ship motion can be regarded as if it moves in cross sectional
plane. In other words, the fluid force can be obtained by integrating the force acting on transverse strips
𝐿/2
𝑎𝑧 = ∫−𝐿/2 𝑎𝑛 𝑑𝑥

2
𝜌𝜋𝐵𝑛
 𝑎𝑛 = added mass of a ship section, 𝑎𝑛 =
8
 𝐵𝑛 = breadth at that section
 𝑎𝑧 = added mass of the total ship,

𝜌𝜋 𝐿/2
𝑎𝑧 =
2
∫−𝐿/2 𝑐𝑦 2 (𝑥)𝑑𝑥

 𝑐 = added mass coefficient

 𝑦(𝑥) = half breadth of the waterline.

4. Explain in detail the hydrodynamic forces acting on the ship.

A body having an accelerated motion in a continuous medium of fluid experiences a force that is greater than the
mass of the body times the acceleration
Damping force:-
The damping force always acts in the opposite direction to the motion of the ship and produces a gradual
reduction in the amplitude of motion. To determine the effect of damping, the equation of motion must include the
damping force, which in our simplified case is
𝑑𝑧
𝐹𝑏 = −𝑏 Where b is the coefficient for the damping force in heaving. The damping coefficient normally depends on
𝑑𝑡
the following factors.
 Type of oscillatory motion.
 Encountering frequency of oscillation.
 Form of vessel.
 Restoring force:-

The restoring force for heaving is given as the additional buoyancy force that acts on a body when it is submerged
to a deeper draft
Exciting force:-
To determine the exciting force for ship motions, the water waves must be studied, since they are the only source
of ship excitation in a seaway.

5. Write detailed notes on roll motion equations in waves.

moments act in rolling motion.
 Inertial moment
 Damping moment
 Restoring moment
 Exciting moment

𝑎ф̈ + 𝑏ф̇ + 𝑐ф = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡

 𝑖𝑛𝑒𝑟𝑡𝑖𝑎𝑙 𝑚𝑜𝑚𝑒𝑛𝑡 = 𝑎ф̈

𝑎 𝑖𝑠 𝑣𝑖𝑟𝑡𝑢𝑎𝑙 𝑚𝑎𝑠𝑠 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝑎𝑛𝑑 ф 𝑖𝑠 𝑡ℎ𝑒 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑎𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑟𝑜𝑙𝑙𝑖𝑛𝑔

 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑚𝑜𝑚𝑒𝑛𝑡 = 𝑏ф̇

𝑏 𝑖𝑠 𝑡ℎ𝑒 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑚𝑜𝑚𝑒𝑛𝑡 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑎𝑛𝑑 ф 𝑖𝑠 𝑡ℎ𝑒 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦

 𝑟𝑒𝑠𝑡𝑜𝑟𝑖𝑛𝑔 𝑚𝑜𝑚𝑒𝑛𝑡 = 𝑐ф

𝑐 𝑖𝑠 𝑡ℎ𝑒 𝑟𝑒𝑠𝑡𝑜𝑟𝑖𝑛𝑔 𝑚𝑜𝑚𝑒𝑛𝑡 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑎𝑛𝑑 ф 𝑖𝑠 𝑡ℎ𝑒 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑖𝑛 𝑟𝑜𝑙𝑙𝑖𝑛𝑔

 𝑒𝑥𝑐𝑖𝑡𝑖𝑛𝑔 𝑚𝑜𝑚𝑒𝑛𝑡 = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡

For free undamped motion,

𝑎ф̈ + 𝑐ф = 0
ф = (𝐴𝑐𝑜𝑠𝑤ф 𝑡 + 𝐵𝑠𝑖𝑛𝑤ф 𝑡)
𝑤ф = Natural frequency
𝑐
𝑤ф = √
𝑎
2𝜋
𝑇ф =
𝑤ф

For free damped motion,

𝑎ф̈ + 𝑏ф̇ + 𝑐ф = 0
ф = 𝑒 −𝜐𝑡 (𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡)
𝑏
𝜐= [Decaying constant]
2𝑎

𝜔𝑑 = √𝜔ф2 − 𝜐 2 [Damped frequency]

2𝜋
𝑇𝑑 =
𝜔ф
For forced damped motion,
𝑎ф̈ + 𝑏ф̇ + 𝑐ф = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡
ф = 𝑒 −𝜐𝑡 (𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡) + ф𝑎 𝑐𝑜𝑠 (𝜔𝑒 𝑡 − 𝜀2 )
ф𝑎 = ф𝑠𝑡 ∗ 𝜇ф
𝑀˳
ф𝑠𝑡 = [Static heave amplitude]
𝐶
1
𝜇ф = [Magnification factor]
√(1−⩘2 )2 +4⩘2 𝑘 2
𝜔𝑒
⩘= [Tuning factor]
𝜔ф

6. Write detailed notes on pitch motion equations in waves.

𝑎𝜃̈ + 𝑏𝜃̇ + 𝑐𝜃 = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡
 𝑖𝑛𝑒𝑟𝑡𝑖𝑎𝑙 𝑚𝑜𝑚𝑒𝑛𝑡 = 𝑎𝜃̈

𝑎 𝑖𝑠 𝑡ℎ𝑒 𝑣𝑖𝑟𝑡𝑢𝑎𝑙 𝑚𝑎𝑠𝑠 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝑎𝑛𝑑 𝜃 𝑖𝑠 𝑡ℎ𝑒 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑎𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑝𝑖𝑡𝑐ℎ𝑖𝑛𝑔
 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑚𝑜𝑚𝑒𝑛𝑡 = 𝑏𝜃̇

𝑏 𝑖𝑠 𝑡ℎ𝑒 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑚𝑜𝑚𝑒𝑛𝑡 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑎𝑛𝑑 𝜃 𝑖𝑠 𝑡ℎ𝑒 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦

 𝑟𝑒𝑠𝑡𝑜𝑟𝑖𝑛𝑔 𝑚𝑜𝑚𝑒𝑛𝑡 = 𝑐𝜃

For free undamped motion,

𝑎𝜃̈ + 𝑐𝜃 = 0
𝜃 = (𝐴𝑐𝑜𝑠𝑤𝜃 𝑡 + 𝐵𝑠𝑖𝑛𝑤𝜃 𝑡)
𝑤𝜃 = Natural frequency
 𝑐
𝑤𝜃 = √
𝑎
2𝜋
𝑇𝜃 =
𝑤𝜃

For free damped motion,

𝑎𝜃̈ + 𝑏𝜃̇ + 𝑐𝜃 = 0
ф = 𝑒 −𝜐𝑡 (𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡)
𝑏
𝜐= [Decaying constant]
2𝑎
𝜔𝑑 = √𝜔𝜃2 − 𝜐 2 [Damped frequency]
2𝜋
𝑇𝑑 =
𝜔𝜃
For forced damped motion,
𝑎𝜃̈ + 𝑏𝜃̇ + 𝑐𝜃 = 𝑀˳𝐶𝑜𝑠𝜔ₑ𝑡
𝜃 = 𝑒 −𝜐𝑡 (𝐶1 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐶2 𝑠𝑖𝑛𝜔𝑑 𝑡) + 𝜃𝑎 𝑐𝑜𝑠 (𝜔𝑒 𝑡 − 𝜀2 )
𝜃𝑎 = 𝜃𝑠𝑡 ∗ 𝜇𝜃
𝑀˳
𝜃𝑠𝑡 = [Static heave amplitude]
𝐶
1
𝜇𝜃 = [Magnification factor]
√(1−⩘2 )2 +4⩘2 𝑘 2
𝜔𝑒
⩘= [Tuning factor]
𝜔𝜃

Submitted by
NANDHALAL G
NA 893
SUBJECT :SEA KEEPING AND CONTROLABITILTY
GROUP 1

SUBMITTED TO :
SIR RAJU