VERTICAL MOTION OF THE BODY

CYCLINDER EXAMPLE
Vertical motion of the body derived by Newton`s second law
(1)
Induced Hydromechanical forces and moments produced Wave exciting forces and moments

HEAVE MOTION OF THE CYCLINDER

Applied Newton`s second law to Heaving motion of the cylinder body :
(2)

(3)

With the Archimedes law P = ..., the heave motion base on the linear equation become
(4) m = .. (solid mass ) a = HD mass. Coef b = HD damping. Coef c = restoring. Coef (.g.) z = vertical displacement P = m.g (mass force downward) = /4.D

caused by reaction of hydrodynamic of cylinder movement in the water. When the bodies movement in vertical the cylinder will be generate wave and then propagate outward from the cylinder. The vertical oscillation of cylinder will be stop caused wave damping. The damping coefficient ( b ) has dimension of a mass per unit time. The wave damping is proportional to the velocity in a linear system.

The other coefficient which is a (called hydrodynamic mass) caused a has the dimension of mass. This mass proportional about the vertical acceleration motion of the cylinder. The hydrodynamic mass or added mass is amount of the water particle around the cylinder which moving together with the cylinder when the cylinder moving from down to up in the water.

Coefficient of added mass in 2D

In the wave with small amplitudes, acceleration and velocity have the linear behavior so that the hydromechanical forces equation of the cylinder linear motions in still water become:
(5)

And for the angular motions in still water the equation become:
(6)

Suppose the cylinder is carrying out a vertical harmonic oscillation

(7)

The work which done by the mass force components follow on the eq. 5 is force component times distance per unit time in one period:
(8)

The same way, work which done by the damping force components also follow on the eq. 5 yields:
(9)

And then work which done by the spring force components also follow on the eq. 5 is:
(10)

When the linear motion happen in the z direction Z = Za sin t, it can be generate wave with can defined as = sin (t+). Base on the relation of the both equation it can be found the damping (b) coefficient and also ratio of amplitude between the vertical oscillation and the radiated wave (/ Za).

The work done per unit time ( E ) provided by hydrodynamic damping force is the over one period ( T) integrated damping force (b . ) times covered distance ( . dt) divided by the time ( T ):
(11)

This is 2 (wave radiation in two sides of cylinder) times the energy of wave per unit area times the covered distance by radiated wave energy (c.T) in one period (T) times length if cylinder (L) diveded by time (T) :
(12)

Energy provided by hydrodynamic damping force is equal to vanish of the wave.

equalize both energy, there are hydrodynamic damping force and energy of radiated wave yield the damping coefficient.

(13)

The same way can applied to get the sway motion and the roll motion. The different which is substitute Z = Z sin t, where before used Z = Z cos t and then introduce the constant phase shift /2.

The another coefficient is c (restoring spring). This term has only for the heave, roll and pitch motion when the bodies free floating.
(14) (15) (16) are the transverse and longitudinal initial metacentric heights.