SEAKEEPING AND

MANEUVERING
Prof. Dr. S. Beji
2
 Ship Motions
 Ship motions in a seaway are very complicated but can be broken down into 6-degrees of
freedom motions relative to 3 mutually perpendicular axes passing through the center of
gravity (CG) of ship as shown below.

 Translational motions:
1. Surge: Longitudinal disturbance fore & aft along ship’s track superimposed on the
ship’s forward velocity.
2. Sway: Lateral disturbance along the 𝑦 −axis as port & starboard drift.
3. Heave: Vertical disturbance caused by the imbalance between the weight of the ship
and the instantenous changes in the buoyant force resulting from wave action.
 Rotational motions:
1. Roll: Transverse oscillatory rotation about ship’s transverse axis.
2. Pitch: Longitudinal oscillatory rotation about ship’s transverse axis.
3. Yaw: Rotation about ship’s vertical axis.
 Motion of a Buoy in Waves
 We shall consider the simplest of these motions for the
simplest possible geometry; namely, heaving motion of a
buoy of circular cross-section in waves.
 Motion of a Buoy in Waves
 Newton’s second law:
𝑚𝑧 = 𝐹𝑖

where the right-hand side is the summation of all vertical forces acting on the
buoy, m is the mass, and 𝑧 = 𝑑 2 𝑧 𝑑𝑡 2 is the instantaneous acceleration.
Supposing that the buoy is subjected to only a steady external force it will float
at an equilibrium position with a hydrostatic or buoyancy force of
𝑐 −𝑧 + 𝜁
where 𝑧 is the vertical displacement of the buoy from its still water level
pozition, 𝜁 is the surface elevation, and 𝑐 = 𝜌𝑔𝐴𝑤 , where 𝐴𝑤 is the water plane
area. The expression represents the total change in buoyancy from the initial
calm-water condition as the result of both change in water level and vertical
displacement, neglecting the pressure attenuation with depth. The attenuation
correc tion would require that 𝜁 be multiplied by the factor 𝑒 −𝑘(𝑧+𝑇) , where 𝑘
is the wave number, and 𝑇 is the draft. If 𝑇 is large in relation to 𝑧, then 𝑒 −𝑘𝑇 .
 Motion of Buoy in Waves
 When regular waves are present they generate an exciting force which causes
heaving motion. Both 𝑧 and 𝜁 are harmonic but not necessarily in phase,
𝑧 = 𝑧0 cos 𝜔𝑡 + 𝜀 , 𝜁 = 𝑟 cos 𝜔𝑡
where 𝑧0 and 𝑟 are amplitudes of heave and wave motions, respectively, 𝜔 is
circular frequency 2𝜋 𝑇𝑤 , 𝑇𝑤 wave period, and 𝜀 is the phase angle by which
heaving motion lags the wave.
Hydrodynamic Forces: One component of hydrodynamic force can be related
to relative vertical acceleration between buoy and fluid, and therefore it is
180𝑜 out of phase, or opposite to, the buoyancy force,
𝑎 −𝑧 + 𝜁
where 𝑎 is the so-called ‘added mass’ or ‘hydrodynamic mass’.
The component of hydrodynamic force which is 90𝑜 out of phase with both the
relative acceleration and the buoyancy is the damping force:
𝑏 −𝑧 + 𝜁
where 𝑏 is the damping coefficient. Here, the damping force is assumed linear.
The approximate attenuation factor 𝑒 −𝑘𝑇 applies to all 𝜁-related terms.
 Motion of a Buoy in Waves
 The equation for dynamic equilibrium of the buoy at any instant, based on
Newton’s law, can now be stated as follows, without depth attenuation effect
𝑚𝑧 = 𝐹 = 𝑎 −𝑧 + 𝜁 + 𝑏 −𝑧 + 𝜁 + 𝑐 −𝑧 + 𝜁
Hydrodynamic Hydrostatic
After rearranging,
𝑚 + 𝑎 𝑧 + 𝑏𝑧 + 𝑐𝑧 = 𝑎𝜁 + 𝑏𝜁 + 𝑐𝜁
The right-hand side is customarily referred to as the exciting force, which
represents the force exerted by the waves on the buoy when it is restrained
from vertical motion. Using the previously defined 𝜁 = 𝑟 cos 𝜔𝑡 ,
𝑎𝜁 + 𝑏𝜁 + 𝑐𝜁 = 𝑟 𝑐 − 𝑎𝜔2 cos 𝜔𝑡 − 𝑏𝜔 sin 𝜔𝑡 = 𝐹1 cos 𝜔𝑡 + 𝐹2 sin 𝜔𝑡
where 𝐹1 = 𝑟 𝑐 − 𝑎𝜔2 and 𝐹2 = −𝑟𝑏𝜔. The exiciting force can then be written
𝐹 = 𝐹1 cos 𝜔𝑡 + 𝐹2 sin 𝜔𝑡 = 𝐹0 cos 𝜔𝑡 − 𝜎
1/2
where 𝐹0 = 𝐹1 2 + 𝐹2 2 = 𝑟 𝑐 − 𝑎𝜔2 2 + 𝑏𝜔 2 1/2 , 𝜎 = tan−1 𝑐−𝑎𝜔 −𝑏𝜔
2 .
Here, 𝜎 is the phase angle by which the force 𝐹 lags the wave elevation 𝜁. We
may now consider the depth attenuation factor as follows.
 Motion of a Buoy in Waves
 The equation of motion for the buoy in waves
𝑚 + 𝑎 𝑧 + 𝑏𝑧 + 𝑐𝑧 = 𝐹0 cos 𝜔𝑡 − 𝜎 𝑒 −𝑘𝑇
Substituting 𝑧 = 𝑧𝑎 cos 𝜔𝑡 + 𝜀 results in
𝑏𝜔
𝑧𝑎 = 𝐹0 𝑐 − 𝑚𝜔2 − 𝑎𝜔2 2 + 𝑏 2 𝜔2 −1/2 , 𝜏 = tan−1 𝑐− 𝑚+𝑎 𝜔2
where 𝜏 is the phase angle by which the heaving motion lags the force. To
obtain the total phase lag angle 𝜀 between the motion and the wave we must
take into account the phase angle 𝜎, hence 𝜀 = −𝜎 + 𝜏. Using 𝐹0 the heaving
motion amplitude 𝑧𝑎 is written in the final form of
1/2
𝑐 − 𝑎𝜔2 2 + 𝑏 2 𝜔2
𝑧𝑎 = 𝑟 𝑒 −𝑘𝑇
𝑐 − 𝑚𝜔 2 − 𝑎𝜔 2 2 + 𝑏 2 𝜔 2
and
𝑧 = 𝑧𝑎 cos 𝜔𝑡 − 𝜎 + 𝜏
In these equations 𝑚 is known and 𝑐 is a simple geometrical quantity. The
coefficients 𝑎 and 𝑏 can be determined by experiment.
 Motion of a Buoy in Waves
Consider the free (unforced) motion:
𝑚 + 𝑎 𝑧 + 𝑏𝑧 + 𝑐𝑧 = 0
Letting 𝑧 = 𝑧0 𝑒 𝑖𝛼𝑡 results in
− 𝑚 + 𝑎 𝛼 2 + 𝑖𝑏𝛼 + 𝑐 = 0
which in turn gives for 𝛼
−𝑖𝑏 ± 𝑖𝑏 2 − 4 − 𝑚 + 𝑎 𝑐
𝛼1,2 =
−2(𝑚 + 𝑎)
𝑏 𝑐 𝑏2
𝛼1,2 =𝑖 ∓ −
2(𝑚 + 𝑎) (𝑚 + 𝑎) 4(𝑚 + 𝑎)2
Defining 𝜅 = 𝑏/ 𝑐(𝑚 + 𝑎) 1/2 as the dimensionless damping parameter
1/2
𝑏 𝜅2 𝑐 1/2
𝑛= 𝜔𝑑 = 𝜔𝑛 1 − 𝜔𝑛 =
2(𝑚 + 𝑎) 4 𝑚+𝑎
where 𝑛 is the damping coefficient, 𝜔𝑛 the undamped natural frequency and
𝜔𝑑 is the damped frequency of the system.
 Motion of a Buoy in Waves
The solution of the damped unforced system is then
𝑧 = 𝑧0 𝑒 −𝑛𝑡 cos 𝜔𝑑 𝑡
This solution means that the amplitude gradually decreases with time because
of damping, as expressed by the factor 𝑒 −𝑛𝑡 .
 Motion of a Buoy in Waves
As shown in the figure we may designate the successive amplitudes by 𝑧0 , 𝑧1 ,
𝑧2 , ... Then considering the first complete swing, we can obtain the expression
for 𝑧 when 𝑡 = 𝑇𝑑 ≅ 𝑇𝑛 (for small damping); thus
𝑧2 = 𝑧0 𝑒 −𝑛𝑇𝑛
Hence 𝑧2 /𝑧0 = 𝑒 −𝑛𝑇𝑛
𝑇𝑛 𝑏
or − ln 𝑧2 /𝑧0 = 𝑛𝑇𝑛 =
2 𝑚+𝑎
𝑚+𝑎 1/2
This is referred to as the logarithmic decrement. Substituting 𝑇𝑛 = 2𝜋( )
𝑐
1
𝑚+𝑎 2 𝑏
− ln 𝑧2 /𝑧0 = 𝜋 = 𝜋𝜅
𝑐 𝑚+𝑎
If the damping is linear, 𝑧4 /𝑧2 = 𝑧2 /𝑧0 etc., and the samme result will be
obtained for each successive circle. Hence, knowing 𝑚, 𝑎, and 𝑇𝑛 , we can solve
for the damping coefficient, 𝑏. The complete solution to the equation for the
buoy in waves can thus be obtained. 𝜅, which is used in the forced solution,
can also be computed from the above equation.
 Motion of a Buoy in Waves
Now turning back to the forced (due to waves) solution
𝑧 = 𝑧𝑎 cos 𝜔𝑡 − 𝜎 + 𝜏
1/2
𝑐 − 𝑎𝜔2 2 + 𝑏2 𝜔2 −𝑘𝑇
𝑧𝑎 = 𝑟 𝑒
𝑐 − 𝑚𝜔 2 − 𝑎𝜔 2 2 + 𝑏 2 𝜔 2
Let us define a nondimensional quantity known as the tuning factor
𝜔 𝑚 + 𝑎 1/2
Λ= =𝜔
𝜔𝑛 𝑐
and rearrange 𝑧𝑎 as
2 1/2
𝑎𝜔2 𝑏 2 𝜔2
1− +
𝑐 𝑐2
𝑧𝑎 = 𝑟 2 𝑒 −𝑘𝑇
(𝑚 + 𝑎)𝜔 2 𝑏2 2
1− + 2𝜔
𝑐 𝑐
The above amplitude may be expressed in terms of the nondimensional tuning
factor Λ and the nondimensional damping parameter 𝜅.
 Motion of a Buoy in Waves
Defining a dimesionless ratio 𝜇 called the magnification factor, representing
the ratio of buoy motion to wave motion at draft 𝑇 as
1/2
2
Λ2
1− + 𝜅 2 Λ2
3
𝜇=
1 − Λ2 2 + 𝜅 2 Λ2
We can then write the solution as 𝑧 𝑡 = 𝜇𝑟𝑒 −𝑘𝑇 cos 𝜔𝑡 − 𝜎 + 𝜏 .
 Unresisted Rolling in Still Water
 Unresisted rolling in still water: One of the important motions
is rolling. Capsizing of ships mostly occurs in rolling motion in waves. Here,
we first consider the rolling in still water without any external forcing. The
equation of motion for undamped roll motion is given by
𝑑2 𝜙
𝐼 2 +𝑀 =0
𝑑𝑡
where 𝐼 is the mass moment of inertia of the ship about a longitudinal axis
through the center of gravity, 𝑀 is the righting moment, and 𝜙 is the angle of
inclination of the ship from the vertical. Letting
Δ 2
𝐼= 𝑘
𝑔
where Δ is the displacement, 𝑔 the gravitational acceleration and 𝑘 is the
radius of gyration of mass of ship about a longitudinal axis through the center
of gravity. For small angles of inclination
𝑀 = Δ ∙ 𝐺𝑍 = Δ ∙ 𝐺𝑀 ∙ sin 𝜙 = Δ ∙ 𝐺𝑀 ∙ 𝜙
 Unresisted Rolling in Still Water
Substituting these values we have
𝑑 2 𝜙 𝑔𝐺𝑀
2
+ 2 𝜙=0
𝑑𝑡 𝑘
The above equation is the equation for simple harmonic motion having period
2𝜋𝑘 2𝑘
𝑇𝜙 = =
𝑔𝐺𝑀 𝐺𝑀
the latter expression being valid for SI units.
Example: A 10,000 ton-ship has 𝐺𝑀 = 0.9 𝑚 and 𝑇𝜙 = 15 𝑠. Determine the
rolling period after moving 1000 tons symetrically away from a mean distance
of 3 m to a mean distance of 6 m.
𝑇𝜙 𝐺𝑀 15 0.9
Solution: Calculate the radius of gyration of mass 𝑘 = = = 7.1 𝑚
2 2
then 𝐼 = Δ𝑘 2 /𝑔 = 10000 ∙ 7.12 = 504100 𝑡𝑜𝑛 ∙ 𝑚2 . The altered mass moment
of inertia 𝐼′ = 504100 + 1000 62 − 32 = 531100 𝑡𝑜𝑛 ∙ 𝑚2 . The new radius of
531100 2∙7.29
gyration of mass 𝑘 ′ = = 7.29 𝑚 and the rolling period 𝑇𝜙 ′ = =
10000 0.9
15.4 𝑠.
 Unresisted Rolling in Still Water
Solving the differential equation
𝑑 2 𝜙 𝑔𝐺𝑀
+ 2 𝜙=0
𝑑𝑡 2 𝑘
gives
𝑑𝜙𝐴 𝑇𝜙 2𝜋𝑡 2𝜋𝑡
𝜙 𝑡 = sin + 𝜙𝐴 cos
𝑑𝑡 2𝜋 𝑇𝜙 𝑇𝜙
𝑑𝜙𝐴 1
𝜙 𝑡 = sin 𝜔𝜙 𝑡 + 𝜙𝐴 cos 𝜔𝜙 𝑡
𝑑𝑡 𝜔𝜙
where at 𝑡 = 0, 𝜙 = 𝜙𝐴 and 𝑑𝜙/𝑑𝑡 = 𝑑𝜙𝐴 /𝑑𝑡 are the initial angle of roll and
the initial angular velocity of roll while 𝜔𝜙 = 2𝜋/𝑇𝜙 is the circular frequency. If
we assign as initial conditions that 𝜙𝐴 = 0 and 𝑑𝜙/𝑑𝑡 = 𝑑𝜙𝐴 /𝑑𝑡 when 𝑡 = 0,
𝑑𝜙𝐴 1
𝜙 𝑡 = sin 𝜔𝜙 𝑡
𝑑𝑡 𝜔𝜙
whereas if, when 𝑡 = 0, the inclination is equal to 𝜙𝐴 and 𝑑𝜙𝐴 /𝑑𝑡 = 0
𝜙 𝑡 = 𝜙𝐴 cos 𝜔𝜙 𝑡
 Unresisted Rolling Among Waves
 Unresisted rolling among waves: To a first approximation the
wave-disturbing moment is proportional to the wave slope tan 𝛼𝑀 = 2𝜋𝜁𝑎 𝐿𝑤
For small angles 𝛼𝑀 in radians may be substituded for tan 𝛼𝑀 hence
𝑑2 𝜙
𝐼 2 + Δ𝐺𝑀𝜙 = Δ𝐺𝑀 2𝜋𝜁𝑎 /𝐿𝑤 sin 𝜔𝑤 𝑡
𝑑𝑡
where 𝜁𝑎 is the wave amplitude, 𝐿𝑤 the wavelength, and 𝜔𝑤 the wave
frequency. The above equation may be re-written in the following form
𝑑2 𝜙 2 = 𝜔 2 𝛼 sin 𝜔 𝑡
+ 𝜔 𝜙 𝜙 𝑀 𝑤
𝑑𝑡 2
where the right-hand side is the exciting moment. Solving the above
differential equation with initial conditions that 𝜙𝐴 = 0 and 𝑑𝜙𝐴 /𝑑𝑡 = 0 gives
𝛼𝑀 𝑇𝜙
𝜙 𝑡 = 2 sin 𝜔𝑤 𝑡 − 𝑇 sin 𝜔𝜙 𝑡
𝑇𝜙 𝑤
1− 2
𝑇𝑤
Note that when 𝑇𝑤 = 𝑇𝜙 the equation reduces to 0/0, which must be evaluated
for the limit to get 𝜙 𝑡 = 𝛼𝑀 /2 sin 𝜔𝑤 𝑡 − 𝜔𝑤 𝑡 cos 𝜔𝑤 𝑡 .
 Resisted Rolling in Still Water
 Resisted rolling in still water: If the resistance to rolling is
𝐴 𝑑𝜙/𝑑𝑡 ,
𝑑2 𝜙 𝑑𝜙
𝐼 2 +𝐴 + Δ𝐺𝑀𝜙 = 0
𝑑𝑡 𝑑𝑡
The solution of the above equation yields the following results
Δ𝑇𝜙 𝐺𝑀𝐾1 ′ 𝑇𝜙
𝐴= , 𝑇𝜙 =
𝜋2 𝐾1 2
1/2
1− 2
𝜋
where 𝐾1 is a coefficient related to 𝐴 by the above relationship and is less than
unity; therefore 𝐾1 2 /𝜋 2 is less than 0.1 and the denominator of 𝑇𝜙 ′ is less
than unity. Consequently, the period of resisted rolling differs from the period
of unresisted rolling only by a small amount. For instance, let 𝐾1 = 0.1 then
2 1/2
𝐾1 ′ 𝑇𝜙
1− 2 = 0.999 = 0.999, 𝑇𝜙 = = 1.0005𝑇𝜙
𝜋 0.999