Normal Force: 
Rolling Moment: 
Pitching Moment: 
Yawing Moment: 
Analysis Used in Submerged Body Research 
: er oe ae 
Z-q + (5 0t aie n) qU + (Z.-m)w 
+ (5 t’uz,] se (4 et’uz,’ a ae 
: Bias ; 
(K; — Te )p + (5 et UK,!) p + K, ae 
ere ete Silay sree eae 
+ (Fot'un, )r + Kv + (5 ot°u,) v. 
= 
: 4 
(MH, - E-)q + (5 ot mj a + H,6 + Me 
+ a et'um | w+ (5 et°un ) vty. 
(N.-I,)i + (5 et'un.,’) r+ Nyy 
1 RE eee eee _ 
+ (5 ot uv!) v + € pt uN ,') p + Nep. 
PURE HEAVING MOTION 
437 
(B2) 
(B3) 
(B4) 
(B5) 
The reduction equations for the pure heaving motion can be derived using Eqs. (A9), 
(B2), and (B4). For this motion, the pitch angle 0 is zero at all times. since the phase angle 
between the struts is zero. 
As shown schematically in Figs. 3b and 4, the vertical displacement of the body CG 
can be expressed as 
the linear velocity as 
and the linear acceleration as 
Z, = 4 sin at, 
Z_si3= (ae) COS: GE , 
Zi =\=ae* sin at . 
(B6) 
(B7) 
(B8) 
