Analysis Used in Submerged Body Research 445 
Yawing Moment 
. 5 bina r] ‘ i 
eee Ch = 1 \pq = ot [wii + (M; - K.)pq + Np 
P 3 ' ‘ ‘ 
+ at [weu? + N uv + eek | 
‘ 
u|r|Sr + Mi i eylvle] 
Ppt [a 
+ at [Whar eRe ise) 
4 ’ 3 ‘ : 
+5t [¥ uP + viv] +54 die NaS evects \OU)iae 
Kinematic Relations 
U? = u2 + v? + w? 
Zee sin 6+ v cos 6 sin ¢+ wcos 6 cos ¢ 
w- ué + vob 
Ps pe p sin 0 
pt+réa 
q- cos 6 sind 
cos 
ee Tse 
‘? ee cig 6 sin eo) 
cos 0 cos ¢ 
Se. g@ i. 
Auxiliary Relations 
CBO) Pea aria zaons: aU. 
or 
Cie) au 2 : 
646551 O—62,-——30 
