Norrbin 



- ^-l abs 



K 



M 



N 



-(mzQ-pVoZg) myg-pVoYe 



mzG-pVoZB -(mxg-p^Xg) 



-(myg-pV^yg) mx^- pV.Xg 



A 



(8.1) 



Upon summation the coefficient matrices of the acceleration 

 terms, the mass and inertia tensors , expose as 



(8.2) 



I = 



where the elements are defined by 



2jX dm = m " X i_j W "^ ^ )dm = I 



/jY dm = m • y^ 2^ (z "•" x )dm = I 

 £j z dm = m»ZQ /j (^ +y )dm = I 



yy 



Yj xy dm = l^y 

 Ij yz dm = Iy2 

 2 zx dm = l^j, 



(8.3) 



Many authors prefer to introduce the virtual masses and 

 moments of inertia into the equations given above. Here the "added" 

 masses will consistently be assigned to the hydrodynamic reaction 

 forces in the right-hand members; in Section V it was seen that these 

 forces may include other inertia terms otherwise easily overlooked. 



864 



