Vehicle Dynamios Associated with Submarine Rescue 



on q. This when expanded to 



- Z„iw| -^ r \ (w^ + 2qxw + (qx}2) dX - \ (w^ + 2qxw + (qx)^) dx] 



and integrated yields a four term expression for the normal drag 

 with the center of rotation on the body 



C4v.q/|q|wVq +C5^q/|q| w^ + Cg^w|q| +C^„q|q| 



where 



C4„- 2Ls/3 Z\ 



Iwl 



C5.= ^l (1 - 2K )Z:,„| 



C6,= L'[('-K/+Kf]z:,„ 



In a similar manner the lateral drag terms for the sway or V 

 equation are developed and result in C,^v|v|+C2 r|v| + C- v/|v| r^ 

 for the center of rotation off of the body v/-rLg> Kg or v/-rL < Kg-1 

 and C4^r/|r|vVr +Cg^r/|r)v2- Ce^v|r| +C7,r|r|for ' 

 rotation on the body Kg ^ v/-rLs ^ Kg - i with 



C|V = Lg Yy|y| 



the center of 



.2 



C3v= L^Vsd - 3Kg + 3Kg )Y;,,, 

 C4v = 2Ls/3 Yyivi 

 C5^=Lg^2Kg- 1)YJ,,, 



C^^ = L^ /3(1 - Kg + Kg^(2Kg - 1) y;,v, 



This then completes the simulation of forces on the axisymmetric 

 bare body of the DSRV. This representation has been developed 



1125 



