Vehiole Dynamics Associated with Submarine Rescue 



+ [C|,v|v| +C2,r|v| +C3,-4^r2] 



+ [Q 



'4v-ffr T "^^Sv-jTf^ +C6^v|r| +C7^r|r|] 

 + (Wo + 2 ^ti - ^)cos e sin * + Yshroud + Yp.^p + Ythr + Yjist 



♦ V V 



Terms are cancelled when = — > Kc or = — < K. - 1 



-rLg s _j.j_^ s 



Terms are cancelled when Kg ^ = — ^ Kg - 1 



C|v = "2 pLs Yji^i 



^2v ~ "2 P'^s (2^s ~ ^)Yvivl 



C3v = lPLsV3(l - 3K3+3Ks^)Yj,„ 



r - ^ r. ^-^s v' 

 '-^v - 2" P "3^ ^vlvl 



^5v = ^ P^s^2K3 - i)Y',„ 



Cg, = 7pL8[(i - k3)Sk3^]y;,„ 



C7v = 7PLs'^/3(l - K, +kJ)(2K3- 1)Y^,„ 



Heave: 



m[ w + pv - qu - z (p + q ) + x (rp - q) + YgCrq + p)] 



^ J. "7 , J. r7 J. ^7 ..2 X "7 X '7 ^^ 



= Z^w + Z-q + Zppp + Zp^pv + Zp^pr + Z^^v' + Z,,rv + Z,, 

 + Zuiu|u|u| +Z„,^,w|u| +Zq,y,q|ui 

 + (Wo +/ W^j - A) cos cos cf) + 



r 



1127 



