Vehiole Dynamios Associated with Submarine Rescue 



C,jv|r+C,,v|v|+C,,JXL.^** 



Terms are cancelled when - -^— > K, or %— < K- - 1 



rl-s rLs -^ 



Terms are cajicelled when K- ^ %— 2: Ke - 1 



S j,J_ s 



C„ =ipLf/4[K,^ +(1 - K3)^]Y^M 

 C2r=|pL-3V2[K,^ +(1 -K3')]YJ,^| 

 ^3r = - 7 pLs/6 YJ„| 



C4, = 1 p ii.t/3[ kI - (1 - K3)^] y;,,, 



C5, = ip 2L,V3[Ks'+(l - Ks)^]Yj,„ 

 C6r=lpLs/2[K3-(l -K3)]y;„„ 

 C7, =ipL3V4[K3^- (1 -K3)1yJ,„ 



Roll: 



^xP ''" ^^z " ^^*1^ ■•" "^[ Yg^^ + pv - qu) - Zq(v + ru - pw)] 



= Kj^ + K.v + Kq^qr + K^,^, v| w| + K^^w + K^^vq + Kpj^w 

 + K„„v|u| +K^„v|vi +Kp,„,p|u| +K,,^, r|u| +Kp,„,p|p 

 + WoYg cos e cos ^ - (WqZq +) Wj. z^.)cos sin «j> 



■*■ ^prop "^ ^dist 



1129 



