Pi-en and Lee 



B., = Im 

 lk 



, {r-4f^*"*L*«-"^h^ 



in jw 3n i5 j co 2n i6 k 



ds 



} (75) 



Using Newton's second law, we can show that the equations 

 of motion can be expressed in the form 



where 



2 6 



-co £ M . v { 



k:2 



ik s ko l 1 lk 



(76) 



M 



ik 



M 



-Mz 



g 



M 



-Mz 



°J 



z is the z-coordinate of the center of mass, and 

 g 



(s) 

 F = Hydrostatic restoring force 











33 



-C 



35 



-C 



-c 



55 



Thus, the equations reduce to the algebraic equation 



E{- ^(M ik + A. k )- jW B. k lC. k ^ko^ 



(7?; 



532 



