.•th 



Figure 1 - The i Spar in Its Equilibrium Position 



R.^^-{z.) ■ Zi>-Hi 



These quantities are all shown in Figure 1. 



Finally, we introduce primed coordinate systems which correspond 

 to each of the systems just mentioned, but which are fixed in the body. 

 When the body is in its equilibrium position, the primed and unprimed 

 systems coincide. 



The linear displacement of the raft will be described by three dis- 

 placement variables, Xq, yQ, Zq ; the angular displacement by a, P, \, 

 which are the positive rotations, respectively, about the x-, y-, z-axes. 



