TABLE OF CONTENTS 



Page 



ABSTRACT 1 



INTRODUCTION 1 



GEOMETRY AND COORDINATES 2 



THE VELOCITY POTENTIAL 5 



FIRST-ORDER FORCES AND MOMENTS 9 



SIMPLIFIED INTERPRETATION OF FIRST-ORDER 



FORCES AND MOMENTS 13 



FIRST-ORDER EQUATIONS OF MOTION 15 



EQUATIONS OF DAMPED MOTION 22 



VISCOUS DAMPING 2 6 



DISCUSSION 29 



REFERENCES 30 



