Deterministic Dynamics of Large Solid Bodies

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Chapter 8
Deterministic Dynamics of Large

Solid Bodies
8.1. Dynamic Response of Large Bodies: An Overview

The importance of focusing on the principles of physics before selecting
mathematical models to analyze the dynamic response of coastal and ocean
structures is highlighted in Chapter 7.1 and will not be repeated here. In contrast to the dynamics of small solid bodies, the effect of large bodies on an
incident wave field is not negligible. Carefully observing what is seen or not
seen when long-crested surface gravity waves interact with large solid bodies
identifies the following two major physical phenomena:
Seen:
Waves may be observed radiating away from large, semiimmersed solid bodies and the incident wave may be modified
significantly.
Not Seen: When the solid body is sufficiently large compared to the incident
wave height and wavelength, no wakes due to flow separation
may be observed.
Figure 8.1 illustrates the linear superposition of an exciting force on a. fixed
body plus the restoring force (wavemaker theory) on a large solid body. In
contrast to Fig. 7.1 in Chapter 7.1, the motion of the large body in otherwise
still water generates radiated waves (wavemaker theory). Also in contrast to
Fig. 7.1 in Chapter 7.1, the added mass Hjk and radiation damping kj^ coefficients from the radiated force are not equal to the exciting force coefficients
C,f and C,f.
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Waves and Wave Forces on Coastal and Ocean
PHYSICS
LARGE BODY DYNAMICS

SCATTERED &
RADIATED WAVES
v X T L O W SEPARATION
IDEAL & INVISCID
POTENTIAL THEORY
SEEN
NOT SEEN
FLUID
SOLUTION
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Structures
EXCITING
FORCE on a
FIXED BODY
RADIATED
FORCE
(WAVEMAKER
THEORY)
^s\r
il
II
DYNAMIC
RESPONSE
LINEAR
SUPERPOSITION
MATH MODEL
F(t) = FE(t) + F'(t)

= CEuu,(t) + EU u(t) - aik u,(t) - Xik u(t)
Fig. 8.1. Large body dynamic response.
When no flow separation occurs, real fluid effects due to fluid viscosity
may be neglected and a potential theory for an ideal fluid may be applied to
compute the wave loads. A boundary value problem (B VP) for the motion of an
ideal fluid may be solved to account for this type of wave-structure interaction.
Because both the radiation conditions and the fundamental singular solutions
to Laplace's equation (viz., Green's functions) are different for 2D and for 3D
geometry, 2D solid bodies must be distinguished from 3D solid bodies.
The solid body boundary between an ideal fluid and a solid body requires
special care. Because this boundary isfree, both kinematic and dynamic boundary conditions are required. Because the fluid motion is an Eulerian field with
time and space as independent variables and the solid body is a Lagrangian
body with time and the body as independent variables, these kinematic and
dynamic boundary conditions will be different from the free surface boundary that separates two Eulerian fields; viz., air and water (cf, Chapter 4.2).
The boundary between the fluid and solid body separates an Eulerian field
from a Lagrangian body and these boundary conditions are somewhat more
complicated.
Deterministic Dynamics of Large Solid Bodies
621
Fig. 8.2. (a) Definition sketch for semi-immersed MDOF Lagrangian solid body, (b) Locations
of the origins of the inertial and non-inertial coordinate systems.
The solid body motion of the semi-immersed body shown in Figs. 8.2 may
be described in Lagrangian coordinates by three translational displacements
[X\(t)= surge; X2(t) sway; X^(t) = heave] and three rotational displacements [04(f) = roll; 5(0 = pitch; and 6(0 =yaw].
The direction of the unit normal to the solid body is ambiguous and must be
defined as either into or out of the solid body surface. The unit normal vector
in Fig. 8.3 points out of the body and into the fluid and is defined by
n = n\e\ + 2<?2 + 3<b
(8.1)
with direction cosines defined by

n\ = cos(0i,*'),
2 = cos (02,/),
3 = cos(03,z'),
(8.2a,b,c)
where 9j = angle between the unit normal vector n and the unit basis vector
ej. The direction cosines nj defined by Eqs. (8.2) are dimensionless. Pseudodirection cosines for the three rotational modes about an arbitrary point of
rotation R in Figs. 8.2 in the body-fixed, non-inertia coordinates that are
defined by the coordinate vector
XR = {x'R,y'R,zR}
(8.3a)
and by an arbitrary point of translation C in Figs. 8.2 that is defined in bodyfixed, non-inertial coordinates by the coordinate vector
xc = {x'c,y'c,z'c}.
(8.3b)
622
Waves and Wave Forces on Coastal and Ocean Structures
Fig. 8.3. Unit normal points out of the Lagrangian solid body and into the fluid.
The pseudo-direction cosines are defined by the following:

rc x n = nAe\ + n5ez + n6ei,
(8.4a)
r' v ' - v '
(8.4b)
where from Fig. 8.2(a)
and
' = Sjkm rj nk em,
j,k,m
(8.4c)
- 1,2,3,
where Sjkm = the Levi-Civita permutation symbol (vide., Chapter 2.2.4); and
r
'd =x'c~
4 = {rc2"3 - r'c^m),
(8.5a,b)
C2 =y'c-
y'R>
" 5 = {rC3wl -
C! W 3},
(8.5c,d)
{r'Cln2-r'C2ni}.
(8.5e,f)
'R>
C3=Zc-4.
n'6 =
The pseudo-direction cosines n'- defined by Eqs. (8.5b,d,f) have the dimensions of [Length].
623
The fixed inertial x axis is defined by the longitudinal axis (or generator)
of the body and not by the direction of wave propagation. These motions
are defined by the body coordinate axis and not by the wave-field coordinate
axis. The three translational modes of oscillation for a Multiple-Degree-OfFreedom oscillator (MDOF) are given by
X(t)=X(t)+R(t),
R(t) = 0(t)xr'c,
(8.6a,b)
where r'c in Figs. 8.2 is defined by Eq. (8.4b). The displacement R(t) is time
dependent and defined by Eq. (8.6b), whileic^ is a time independent coordinate
vector in the body-fixed, non-inertial coordinates defined by Eq. (8.3a).
For strictly periodic solid body motions with period T = 2n/co, the harmonic time dependence may be given by exp (icot). The complex-valued,
scalar components of the Lagrangian displacement, velocity and acceleration
of the solid body are given by the real parts of
Xj(t) = Re{i%j exp - icot} = |/ | sin(cot - ctj),
j(t) = Re{i2j exp - icot} = \Qj\ sin(cot - ctj),
j = 1,2,3,
j = 4,5,6,
Xj (t) = Re{co%j exp - icot} = co\i-j | cos(cot -ctj),
j = 1,2,3,
j(t) = Re{coQj exp icot} = co\2j\cos(cot ctj),
(8.7c)
(8.7e)
j = 1,2,3,
(8.7f)
j(t) = Re{-ico2Qj exp - icot} = -co2\Qj\ sin(cot - ctj),

= Re{-i<w;(0},
(8.7b)
j = 4,5,6, (8.7d)
Xj(t) = Re{-ico2t-j exp - icot} = -co2\i-j\sin(cot - ctj),

= Re{-icoXj(t)},
(8.7a)
j = 4,5,6,
(8.7g)
(8.7h)
where the over dots represent ordinary Lagrangian temporal derivatives

according to
, ,
dXj(t)
d,(t)
where the complex-valued amplitudes of the translational l-j (j = 1,2,3) and

the rotational modes 2j (j = 4,5,6) are defined by
S; = IfyI expiaj,
j = 1,2,3,
Slj = \Slj\ expictj,
j = 4,5,6.
(8.7k,l)
624
The free boundary between the Eulerian fluid and the Lagrangian solid
body may be described by a Stokes material surface S(x,y,z,t)
(vide.,
Chapter 2.2.10) that requires two boundary conditions; viz., 1) an Eulerian
.Kinematic 5ody .Boundary Condition (KBBC) for an ideal fluid; and 2) a
Lagrangian Dynamic .Boundary Condition (DBC). It is important to focus on
the differences in the boundary conditions for 1) a free boundary between a
Lagrangian solid body and an Eulerian fluid field; and 2) a free boundary
between two Eulerian fluid fields such as water and air (vide., Eqs. (4.5e-h)
in Chapter 4.2).
The fundamental fluid unknowns for the flow of an incompressible fluid
are the velocity (a vector q) and pressure (a scalar p). Two boundary conditions
are required (just as in the case of a deformable free surface fluid boundary
between two Eulerian fluid fields) because the solid boundary isfree to respond
to dynamic pressure loads; i.e., the motion is not prescribed (vide., John, 1949
and 1950). Free boundaries between either two Eulerian fluid fields or between
an Eulerian fluid field and a Lagrangian solid body require both a .Kinematic
(KBC) and a Dynamic (DBC) .Boundary Condition. The principal distinction
between the Lagrangian solid body boundary S(x, y, z, t) and the Eulerian free
surface fluid field boundary F(x, y, z, t) is that the Lagrangian solid body free
boundary S(x, y, z, t) is a non-deforming solid boundary between a Lagrangian
solid body and an Eulerian fluid field. In contrast, the Eulerian fluid field free
surface boundary F(x, y, z, t) is a deformable boundary between two Eulerian
fluid fields. The Problem Solution Technique (PST) for linearly decomposing
the boundary value problem for a scalar velocity potential <$> (x, y, z, t) for the
Eulerian fluid field motion into three separate boundary value problems is easily demonstrated and motivated by a close examination of both the .Kinematic
(KBC) and Dynamic (DBC) .Boundary Conditions on the Lagrangian solid
body free boundary S(x, y, z, t).
Free boundaries between an Eulerian fluid field and either another
deformable Eulerian fluid field or a non-deforming Lagrangian solid body
require both a .Kinematic (KBC) and a Dynamic (DBC) boundary condition
because the boundaries are free and because there are two fundamental fluid
unknowns for an incompressible fluid; viz., velocity and pressure. The exact
forms of these two boundary conditions depend on 1) whether or not the fluid
is a real or an ideal fluid; and 2) whether or not the^ree boundary is a nondeforming boundary between a Lagrangian solid body and an Eulerian fluid
field or a deformable boundary between two Eulerian fluid fields.
Deterministic
625
Dynamics of Large Solid Bodies
Because the Lagrangian solid body is assumed to be a dimensionally large

body with respect to the dimensions of both the wavelength X and wave
height H, no fluid flow separation will occur around the Lagrangian solid
body; and, consequently, a potential theory solution for an ideal, inviscid and
incompressible fluid may be computed. The fundamental fluid unknowns of
velocity q(x, y, z, t) and dynamic pressure p(x, y, z, t) may be computed from
a scalar velocity potential <>(x, y, z, t) according to the following:
q(x,y,z,t)
= {u(x,y,z,t),v(x,y,z,t),w(x,y,z,t)}
-VQ(x,y,z,t),
(8.8a)
p(x,y,z,t)
= P
dQ(x,y,z,t)
at
(8.8b)
From physical observations, it is easy to motivate a linear decomposition

of the scalar velocity potential <(x, y,z,t) into an incident wave potential
^wi*, y, z, t) and a body disturbance potential <&b(x, y, z, t) that is due to the
presence of the solid body. This linear decomposition is valid only for small
oscillations about an equilibrium position of the solid body QS(X, y, z, 0).
The .Kinematic Body boundary Condition (KBBC) for an ideal (incompressible, inviscid) fluid is given by the following single scalar equation that
is evaluated at the equilibrium position oS(x, y, z, 0):
-V4> n=Xii
&n',
- ( V ^ u , + V0>fe) n=Xn
Qn',
(w + (S>b)+X*n + n'= 0; on 0S(x,y,z,0),

(8.9a)
an
where the six solid body Lagrangian velocities are defined by Eqs. (8.7c, d).
The scalar kinematic boundary condition transforms the solid body Lagrangian
velocities X(t) and 0(?) into Eulerian fields through vector dot products with
the spatially dependent unit normals and n' to the Lagrangian solid body
0S(x,y,z,0).
Because the free boundary is a boundary between an non-deforming
Lagrangian solid body and an Eulerian fluid field, the Dynamic boundary
Condition (DBC) is not expressed in terms of the local Eulerian fluid field
pressure as in the case of the deformable free surface boundary in the DFSBC
in Eq. (4.5f) in Chapter 4.2. Instead, the Dynamic 5ody boundary Condition
626
(DBBC) is expressed in terms of the integrated fluid pressure force/moment

through the following vector equations of Lagrangian solid body motions
evaluated at the equilibrium position QS{X, y, z, 0):
_^_
'
iX(t)
e
. iO(0 ,
lifr;(0
j
(8.9b)
(8.9c)
(8.9d)
~(8~9e)~
(8.9f)
(8-9g)
where e = kA = dimensionless perturbation scale for the smallness of the

time-dependent motions about equilibrium QS{X, y,z,0); and where both
the time-dependent (subscript = 1 ) and time-independent (subscript = 0)
forces/moments are derived in detail in Sec. 8.2. The notation in Eqs. (8.9b-g)
and in all subsequent equations for linear and angular momenta is an implied
stacked notation with the three translational momenta stacked vertically
above the three angular momenta and separated by a horizontal dashed line
[
];i.e.,
lX(t)
10(0 J
iXi(0
1*2(0
1*3(0
104(0
105(0
106(0
The forces/moments on the RHS of Eqs. (8.9b-g) include: 1) stiffnesses due

to buoyancy, body weight and water plane surface areas; 2) external mooring
constraints; 3) the exciting forces/moments on a fixed, still body; and 4) the
restoring forces/moments on a body oscillating in otherwise still-fluid (i.e., the
wave maker problem in Chapter 5.). The Lagrangian vector dynamic boundary
conditions in Eqs. (8.9b-g) transform the Eulerian dynamic pressure field in
Eq. (8.8b) and hydrostatic pressure ps = yz into a time-independent and a
time-dependent Lagrangian solid body force/moment by integration over the
immersed surface area of the Lagrangian solid body at the equilibrium position
0S(x,y,z,0).
Deterministic
627
The scalar Eulerian .Kinematic fiody boundary Condition (KBBC)

Eq. (8.9a) and the Lagrangian vector Dynamic .Body .Boundary Conditions
(DBBC) given by Eqs. (8.9b-g) represent seven scalar equations in seven
unknowns; viz., <bb{x,y,z,t), X\(t), X2(t), X 3 (r), 4(0, s(0, 6(0These seven equations in seven unknowns cannot be solved simultaneously
because the unknown scalar velocity potential for the body disturbance velocity potential <J>fc(x,y,z,0 appears in the integral of the dynamic boundary
conditions given by Eqs. (8.9b-g). The kinematic boundary condition given by
Eqs. (8.9a) suggests a linear superposition technique that is now well-known.
The key to solving this boundary value problem for the seven unknowns lies in
generating seven inhomogeneous boundary conditions from the single scalar
.Kinematic .Body .Boundary Condition (KBBC) given by Eq. (8.9a) evaluated
at the equilibrium position of the solid body oS(x,y,z,0)\
Because there are the six unknowns for the six Lagrangian solid body
displacements X\(t), X2(t), X^(t), 4(0, 5(0, 6(0 and one unknown
Eulerian velocity potential for the body disturbance <t>b(x,y,z,t) in the
single scalar equation Eq. (8.9a), the following linear decomposition of the
body disturbance velocity potential @&(x, y, z, t) into two scalar potentials is
suggested:
<bb(x,y,z,t) = $>s(x,y,z,t) + <S>r(x,y,z,t),
(8.10)
where <>s (x, y, z, 0 = scattered wave potential and <>r (x, y, z, 0 = radiated
wave potential. Substituting Eq. (8.10) into Eq. (8.9a) gives
fd<f>,
3<M
\d<S>r - - -*,]
- +~
+ l ^ + X . n + Q.n '\=0,
[ on
an J
[ an
J
on
0S(x,y,z,0),
(8.11)
that gives a diffraction boundary value problem for
<&D(x,y,z,t) = $>w(x,y,z,t)
$>s(x,y,z,t)
= Re{ A((j)w (x, y, z) + (/>s(x, y, z)) exp - icot}
(8.12a)
with the following homogeneous .Kinematic .Body .Boundary Condition

(KBBC) at the equilibrium position oS(x, y, z, 0):
^ = 0 ,
an
on
0S(x,y,z,0)
(8.12b)
628
or, equivalently, the following inhomogeneous kinematic 5ody boundary

Condition (KBBC) for the scattered potential <&s(x, y, z, t):
a^
an
_ 3 ^
o n
z>0)_
o 5 (
( 8 1 2 C )
an
Because of the identically equal sign [=] in Eq. (8.11), the second term in
brackets {} on the left-hand-side of Eq. (8.11) may also be linearly decomposed into six separate .Kinematic 5ody .Boundary Conditions (KBBC) by the
following linear superposition for <&r (x, y, z, t):
6
<$>r(x,y,z,t) = ^ l > y ( x , j , z , 0
7=1
(8.13)
v
'
= ] T Xj (t)4>j (x, y, Z) + J2 j (*)4>j (*, y, z)

7=1
7=4
and substituted into the second term in brackets {} in Eq. (8.11) to obtain
*l(0 {^7 +nx\+ 2{t) {^T + m\ + *m \lt+n3}

+
@4(t)\^1+nf4\+@5(t)\^p-+n'5
[an
+ 6(0{^+<}=0,
[ dn
on
0S(x,y,z,0).
(8.14a-f)
By factoring explicitly the unknown amplitudes of the six Lagrangian

solid body velocities Xj(t) and j(t) for each of the unknown radiated
(or wavemaker) potentials y (x, y, z, t), six inhomogeneous kinematic .Body
.Boundary Conditions (KBBC) are obtained that depend only on the equilibrium position of the solid body oS(x,y,z, 0) and not on the amplitude of
the motion of the solid body (i.e., d(j)\/an = n\, dfo/dn = nj, etc.)! Of
course, these unknown amplitudes must still be determined; and they are readily computed from the Dynamic .Boundary Conditions (DBC) in Eqs. (8.9b-g).
In the linear diffraction theory, the interaction of a fixed Lagrangian
solid body with the incident wave field generates a scattered wave. If a
semi-immersed body is freely floating or semi-constrained, the response also
generates radiated waves. Because of linear superposition, the total fluid
629
motion resulting from this wave-structure interaction is assumed to be a

linear combination of the incident wave <&w(x, y,z,t) plus a scattered wave
<>s(x,y,z,t) plus six individual radiated waves each resulting from one of
the six modes of solid body motions from <&r(x,y,z,t). Because the incident wave and the resulting Lagrangian solid body motions are assumed to
be simple harmonic in time (viz., oc exp icot), each of these three uppercase scalar velocity potentials may now be defined by the real part of a linear
sum of complex-valued, time dependent amplitudes and lower-case spatially
dependent velocity potentials by Eqs. (8.12a and 8.13) according to
<&(*, y, z, t)= <&D(x, y, z, t) + r(x, y, z, t)
I"
A[cj)w(x,y,z) +
fa(x,y,z)]
~]
+co^2^j<pj(x,y,z)+coY2Qj4>j(x,y,z)
~
L
/=!
XP
lC
'
7=4
(8.15)
where each of the lower-case scalar velocity potentials fa (x,y,z) are functions
only of the spatial coordinates (x,y,z); and where the amplitudes of each
velocity potential A, %j and Qj are complex-valued amplitudes of the incident
wave and the translational and rotational Lagrangian solid body displacements,
respectively. The boundary value problems for each of the seven unknown
lower-case scalar potentials fa (x,y,z) plus the known incident wave potential
are identical with the exception of: 1) the inhomogeneous kinematic 5ody
boundary Condition (KBBC) on the Lagrangian solid body and 2) a radiation
condition to be imposed at large horizontal distances from the equilibrium
position of the Lagrangian solid body oS(x, y, z, 0).
The governing field equation for each of the lower-case scalar velocity
potential fa (x, y, z) is Laplace's equation (2.12a) in Chapter 2.2.9 for the conservation of mass of an ideal (incompressible and inviscid) fluid in irrotational
flow; i.e.,
V2fa=0,
|x|<oo,
\y\<oo,
-h<z<0,
(8.16)
where the scalar Laplacian operator in Eq. (2.12a) in Chapter 2.2.9 is defined by
V 2 (.) = 3 2 (.)/3x 2 + 9 2 (*)/3y 2 + 3 2 (.)/9z 2 .
Each scalar potential fa(x,y,z) must satisfy a .Kinematic boundary Condition
(KBC) on the horizontal impermeable bottom given by a Stokes material
630
surface B = z + h = 0 according to
DB
D(z + h)
= - V 0 ; n = V(pj e3 = 0
Dt
Dt
that reduces to
(8.17a)
^p- = 0, | J C | < O O , | y | < o o , z = -A

(8.17b)
oz
for a rigid, impermeable, horizontal seabed. Each potential </>j must satisfy
the linearized Combined kinematic and Dynamic Free Surface boundary
Condition (CKDFSBC) given by
-P-- ko</>j = 0, \x\<oo,
\y\<oo,
z = 0,
(8.18)
oz
where ko = a>2/g. On the Lagrangian solid body, the linear kinematic itody
boundary Condition (KBBC) requires that the normal component of the fluid
velocity V n to be equal to the normal component of the body velocity
X(t) n + (t) n', or
Vn+X(t)n
+ (t)n'
= 0,
on
0S(x,y,z,0),
that yields seven inhomogeneous kinematic body boundary conditions

(KBBC). Again, this scalar kinematic 5ody boundary Condition (KBBC)
converts the Lagrangian motions of the solid body X(t) and 0 ( 0 to Eulerian
fields through the vector dot product with the spatially dependent unit normals
it and n' to the equilibrium position QS{X, y, z, 0) of the Lagrangian solid body.
For the diffraction of waves by a fixed solid body, the inhomogeneous
kinematic .Body boundary Condition (KBBC) for </>s may be computed from
V ( 0 U , + 0 J ) = O,
on
0S(x,y,z,0)
(8.19a)
or
d<t>s
30u
on
0S(x,y,z,0)
(8.19b)
on
on
For the radiation of waves by a solid body moving in otherwise still fluid
(i.e., the wavemaker boundary value problem from Chapter 5), the inhomogeneous linear kinematic 5ody boundary Condition (KBBC) becomes
.
= HXJ^ni
7=1
6
+
H}(t)n'j>
j=4
on
oS(x,y,z,0),
(8.20)
631
that will yield an inhomogeneous .Kinematic Body boundary Condition

(KBBC) for each of the six radiated wave potentials 4>j(x,y,z). Substituting Eqs. (8.7c,d) into Eq. (8.13) provides a separate radiated wave potential
for each jth mode of oscillation according to
3
=
CO
] T %j<l>j (x, y, z) + ^
7=1
Qj(/)j (x, y, z)exp icot.
j=4
(8.21a)
Substituting Eqs. (8.7c,d) into Eq. (8.20) and equating to the normal derivative
of Eq. (8.21a) for each of the potentials cj>j (x, y, z) to the negative of the unit
normal results in
Wj
\-njlj
= 1,2,3 1
1 7 = {-$;; = 4,5,6 J
^
:
o*(W,0).
(8.21b)
(g21c)
By factoring explicitly, a priori, the unknown, complex-valued amplitudes

of the velocities of the Lagrangian solid body defined by Eq. (8.7c,d),
the inhomogeneous .Kinematic Body Boundary Condition (KBBC) for the
radiated wave potentials requires knowing only the equilibrium geometry
QS(X, y, z, 0) of the Lagrangian solid body defined by the direction cosines rij
and pseudo-direction cosines n'-. In principle, the unknown amplitudes have
been assumed symbolically to be known and the computation of their numerical values is deferred until the Lagrangian Dynamic Boundary Conditions
(DBC) Eqs. (8.9b-g) are solved for these Lagrangian solid body motions.
For the translational motions denoted by j = 1,2,3, the dimensions of
<pj(x,y,z) are [Length] and Eq. (8.21b) is dimensionless. For the rotational
motions denoted by j = 4,5,6, the dimensions of <t>j(x,y,z) are [Length]2
and Eq. (8.21b) has the dimensions of [Length] because the pseudo-direction
cosines n'- in Eqs. (8.5) have the dimensions of [Length].
Both the scattered wave potential cps(x,y,z) and each of the six radiated
wave potentials </>j(x,y,z) must satisfy a radiation condition far away from
the body. Physically, the radiation condition restricts solutions to only outgoing waves or to bounded non-wave, spatially transient solutions that may be
632
required to account for local pressure effects near the solid body (vide., the
wave maker evanescent eigenmodes in Chapter 5.2). The radiation condition
eliminates both incoming wave energy and unbounded non-wave, spatially
transient solutions. This kinematic Radiation boundary Condition (KRBC)
depends on the choice of the time dependence exp icot. Two-dimensional
surface waves behave like exp [sgn(x)]?' Kx; while three-dimensional waves
behave like [expiKr]/^J~Kr where the free-surface coordinates r 2 =
x2 + y 2 > 0. Accordingly, the .Kinematic Radiation boundary Condition
(KRBC) at large horizontal distances from the Lagrangian solid body must
be (Stoker, 1957)
lim (Kr)^-^2
M=>oo
\ ~ [8n2 + Snl sgn(x)] IK) 0, = 0,

I on
J
(8.22)
where n = the number of horizontal surface coordinates; i.e., n = 1 for 2D

waves; and n 2 for 3D waves. The choice of the sign is determined totally
by the choice of the sign of the argument of exp icot. The premultiplication
in Eq. (8.22) by */Kr in the case of 3D waves (n = 2) is required in order
to insure that only the coefficients in the solution are applied to satisfy the
radiation condition and not the radially decaying behavior of the solution
given by r _ 1 / / 2 .
Summary
The complicated irrotational motion of an ideal fluid that results from the
interaction of a semi-immersed Lagrangian solid body with surface gravity
waves may be linearly decomposed into three less complicated boundary value
problems (BVP) by invoking the following linear superposition.
First, the Lagrangian solid body is completely removed from the fluid and a
boundary value problem for the incident wave potential (pw(x,y,z) is obtained.
Engineering design specifications are given by the wave height H = 2A, the
wave period T, and the water depth h and allow this potential to be completely
quantified (vide., Chapter 4.2).
Second, a fixed Lagrangian solid body is placed in the incident wave field
and a scattered wave potential <f>s (x, y, z) is obtained by solving a diffraction
boundary value problem with an inhomogeneous kinematic 5ody boundary
633
Condition (KBBC) on the Lagrangian solid body given by the normal gradient
of the incident wave potential having a known complex-valued amplitude.
Third, the Lagrangian solid body is oscillated in otherwise still fluid (i.e.,
the wavemaker boundary value problem in Chapter 5). The complex-valued
amplitudes of oscillations are assumed to be known symbolically; and six
radiated wave potentials <f>j(x,y,z) are computed for each of the six modes
of oscillation by solving six separate wavemaker boundary value problems.
Because the complex-valued amplitudes of the Lagrangian solid body motions
/ and Qj are, a priori, unknown, these scalar complex-valued amplitudes are
factored explicitly in the definition of the radiated wave potentials by substituting Eqs. (8.7c,d) into Eq. (8.13). The inhomogeneous .Kinematic 5ody
.Boundary Conditions (KBBC) needed to quantify each of the radiated wave
potentials <pj (x, y, z) in Eq. (8.13) are given simply by the equilibrium geometry QS{X, y, z, 0) of the solid body in the spatial form of the direction cosines
rij and n'. for each Lagrangian mode of translation and rotation, respectively.
Both the scattered and radiated wave potentials must satisfy a kinematic
radiation boundary condition (KRBC) at large horizontal distances from the
body. This condition is different for 2D and 3D waves because of the radial
decaying behavior of 3D waves (ex r~1^2) and because the requirement to
satisfy conservation of energy flux is different for 2D and for 3D waves (cf.,
Eq. (5.4f) for 2D planar wavemakers in Chapter 5.2 and Eq. (5.681) for circular
wavemakers in Chapter 5.3).
The power of linear superposition makes it possible to determine the complicated motion of a solid body interacting with surface gravity waves by
solving seven relatively simple and identical boundary value problems that
are relatively tractable. The forces/moments on a fixed body in the staticequivalent diffraction problem now become the loadings for the dynamic
response of a semi-constrained solid body as a result of this linear decomposition. Some care must be given, however, when applying the linear combination
of wave potentials to the kinematic boundary condition on the body at the
equilibrium position oS(x, y, z, 0).
The fluid velocity vector may be computed from the negative gradient of
a scalar velocity potential by
q(x,y,z,t)
[u(x,y,z,t),v(x,y,z,t),w(x,y,z,t)}
= -VQ(x,y,z,t)
(8.23a)
634
and the dynamic fluid pressure from the linearized Bernoulli equation
d<b(x,y,z,t)
(8.23b)
p(x,y,z,t) = pdt
The three boundary Falue Problems (BVP) for each of the potentials
4>,(x, y, z, t), <$>s (x, y, z, t), and $>r (x, y, z, t) may be summarized as follows:
<&(x,y,z,t) = <S>w(x,y,z,t) + <t>s(x,y,z,t) + <$>r(x,y,z,t)
A[(j)w(x, y, z) + <f>s(x, y, z)]
= Re
7=1
7=4
exp icot
(8.24a)
Laplace's equation
3
coJ^^V2(t)j{x,y,z)
A[W 4>w{x,y,z) + y 4>s{x,y,z)'\ +
7=1
6
+ a ) ^ ^ 7 ' V 2 0 ; - ( x , ) ' , z ) = 0;
\x\ < oo,
\y\ < oo,
h < z < 0.
7=4
(8.24b)
Combined kinematic and dynamic free-surface boundary condition
(CKDFSBC)
3
A[Lf((f>w) + Lf((/)s)] + coJ2^Lf((l)j)

7=1
6
+ o^QjLfi^j)
= 0,
|JC| < oo,
\y\ < oo,
z = 0,
(8.24c)
7=4
where the linear free-surface operator / ( ) is defined by

L / ( . ) = [3/3z - *<>]().
(8-24d)
Bottom boundary condition (BBC)

d&w dj>s_
+ CO
dz
dz
907
I>^dz + V
dz
7= 1
x\ < oo,
~~
\y\ < oo,
7=4
z = /?.
= 0,
(8.24e)
635
Eulerian kinematic body boundary condition (KBBC)

d*w
dn
9<*>*
dn
dn
+ X(t)n + @(t)ri = 0 on 0S.
(8.24f)
Kinematic radiation boundary condition (KRBC)

3
(8.24g)
where the deep-water wave number &o = (*)2/g and the linear radiation
condition operator Loo() is defined by
Loo(.) = , lim (Kmr)(n-l)'2
\ [8n2 + 8nl sgn(x)]K (), (8.24h)
where n = 1 for 2D waves; n = 2 for 3D waves; and "i = ik because the

time dependence is chosen to be exp icot; and the Lagrangian dynamic body
boundary condition (DBBC)
_/*_
(8.24i)
(8-24J)
(8.24k)
lX(t)
= e
. 16(0
iM(f)
Eo^
(8.241)
(8.24m)
(8.24n)
where both the time-dependent 0(e=kA)

and time-independent 0()
forces/moments are derived in detail in Sec. 8.2. These forces/moments
include the following: 1) stiffnesses due to buoyancy, weight and water
plane surface area (vide., Eqs. (8.53c-h) in Sec. 8.2); 2) external constraints
(vide., Eqs. (8.55a-d) in Sec. 8.2); 3) the exciting forces/moments on a still
body (vide., Eq. (8.43) in Sec. 8.2); and 4) the restoring forces/moments
on a body oscillating in otherwise still-fluid (i.e., the wave maker boundary value problem and vide., Eqs. (8.44) in Sec. 8.2). The Lagrangian vector
dynamic body boundary conditions in Eqs. (8.24i-n) transform the Eulerian
dynamic and static pressure fields into time-dependent and time-independent,
respectively, Lagrangian solid body forces/moments by integration of the total
636
fluid pressure field over the immersed surface area of the equilibrium position
QS(X, y, z, 0) of the Lagrangian solid body.
Linear superposition requires the identically equal [=] notation in the
kinematic 5ody boundary Condition (KBBC) Eq. (8.24f). Both the scattered
4>s{x,y,z) and radiated <pj(x,y,z) wave potentials satisfy inhomogeneous
kinematic boundary Conditions (KBC) on the equilibrium position of the
Lagrangian body oS(x, y, z, 0) in accordance with Eq. (8.24f); while at large
horizontal distances from the body, each of these seven scalar potentials must
also satisfy a homogeneous kinematic radiation boundary condition (KRBC)
given by the radiation conditions Eqs. (8.24 g,h). The incident wave potential
4>w (x, y, z) does not satisfy a radiation condition and must be quantified by the
engineering design specifications of wave height H, wave period T, and water
depth h. The unknown complex-valued motions of the Lagrangian solid body
Xj(t) and /(f) in each of the six-degrees-of-freedom are factored explicitly
in the definition of each radiated wave potential according to Eq. (8.21a). This
factoring symbolically of these unknown complex-valued amplitudes is the
key to obtaining seven inhomogeneous kinematic boundary conditions from
a single scalar equation!
8.2. Linearized MDOF Large Solid Body Dynamics

A mathematically consistent theory for evaluating the large solid body
Lagrangian motions of the semi-immersed large solid body shown in Fig. 8.4
Fig. 8.4. Free body diagram for large solid body.
637
was developed by John (1949, 1950). Extensions of this theory are given
by Peters and Stoker (1957), Stoker (1957), Wehausen (1960, 1971),
Newman (1961, 1977) and Mei (1989). The extensions by Newman (1961)
include three separate perturbation parameters that represent the orders of:
1) the wave height/wavelength ratio (H/k); 2) the beam/wavelength ratio;
and 3) the magnitude of the oscillations of the body. This less ambitious summary follows John (1949, 1950) with the exception of the orientation of the
vertical z axis instead of the y axis; the negative gradient of the scalar velocity
potential to recover the fluid velocity q = V4>; and the addition of zero-order
external constraints (Mei, 1989).
There are two well-known spring stiffness constants for the hydrostatic
stiffness due to the change in water plane area for semi-immersed large solid
bodies. One of these two spring constants is the vertical heave mode X$(t)
linear spring given by the well-known formula
K& = pgA0,
where AQ = the water plane area at equilibrium (e.g., AQ = nD2/4 for a
vertical circular cylinder of diameter D). The second spring constant is the
pitch mode 5 (t) rotational spring constant for rotations about the origin of
the body-fixed coordinates x' given by the well-known formula
where the second moment of area may be computed from
0A=
Jj(x'-x'R)2dx'dy',
Ao
where 1^ , = rrD4/64 for a vertical circular cylinder and Ao = water plane

r r
i i
area at equilibrium (i.e., t = 0). When these two well-known spring constants
are derived from the fluid pressure given by Eq. (8.47) below, it is then possible
to compare the rotational spring constant due to excess buoyancy at equilibrium
K$5 with the spring constant due to changes in water plane area at equilibrium
A55 for semi-immersed solid bodies (cf, the articulated tower in Chapter 7.8.1
where K^5 is neglected compared to K^5).
638
8.2.1. Kinematic Body Boundary Conditions (KBBC)

The instantaneous wetted-surface of the solid body shown in Fig. 8.4 may be
described by a Stokes material surface S(x, y, z, t) given by
S(x,y,z,t)
= z-f(x,y,t)
= 0.
(8.25)
The solid body kinematic .Sody boundary Condition (KBBC) may be computed from the Stokes material derivative of the Stokes material surface (vide.,
Eq. (2.13a) in Chapter 2.2.10) according to
DS
of
d3/
3$
= -T7+ / + / - ^ - = 0 ,
Dt
Ot
dx ox
ay dy
dz
onS(x,y,z,t).
(8.26a)
The unit normal surface vector may also be determined from Eq. (8.25) by
n= -^ =
|VSI
dx
dy
(8.26b)
^[m +m +i'_
where the ambiguous sign of the modulus of the gradient vector | V 51 must be
determined from whether the unit normal points out of the surface and into the
fluid or into the surface and out of the fluid (Hildebrand, 1976, Chapter 6.12).
The perturbation procedure involves expanding the scalar velocity potential
<>(x,y,z,t); the translational displacements X(t) of the center of mass
x'c (x'c,y'c,z'c) of the solid body; the rotational displacements 0 ( 0 about
an arbitrary point of rotation xR(xR,yR,zR);
the external loads F(t) and
M{t); and the Stokes material surface S{x,y,z, t) in a power series ordered
by a perturbation parameter given by the wave amplitude/wavelength ratio
e kA = 2nA/X > 0 (cf., Chapter 6). Simple coordinate transformations relate the fixed inertial coordinate system x to the moving body-fixed,
non-inertial coordinate system x' where x = x' at t = 0. Note that x
may be a function of time; but x' is never a function of time. Solidbody rotations in the moving body-fixed, non-inertial axes x' that coincide
with the fixed inertial axes x at t = 0 may be about any arbitrary point
of rotation xR(x'R, y'R,z'R) shown in Figs. 8.2 at point R. Substituting the
linearized Bernoulli equation for the total fluid pressure (i.e., static plus
dynamic) into the body surface integrals evaluated over the equilibrium
wetted-surface area of the immersed body o^(x, y, z, 0) yields: 1) zero-order
639
e equilibrium equations for the Archimedes buoyant force/moment F /M

and 2) a first-order e 1 linearized dynamic pressure force/moment components
Fp /Mp. The Archimedes buoyant force/moment F /M may be combined
with the body weight force/moment F /M to give the hydrostatic pressure
-> k
-> k
force/moment stiffness components F /M . Equality between two different

forms of the kinematic boundary condition for an ideal fluid on the solid body
boundary may also be demonstrated (Mei, 1989).
The perturbation expansions are given by (cf. Chapter 6.2)
$>(x,y,z,t)
+ e22(x,y,z,t)
= i(x,y,z,t)
= JV<D(x,y,z,0
(8.27a)
n=\
X(t) = lX(t) + 22X(t) +-.. = J2 \X(t)
(8.27b)
n=\
0 ( 0 = e i 0 ( O +e22(t)
+--- = ^nn@(t)
(8.27c)
n=\
z = f(x,y,t)
= of(x,y)
+if(x,y,t)
+=
^2ennf(x,y,t)
n=\
(8.27d)
P(x,y,z,t)
= op(z) +e\p{x,y,z,t)
= ^jnnP(x,y,z,t)
+22p{x,y,z,t)
-\
(8.27e)
n=0
that imply that there is nofluidmotion for e = Oandop(z) = hydrostatic pressure. The Stokes material surface S(x, y, z, t) and the pressure P(x, y, z, t) all
contain zero-order equilibrium components that are independent of time; viz.,
of(x, y) andop(z). The complex-valued scalar velocity potentials <&(x, y, z, t)
represent only wave-induced fluid motions and, therefore, do not contain
zero-order e, steady-state, time-independent components. The coordinates
in Fig. 8.2a to an arbitrary point of translation xc(xc,yc,zc)
iQ the wave
inertial coordinate system fixed at the still water level equilibrium position
are equal to the moving, body-fixed non-inertial coordinates
xc{x'c,y'c,z'c)
at t = 0 (John, 1949). An arbitrary point of rotation expressed in the moving
body-fixed non-inertial coordinates x'R(x'R,y'R,z'R) in Fig. 8.2a need not be
640
Fig. 8.5. Translation and rotation of a large solid body.
located at the body center of mass x'c(x'c, y'c,z'c) (cf., the articulated tower
Chapter 7.8 and waves in a 2D channel Chapter 5.2). Again, x = x' at t = 0;
and x may be time-dependent but 3c' is always time-independent.
An expression for \f(x,y,t)
in terms of the static equilibrium position
of(x,y) is required in order to proceed further with the linearized problem
(John, 1949). In order to obtain this required expression for i / (x, y, t) in terms
of of(x, y), the moving body-fixed, non-inertial coordinate system x must be
related to the fixed, wave inertial coordinate systems; and the Stokes material
surface S(x, y, z, t) must be expanded in a Taylor series about the equilibrium
position oS(x, y, z, 0) of the solid body in order to be able to equate terms of
0(e). It is important to remember that the goal of the following derivation is
to replace the time-dependent location of the Lagrangian body at i / ( x , y, t)
with the time-independent location at equilibrium at of(x, y).
The coordinate transformations between the fixed, wave inertial coordinate
system fixed at the still water level at the body equilibrium position x and
the moving, body-fixed non-inertial coordinate system x' may be obtained
by a linear combination of pure translation without rotation x(t) x' +
e\X(t) + 0(e 2 ) (vide., Fig. 8.5) plus pure rotation without translationR(t) =
ei(t) xr' + 0(e2) about an arbitrary point R in the moving body-fixed,
non-inertial coordinates x' that is aligned with the fixed inertial axes x at t = 0
according to
x(t) =x' + [iX(t) + 10(0 x (x'-x'R)]

= 3c' + 6 i x ( 0 + O(6 2 ),
+ 0(e 2 )
(8.28a)
641
that may be rearranged to

X{t)-X'
= 6lX(0 + O(6 2 )
+ 0(e2)
= e [ i ( 0 + !0(f) x (x'-xR)]
(8.28b)
with the following scalar components:

x'-x(t)=
- e [ i X i ( 0 + i 5 (0(z' - z'R) - i6(t)(y'-
y'R)],
(8.29a)
y' - y(t) = - e [ i X 2 ( 0 + i6(0(*' - 4 ) ~ i4(0(z' - z'R)],
(8.29b)
z' - z(0 = - e [ i X 3 ( 0 + i 4 ( 0 ( / - 4 ) - is(0(*' - 4 ) ]
(8-29c)
because 3c = x correct to 0(e). At equilibrium or, equivalently, at time t = 0,

z(0) = z' and the Stokes material surface becomes
oS(x,y,z,0)
z-of(x,y)=
(8.30)
z / - o / ( x / , / ) = 0.
The Stokes material surface may be expanded in a Taylor series about the equilibrium body position o5(x, y, z, 0) by first expanding f(x,y, t) by Eq. (8.27d)
to obtain
S(x,y,z,t)
= z-
f(x,y,t)
[z' - of(x',y')]
- eif(x,y,t)
+ 0(e2) +
(8.31a)
and then expanding S(x, y, z, t) by

S(x,y,z, t)*0S
+ - V ( z ' - z(t)) + 1rr(x'dz

ox'
6 nS ,
+ ^r(y'y(t)) +
x(t))
dy'
*(z'-0f(x',y'))
^~f
dx'
(z'-z(t))
(x - x(t))
(y - y(t))
+ .
dy'
(8.31b)
642
Substituting Eqs. (8.29a, b) into Eq. (8.31b) and equating 0(e) terms gives
the following first-order approximation for i f(x,y, t) in terms of of(x, y)
(John, 1949, p. 24, Eq. (2.2.4)):
e1 :
lf(x,y,t)
= iX3(t) +
l4(t)(y'-y'R)-l5(t)(x'-x'R)
- - ^ - { i ^ i W + i0 5 (O(z' - z'R) - 1 6 ( 0 ( / - y'R))

ri
-f
- -jriiXjit)
+16(0(*' - 4 ) - i4(0(z' - z'R)}
= 1X3(0 - ofxiXiiO - ofyiX2(t)-
(8-32)
Substituting the temporal derivative of Eq. (8.32) into the .Kinematic .Body
.Boundary Condition (KBBC) given by Eq. (8.26a) yields, correct to 0(e)
dif(x,y,t)
dt
diQdpf
dx dx'
d^dpf
dy dy'
3iO
dz
= jX 3 (0 + i 4 ( 0 ( / - y'R) - i 5 (0(*' - x'R)

- -2L{xXi(t)
+ i5(0(z' - zR) - i 6 ( 0 ( / - y'R)}
~ - ^ 7 { l X 2 ( 0 + i 6 (0(*' - 4 ) - 14(0(Z' - ZR)}

ay
(8.33)
or
3$
+Xn
an
+ @ii' = 0,
on
0 5(x,v,z,0),
(8.34)
that readily demonstrates the well-known equality between the .Kinematic

.Body .Boundary Condition (KBBC) for 1) a boundary between a solid body and
an ideal fluid given by a Stokes material derivative (vide., Chapter 2.2.10) and
2) the continuity of the normal component of the velocity of a solid Lagrangian
body and the normal component of the velocity an ideal fluid (Dean and
643
Dalrymple, 1991 orMei, 1989) i.e.,

3<t>
DS
\-Xn + Qn
= 0=
on
0S(x,y,z,0),
(8.35a)
where the unit normal on oS(x, y, 0) is computed from Eq. (8.26b) by

n=
H>/*,-o/y,l)
2
(8.35b)
- A Ao/, + o/v + l]
The scalar kinematic Body Boundary Condition (KBBC) in Eqs. (8.35) transforms the large Lagrangian solid body motions X{t) and 0 (t) to Eulerian fields
by the vector dot product with the spatially-dependent unit normals and the
body motions are now functions of both time and space in the KBBC.
8.2.2. Dynamic Body Boundary Condition (DBBC)

Because the semi-immersed body in Fig 8.6 is free to respond to the wave
induced pressure loadings, a dynamic boundary condition must also be prescribed in addition to the kinematic Body Boundary Condition (KBBC) given
by Eq. (8.34).
The three translational displacements \X{t) may be referenced to any
arbitrary differential point of mass dm in the body shown in Fig. 8.6. The
Lagrangian linear and angular momentum principles for a solid body may be
Fig. 8.6. Locations of 2 axes: 1) Inertial {x, y, z} and 2) Non-inertial {x', y', z'
644
Structures
written as
n
(8.36a)
x(t)dm =
'(Ox
where
r{t) = (x-xR)
+ eiR(t) = r'(t) + erR(t) +
0(e2)
(8.36b)
ic(0 =x' + ehX(t) + iR(t)] = ehX(t) + i ( 0 x r'] + 0(e 2 ); (8.36c)

x(t) = eiX(0 = ehX(t) + i 0 (O x r'] + 0(e 2 )
(8.36d)
The notation in Eq. (8.36a) and in all subsequent equations for linear and
angular momenta is an implied stacked notation with the three translational
momenta stacked vertically above the three angular momenta and separated
by a horizontal dashed line [
]; i.e.,
EF2(o
n
iW)l
X>(0
(8.37a)
n
I>2(0
X>3Bc)
. n
Careful consideration must be given to r(t) when transforming from linear

momentum to angular momentum. In Fig. 8.6, r(t) may be seen to be the
(8.37b)
r(t)=? + iR(t).
vector sum of static r' and dynamic R(t) components according to
645
Large Solid Body Lagrangian Inertia (Crandall et al., 1968, Ch. 3)

The Lagrangian inertia of an homogeneous large solid body correct to O (e)
becomes
d
dt / / /
x(t)dm
.'(Ox
\X(t)dm
- / / /
r x
(?) x r'dm + 0(e2)
"l[l{y.
m\X(t)
Sijkm(r'c)j
\Xk{t)ei/
(
+
Sijkm(r'c)k
lO(0 Iff \r'.r'\dm-
i@j+3(t)ei
i&(t) ffjV
r'dm
)
m\X{t)ei
= e
\msijk(r'c)j
\Xk{t)ei
msijk(r'c)k i0 7 + 3 (Oe;
__
\,i,j,k
/ r v.i ,-+3 ( 0 5 , - / ^ 1 j+3 (0?
= 1,2,3,
(8.38)
where e = &A = the perturbation parameter; Sijk = the Levi-Civita permutation symbol (vide., Eq. (2.5) in Chapter 2.2.4); and repeated subscripts imply
tensor summation. The total mass m and center of mass x'c of the homogeneous
646
large Lagrangian solid b o d y are defined b y

III
dm = m,
x'c = m~ III
vm
x dm,
(8.39a,b)
vm
w h e r e Vm is the total v o l u m e of the h o m o g e n e o u s large solid body. T h e first(translational inertia) a n d second- (rotational inertia) m o m e n t s o f total m a s s
v o l u m e for a large h o m o g e n e o u s solid b o d y are defined b y
/ / / r'jdm = \ \ \ (x' -x'R)jdm
vm
= m(x'c -x'R)j
=m(r'c)j,
j = 1,2,3
vm
(8.39c)
(rc)i =x'c
-x'R,
(rc)i = y'c - y'R,
(rch = z'c - z R
(8.39d-f)
'rt = Iff ^'^ = fff(X' ~X'R)i{X' ~X*)idm

vm
vm
2
[(x' - x'R) + (y' - y'R)2 + (z' - z'R)2] dm
= jjf
vm
r r
l l
V2
r r
33
where I, = mass m o m e n t o f inertia (Crandall et ah, 1968, p . 172) a n d

where
qr,
= jjf
r'/jdm = Jjj(x'
vm
x'R)jdm
vm
= Ix, -m(xR)i(x'c)j
i,j
- x'R)i(x' -
= 1,2,3
-m(x'R)j(x'c)i
+m(xR)i(x'R)j
(8.39h)
w h e r e I"], products of mass m o m e n t s inertia (Crandall etal., 1968, p . 172);

and where Eq. (8.39h) is a convoluted form o f the parallel axis theorem for
a large solid h o m o g e n e o u s body. For a non-inertial axis x" fixed to the large
solid h o m o g e n e o u s b o d y at the center of mass x'c, the parallel axis theorem
647
for rotations about the body-fixed non-inertial coordinates xR is given by

==
jll
v Q == (x
x D)
\^c
x"x'-dm = J I fix' - x'c)iix' -
vm
^ R)
x'c)jdm
vm
=
Qx'. ~ m(xc">i(x'ch>
iJ = 1 ' 2 ' 3 -
External Forces/Moments F/M

The total sum of the external forces/moments F/M may be evaluated by
a variety of methods; but the method that most easily illustrates the spring
constants K^ and K^5 is of primary interest. The most common method is to
compute these spring constants from the total fluid pressure from Eq. (8.27e);
i.e., hydrostatic opiz) plus dynamic eipix, y, z, t).
The total sum of the external forces/moments include the following vectors:
r
n
-P
F it)
'
J^Mnit)
' Pw '
( ->C
+
- w
M it)
M it)
F it)
MCit)
where the superscript P = total Pressure forces/moments; the superscript

W = total fTeight forces/moments and the superscript C = total mooring and anchoring Constraints. These forces/moments may be expanded and
combined to obtain
f - F
f ~R
F it)
F \t)
M it)
M it)
\PKit)}
+|
K
[M it)
f ->C
F it)
+
MCit)
where the superscript E = Exciting dynamic pressure force/moment on a

fixed body; the superscript R = the hydrodynamic Restoring force/moment
on a large Lagrangian solid body oscillating in still water (i.e., the wavemaker
BVP).
648
Total Fluid Pressure Forces/Moments

K(t)/M(t)
The total fluid pressure loads may be computed from
/
FP(t)
fjp(x,y,z,t)
P
M {t)
I , \
hdS = -e
^ r(f)x /
oS
\p(x,y,z,t)
QS
ndS
rx
hdS
//OPCZ)
y(f'
Fp(t)
lX(t)+1R(t))x/
F\t)
+
M (t)
(8.40)
M {t)
where o S is the wetted surface of the large solid body at equilibrium or at t = 0;

and where the minus sign is required because the unit normal n is directed out
of the body and into the fluid. This method includes the body force/moment
^b
- b
loads F (t)/M (t) through the hydrostatic pressure component op(z). The
total fluid pressure is computed from the linearized Bernoulli equation and
includes both hydrostatic e and dynamic pressure components correct to the
first-order 0(e); i.e.,
P(x,y,z,t)
= op(z) + ip(x,y,z,t)
= -pgz
+ ep-
at
= -pg[of(x,y)
+ 0(e )
+ 0(e2)
+ if(x,y,t)]
(8.41a)
+ P-^-
+ 0(e2)
(8.41b)
at
by Eqs. (8.27d, e). The zero-order hydrostatic component op(z) represents a body force/moment contribution to the total sum of the external
forces/moments. It is this body force component that will eventually contribute
to the hydrostatic spring constants in Eq. (8.50a) below; viz.,
K&
and
K& + KL
649
Dynamic Pressure Force/Moment

The dynamic pressure force/moment loads may be computed by substituting
Eq. (8.24a) for I<J>(JC, y, z, t) from Sec. 8.1 into Eqs. (8.41a, b) for \p(x, y, z, t)
and then by substituting into the first curly bracket term {} on the RHS of
Eq. (8.40) to obtain
(Fp{t)\
\
ndS
= -Re
\MP{t))
y rx J
0S
\
wrfS
= -Re
V rx /
/
ipoj / / A[4>w +4>s]
= Re
ndS
exp icot
oS
3
/ , ?m0m + 2 J lm4>ir,
m=\
m=4
+ Re
ndS
i pay
/ /
exp ittrf
/ , Hm4>m + 2 J ^fflfc
.m=l
( J\t)
m=4
\
(8.42a-f)
+ 6
\iM (t)J
-> E
where i F {t)/\M
{t) = the .Exciting force/moment on afixedbody given by

/
(i^v)
= eRe
\,M (f)y
1 \
'W/'
ipoj I I A[<t>w + </>s]
ndS exp ('a;/
(8.43a)
(8.43b)
(8.43c)
= eRe
d S e x p icot
i/ooj / / A[0, +4>s]

" / /
oS
E
\Mj (t)
V/
(8.43d)
(8.43e)
(8.43f)
650
Structures
The \F (t)/\M (t) = the Restoring force/moment on a large solid

Lagragian body oscillating in otherwise still fluid (i.e., the wavemaker BVP in
Chapter 5). Substituting Eqs. (8.2 lb,c) from Sec. 8.1 for each of the j unit nor-* R
-* R
mals and Eqs. (8.7c,d) for the velocities into Eqs. (8.42) for \F (t)/\M
and expanding each <f>j into real and imaginary parts according to
(8.44a)
0 7 = R e { 0 7 } + nm{0 7 },
-* R
(t)
-* R
the Restoring force/moment \F (t)/\M
{t) may be expressed as
xFfit)
\Mf{t)
J2ixm(t)fj (Re{^ }
iIm{4>m})dS
OS
+ X ) im(0 [J(*B{4>m} + i \m{4>m})dS

m=4
= eRe
icop
>J =
3
J2iXm(t)jj (Re{4> } + ilm{m})dS

m=4
dn
oS
(8.44b-g)
651
where the two integral terms in the elements of each of the two 3 x 6 matrices
in the RHS of Eq. (8.44b) represent typical matrix elements. Substituting the
Lagrangian ordinary temporal derivatives of Eqs. (8.7f,h) given by
iXj(t) = -ia>iXj(t),
j = 1,2,3,
lj(t) =-ia>ij(t),
j =4,5,6
into Eq. (8.44b-g) gives
iFfit)
J =
\Mf{t)
j j Re{<Pm}d-^-dS
m=l
E
m=4
co j j \m{cj>m}d-^-dS
\Xm{t) +
j j Re{<t>m}^J-dS
LloS
lm(0 +
\Xm{t)
oS
co Jj
Iml^^dS lm(0
I o5
-epRe
3
//
Re{c/>m}J-dS \Xm{t) +
an
co Jj' \m{4>m}d-^-dS
\Xm(t)
m=l
jJ' Re{4>m)d-p-dS
on
lm(0 +
co J j'lm{<M^S lm(0
m=4
(8.44h-m)
652
that may be reduced to
/ , i^mj 1 Xm (t) + ^mj \ Xm (t)]

m=l
+
6
m (') + ^mj 1 m (01
lF/(0
m=4
= -Re
lMf{t)
/ , [Mm; 1 ^m (f) + A.my-1 X m (f)]
m= l
+
6
XI [iJ-mj 1 m (0 + \mj i m (/)]

-m=4
(8.44n-s)
where the added mass coefficients iJLmj and the radiation damping coefficients
kmj in Eq. (8.44n-s) may be computed from
fimj = P if
o5
RelM-^-dS;
Xmj = pco jj
Im {<pm}^-dS,
3n
(8.45a,b)
oS
where, again, the square bracket terms [] in the elements in each of the
two 3 x 6 matrices in the RHS of Eqs. (8.44n-s) represent typical matrix
elements.
The restoring force/moment matrix in Eqs. (8.44) may be linearly decomposed into two matrices; viz., a matrix for the accelerations Xm(t)/@m(t)
and the added mass fimj and a matrix for the velocities Xm (t)/m (t) and the
653
radiation damping Xm; coefficients according to
\Ff{t)
\Mf{t)
xFfif)
lF|(0
- eRe
-eRe
J=
lMf(t)
\M)(t)
^ Mm; 1 *m (t) + Y^ Hmj

m=\
m=4
\m(t)
= -eRe
3
XI V-mj\Xm(t) + ^2 Vmj\m(t)
m=\
m=4
/ , -^mj 1 ^m (t)+Y^kmjlm(t)
m=\
m=4
1
2
3
(8.45c)
(8.45d)
(8.45e)
-eRe
4
22 Xmj 1 Xm 0) + 22 ^mJ l m ('}

m=\
m=A
5
6
(8.45f)
(8.45g)
(8.45h)
654
The added mass matrix elements in Eqs. (8.45) and the radiation damping
matrix elements in Eqs. (8.45) may be transposed to the LHS of the dynamic
equation of motion and coupled into the mass matrix and the damping matrix.
Hydrodynamic Stiffness Fb(t)/Mb(t)
Substituting the hydrostatic pressure component op(z)
Eq. (8.41a) into the third integral in Eq. (8.40) yields
P\t)
M\t)
oS
pgz from
= P8
ff-
ndS.
v
(8.46)
{F + eiA"(0+ *!*(*)}x
Substituting Eq. (8.31a) for z into Eq. (8.46) gives

F (0
= pg
ndS -epg
M\t)
l f(x, y,t)\
r x
-*Pg
r x
ffof(,x',y')l
JJ
\hdS
\ndS.
x
ix(0x
The gradient Theorem in Eq. (2.122b) in Chapter 2.6 converts the surface integral
over dS to a volume integral over d V according to
llFidS = lll*FdVoS
Vo
where Vz = g3 (Hildebrand, 1976, Chapter 6.12); where Vo = submerged

volume of the solid body at equilibrium; and where the horizontal projection
dxdy of the wetted surface may be computed from
dx dy = n-}d S =
dS
y/ofi + of? + l'
Deterministic
655
so that Eq. (8.46) becomes
F\t)
M\t)
= M [[[I
\dV-epg [fifl
~p8fff\J J
| hdxdy
)dv'
Vvx(z;x(0)/
where QA = the water plane area at equilibrium. Collecting order e terms for
bodies that are symmetric at the still-water-level (SWL) gives
F\t)
pgVoh
M\t)
yPgV0[(y' - y'R)ex + (*' - x'R)e2]

(
[OA1X3(O + / r | l 0 4 ( O - / r | l 0 5 W ] ^
+ pg
I$lX3(t) + I * 104(O - / I , 105(O

/ l x 3 ( 0 + /;l,i4(0 - / l , 105(0
+ epg
6 (o-/Vi0 4 (ol2i
+ kVi0
L l
3
J
r
kVi0 5 (o-/Vi0 6 (o
L
+ epg
_-VoiX2(Oei + VoiXi(02_
656
and combining zero-order e and first-order e 1 terms gives:

xF\t)
OF"
\M\t)
oM"
pgVoh
pgVo [(y' - y'R)h + (*' -
x'R)e2\
- [oA iX 3 (0 + 7^184(0 - /^105(O]3

+ epg - fa 1*3(0 + fa . + 7?) 14(0 - 7* 105(0 - # 1 0 6 ( 0 " V iX (/)l e
0
2
X
L r2
V r2r2
r r
3/
l 2
+ [ # i X 3 ( 0 + / 4 , i 4(0 - fa, + iY) 105(0 + 7Vi06(O - v 0 iXi(ol h

L rl
2rl
V rlrl
3/
(8.47)
where
# = / Y (*' - 4 ) , . r f * ' ^ ;
J J0A
# r , = / / " (*' ' J
4),-(JC'
x'R)jdx[dx'2
J J0A
(8.48a,b)
IVr, = \ \ \ (*' - 4) dV = V0(x'B - x'R)i,
(8.48c,d)
and where x'B is the vector coordinate to the center of buoyancy B in Fig. 8.4.
-w ^w
Body Weight Force/Moment F /M
The body weight force/moment due to gravity may be computed from
ge3
- w
M (0
p'c+eiX(0]
oF
-mge 3
*
oM
- w
\M (0
mg(yc ~ y'Rî ~ mS(x'c - x'R)e2

+6
- m g [ i 6 ( 0 ( 4 - X'R) ~ it(0(Zc - Z'R) " i^2(0]2i

+mgh5(t)(z'c - z'R) - i6(t)(y'c - y'R) + iXi(0]? 2
(8.49)
657
where (vide., Fig. 8.4)

r'c = (xc ~ X'R) i + (y'c ~ y'lt) *2 + (z'c - 4 ) &
Stiffness due to Buoyancy and Weight

The stiffness due to buoyancy and weight may be written as
FK{t)
vb 1
=1
\ J\t) |
I oM
M (t)
+e
.M W (0
\M\t)
\FK(t) '
oFK
+
\MK{t)
oMK
where
o ^
K
(-mg + pgV0)h
[-mg (y'c - y'R) + pgV0 (y'c - y'R)] ex

+ [-mg (x'c - x'R) + pgV0 [x'c - x'R)] e2
(8.50a)
and where
Pg [ A O I X 3 ( 0 + 7.|i 4 (0 -
i^(0
> 8 ifrXrt)
+ [p g ( / , + 7rV) - mg (z'c - z'R)\ 0 4 ( 0
-pg I*Ai05(O
lMK(t)
'2
Irli@5(t)]e3
- [pg /rV - mg ( 4 - jc^)] 106(0
ei
p g / . | i X 3 ( 0 + PgI^r[ 104(0
[ p ( / r | r ; +/ r V) " m g (Z'c- Z')] 105(0
-[pg/rV-mg(^-^)]i6(0
(8.50b)
External Constraining Forces/Moments F (f)/M (t)
The total external constraining forces/moments represent both static and
dynamic external constraints such as mooring line guys, tension leg tethers, anchors, etc. These external constraining forces/moments may also be
658
expanded in a perturbation series according to

F (t) = 0F +rF
(0 + f V w
+ -
= f " / ( 0 ,
(8.51a)
n=0
MC(t) = 0MC + eiM C (0 + e22MC(t) + = J ] e"M C (0.
(8.51b)
n=0
-*c
* c
Zero-order, time independent constraints o-F /o-^ are required, for example, in
a tension leg platform that has excess buoyancy (vide., the articulated tower in
Chapter 7.8.1 and the two semi-immersed horizontal pontoons in Chapter 7.8.2
in Chapter 7.8).
Collecting terms only to 0(e) gives
oFC
FC(t)
MC(t)
+ [?; x 0FC]
0M
iFC(t)
(8.51c)
+
C
iM (f) + [r'e x lJF (f)] + [ix(0 x 0F ]

lFC(t)
oF
oM
(8.5 Id)
liMfw + iMÔJ
where
C
= 0MC + [r'e x 0 F C ]
(8.51e)
MCx(t) = e\MC{t) + [r'e x e , F C ]
(8.51f)
M2{t) = [ei*(0 x 0 J F C ] + [ei*(0 x <>FC]
(8.51g)
0M
and r'e is(are) the position vector(s) from the point of rotation R in Fig. 8.4 to the
point(s) where the external constraint(s) is(are) applied. If the point of rotation J?
659
in Fig. 8.4 is the only single point of external constraint r'e in Fig. 8.4, then
MC2{t) = [lX(t) x 0 F C ] + [ei*(f) x 0 F C ]
(8.5 lh)
Summary
The Lagrangian dynamic equations of motion for a homogeneous large solid
body are given by
~m~
_M_
iX(0
~K~
+ _K
.iO(0.
oF'
f l
\+
0M J
f
\X(t)'
l&(t)
r
->C i
-> F
,^(0
1^(0
0M
-C
+ |
iFC(t)
[iM (0.
~\
+e
iM (t)
(8.52a-c)
.lMfa ) + \M (0.
(8.52d-f)
where the hydrodynamic stiffnesses in Eq. (8.50b) have been transposed to the
LHS in Eqs. (8.52) and where the 36 element inertia matrix (Crandall et al., 1968)
is given by
L.AU
where the first three rows of the mass matrix are
[m] =
m
0
0
0 0
0
m 0 w(zc z'fl)
0 m m (y'c y'R)
m (z'c - z'R)
-m (y'c - y'R)~
0
m (x^ x^)
m (x'c x'R)
0
(8.53a)
660
and the last three rows of the mass moment of inertia are
-m(z'c-z'R) m (y'c - y'R)
m(z'c-z'R)
m
- (y'c-y'i()
(4
-Ijj
2
-m{x'c-x'R)
\i"!, +ir
r
V V2
-Im
r'r'
r r
r r
V Vl
4)
3 3/
~'jj
3 2
W l
+H ,
(8.53b)
The corresponding 36 element stiffness matrix is given by

"K"
_K _
where the first three rows of the stiffness matrix are

0 0 0
0
0
0
0 0 0
0
[K] = 0 0
pgtf -pgrf
^33
0
0
0
(8.53c)
and the last three rows are

M =
0^ 3
pgI$-0F%
r
2
.+0^(4-4)-
-oF${y'e-y'R)\
r
04
r/4
r,r 2
-pgrf+oFC
~l
^ 5 5 + *55
-0Ff(x'e-x'R)
_-of 3 C (4-4).
tf
-off
-PS?
+mg {x'c - x'R)
o^ & -4)
0^2 (
~ 'R)
_+oFC (x'e-x'R)
r -p8V
+mg b e - y'R)
c
MFc,{y'e-y'
R)
"- 0 f 2 (4-4)
.-off ( 4 - 4 )
(8.53d)
and where the water plane stiffness elements in Eqs. (8.53c, d) are given by
K^ = pg0A,
K55 =P80r"
K& = pgl^,
KlA = Kv55=pgll-mg{z'c-z'R),
(8.53e,f)
(8.53g,h)
661

-E
-* E
where I"}, is defined in Eqs. (8.39g,h); \F (t)/\M (t) are defined in

Eqs. (8.43); \FR {t) / XMR {t) are defined in Eqs. (8.44); and 1$, 1^, and /,?
are defined in Eqs. (8.48). If the center of mass x'c and the center of rotation
xR coincide {i.e., r'c = xc xR = 0), both the mass and stiffness matrices are
simplified significantly.
Static Equilibrium
Applying Archimedes buoyant principle, the weight of the large Lagrangian solid
body plus the displaced weight of the fluid may be equated to the residual of the
time-independent external constraints at static equilibrium (e) to obtain
P8 z
ff
r li l
" 1 "
1
oF
mge-i =
ndS-
/x.
(8.54)
C
C
0M + [P'e x 0F ]
that gives the following:

Forces
h PgVo -mg = 0F3 ,
(8.55a)
Moments
h:pgll
- (y'c ~ y'R) mg = 0Mf+ [(y'c - y'R) 0 F 3 C - (z'c - z'R) 0 F 2 C ] ,

(8.55b)
h: -Pgtf
+ {x'c - x'R) mg = 0M2C + [(z'c - z'R) 0 / f - (x'c - x'R) 0 F 3 C ] ,

(8.55c)
h: 0 + 0 = 0M3C + [(x'c - x'R) o / f - (y'c - y'R) 0Ff] .
(8.55d)
-* c
-c
If there are no external constraints [oM = 0 and o^
= 0] and if
x'c xR = 0 the stiffness matrix is simplified further.
662
Two-Dimensional Applications
Many applications do not require solving the Lagrangian dynamic equations of
motion for afloatingbody in three dimensions (i.e., six degrees offreedom).An
example is an asymmetric, semi-immersed body of revolution (Isaacson, 1982
or Hudspeth et al., 1994). In the two-dimensional case, translational motions are
restricted to surge X\(t) and heave Xît) only, while the rotational motion is
restricted to pitch &s(t) only. Because the equations of motion in Eqs. (8.52)
for the three-dimensional case are written in matrix form, the conversion to the
two-dimensional case is very simple. Because the sway X2 (t), roll 4(f) and yaw
@6(0 modes are neglected in the 2D case, the rows and columns associated with
these motions in the matrices Eqs. (8.29) may be omitted.
The reduced mass and stiffness matrices for 2D dynamics are
m (z'c - z'R)
-m (x'c - x'R)
0
m
m
[m'] =
0
m (z'c - z'R)
(8.56a)
0
-pgIA
yi
[k'] =
A
-PgI
K?5 + K}
-oFf(x'e-x'R)
l-oF3c(z'e-z'R)j]
(8.56b)
and may be simplified further if the point of translation xc coincides with the
point of rotation*^.
8.3. Froude-Kriloff Approximations for Potential Theory

The Froude-Kriloff hypothesis for estimating the wave-induced hydrodynamic pressure loads on small bodies formed the basis for the Morison equation
force/moment loadings in Chapter 7. The linear decomposition of a 3D scalar
velocity potential into an incident <$>w(x, y, z, t), a scattered s(x, y, z, t), and a
radiated <$>r(x, y,z, t) wave potential for estimating the wave-induced loadings
on large bodies also yields a Froude-Kriloff loading. In this case, the hydrodynamic pressure field induced by only the incident wave potential Q>w(x, y,z, t)
yields a Froude-Kriloff load. This approximation forms the first estimate for
the wave-induced loadings on large bodies; and may be applied to calibrate the
magnitude of the diffraction effects on large fixed bodies. The scattered wave
663
potential Q>s(x,y,z,t) results in a first-order correction to the hydrodynamic

pressure field induced by the incident wave. If the diffracted wave load on a
large fixed body is normalized by the Froude-Kriloff load, the magnitude of the
scattered wave load is easily quantified. Because of this, all diffracted wave loads
on largefixedbodies may be normalized by the Froude-Kriloff load due to only the
incident wave pressure field. Examples in both Cartesian and circular cylindrical
coordinates are reviewed.
8.3.1. Froude-Kriloff Load in 2-D Cartesian Coordinates

The relatively large three-dimensional body shown in Fig. 8.7 is submerged with
the depth of the center of gravity of the body located at z = d. The effects of
flow separation around the sharp corners are neglected. A normally incident, 2-D
surface gravity wave in the absence of the body may be described by a scalar
velocity potential given by
&w(x,z,t) = Re{Acbw(x,z)exp-i(cot
= Re \i
+ v)}
cosh kh(\ +z/h)

exp i (kx cot v) >
cosh kh
coshfc/?(l + z/h)
sin(kx -cot v),
(8.57)
cosh kh
where the phase angle v in Eq. (8.57) is introduced for data analyses by Finite
Fourier Transform (FFT) algorithms (vide., Chapter 9.2). The wave-induced fluid
nH
J f
JVV\.V*\.V*VJ
x SWLX7
~t'"7
IWWWW\
Fig. 8.7. Definition sketch for 2-D body in Cartesian coordinates.
664
velocity is computed from the negative gradient of a scalar potential according to
q(x,z,t) =
-Vw(x,z,t)
The total linearized fluid pressure (viz., the hydrostatic ps(z) plus hydrodynamic
p(x, z, t) in Eq. (4.47c) in Chapter 4.5) is computed from the linearized Bernoulli
equation by
P(x,z,t) = ps{z) + p(x,z,t) = -pgz + p
at
f
f
coshkh(l+z/h)
= PS\z Re A
expi(kx cot v)
[
|_
cosh kh
(8.58a)
= -pg\z-A
[
,
'
cosh kh
cos(kx-cot-v)
(8.58b)
The net pressure loading on the body may be estimated from

F(t) = - IJPhdS,
(8.59a)
where the unit normal n is directed out of the body surface and into the fluid and
oS is the wetted surface area of the body in Fig. 8.7 at equilibrium at t = 0.
The horizontal components of the surface area vector n\ dS in Eq. (8.59a) in
the horizontal x -directions are
nidS = dzdyei-
(8.59b)
Substituting Eq. (8.58b) and Eq.(8.59b) into Eq. (8.59a) for the horizontal components of the net hydrodynamic pressure load and integrating over the total
vertical surfaces of the body in the horizontal x -directions gives the following
dimensionless horizontal load component:
rr^
Fl(T)
Spg(WBD)(A/h)
sin kB
sinh kD
[1
= ko h
sinh kd
[1
(kh/koh)
(kh/koh) coth
coth kd]
kd] sin(r
sin(r + v),
kD
kB
(8.60)
665
where the deep-water wave number ko co2/g and x = cot. The dimensionless
horizontal load in Eq. (8.60) may be verified from the horizontal component of
the Euler vector equation (3.41) in Chapter 3.3 that is given by
du(x,z,t)
dt
dFi(x,z,t),
(8.61a)
where
u(x,z,t) =
d<bw{x,z,t)
\Agkcoshkh(l+z/h)
= Re<
expi(kx -cot - v)
dx
[ co
cosh kh
Agk cosh kh(l+z/h)
,.,,..
COS(KJC co t v)
co
(8.61b)
cosh kh
and where
du
coshkh(l+ z/h)
= Agk
sm(kx cot v).
(8.61c)
dt
cosakh
In order to obtain the net horizontal component, Eqs. (8.61) must be integrated
over the fluid volume displaced by the large body at equilibrium Vo in Fig. 8.7
according to
Fl(0 = fffdFM = / / / p3-^dV,
(8.62)
Vo
Vo
where d V = dxdydz. The dimensionless load from Eq. (8.62) may be verified
to be equal to Eq. (8.60).
For body dimensions that are small compared to the wavelength A. (i.e., kB,
kd and kD ; 1), Eq. (8.60) reduces to
FI(T) kd(h/d)[k0d - l]sin(r + v).
(8.63)
For a semi-immersed body where d = D, Eq. (8.60) reduces to

Fi(r) =
kh sinfcZ? /
cosh2fcD - 1
2kD kB \
kh
\
smh2fcD sin(r + v),
koh
)
(8.64a)
and for body dimensions that are small compared to the wavelength X, Eq. (8.64a)
may be further reduced to
Fi(r) -kh(k/ko) sin(r + v).
(8.64b)
666
The vertical components of the surface area vector n^dS in Eqs. (8.59a, b) in
the vertical indirections are
h$dS = dxdyes.
(8.65a)
Substituting Eqs. (8.58b and 8.65a) into Eq. (8.59a) for the vertical components of
the net hydrodynamic pressure load and integrating over the total horizontal surfaces of the body in the vertical z-directions gives the following dimensionless
vertical load component:
F 3 (T) =
F3(T)
Sy(WBD)(A/h)
h
sm kB
sinh&D
=
h *o
suiakd
[(k/ko) cotakd] cos(r + v),
A
kB
kD
(8.65b)
where h/A = dimensionless Archimedes buoyant load (cf. Eq. (3.47b) in

Chapter 3.5).
Again, Eq. (8.65b) may be verified from the vertical component of the Euler
vector equation (3.41) in Chapter 3.3 as
dw(x,z, t)
= dF3(x,z,t)-Y,
(8.66)
'
dt
where y = pg and where
d<Pw(x,z,t)
w(x,z,t) = dz
.Agksiahkh(l+z/h)
...
J
= Re i
exp i (kx cot v) \
co
Agksinhkh(l
+ cosh
z/h) kh. ,,
=
sm(kx cot v)
co
cosh kh
and where
dw(x,z,t)
.
sinhkh(l+z/h)
= Agk
COS(KX cot v).
dt
cosh kh
Integrating Eq. (8.66) over the fluid volume displaced b y the large body at
equilibrium according to
t) y dV
(8.67)
F3(,) = ///^3fe Z ,.) = / / / dw(x,z,
dt
vb
v0
that verifies that the dimensionless load from Eq. (8.67) is equal to Eq. (8.65b).
667
For body dimensions that are small compared to a wavelength k (i.e., kB, kd
and kD < 1), Eq. (8.65b) reduces to
h
F 3 (r) + kh(kd - k0/k) COS(T + v).
A
(8.68)
For a semi-immersed body where d D, then Eq. (8.65b) reduces to

h
kh sinkB / , ,
, fco^ . , ^, ^ ,
F 3 (r) = - +
cosh2fcD - 1 - sinh2D COS(T + v)
A 2kD kB \
kh
'
(8.69a)
and for body dimensions that are small compared to the wavelength k,
Eq. (8.69a) reduces to
F^ ( t ) *
h
A
(8.69b)
Ko/Z COS(T + V).
8.3.2. Froude-Kriloff Load in Circular Cylindrical Coordinates

The relatively large, three dimensional vertical right circular cylinder shown in
Fig. 8.8 is submerged with the location of the center of gravity C. G. of the
body located at z = dcG and the point of rotation located at R. Fluid flow
separation effects around the bottom are neglected. In order to integrate the incident wave field potential around the circumference of the cylinder, the Cartesian
coordinates for the horizontal plane (x, v) must be transformed into the circular
.OgTl
SWL
Fig. 8.8. Definition sketch for 3D body in circular cylindrical coordinates.
668
cylindrical coordinates (r, 9) by x = r cos 9 and y = r sin# and the outward

pointing unit normal in circular cylindrical coordinates by n = cos 9e\ + sin 9Si.
If = exp/(# + 7r/2) = exp(/^/2) expi9 = iexpi9 and f = kr, the generating function for Bessel functions Jm(t;) is given by (vide., Eq. (2.57a) in
Chapter 2.4.3.1 or Hildebrand, 1976, p. 177)
exp[?(f - l/)/2] = ^ ( 0
that gives the following Jacobi-Anger circular cylindrical coordinate expansion
from Eqs. (2.57) in Chapter 2.4.3.1:
gi8
e -(6
exp ikx = exp ikr cos 9 = exp ikr

= ^ ' m expO'm 9)Jm(kr)
'jfcr
= exp
= ^ ( 2 - 5 m0 )J m
(*"-):
cosm9Jm(kr),
(8.70)
m=0
where /,() = Bessel function of the first kind of order m in Eqs. (2.46) in
Chapter 2.4.3 and <5mo = the Kronecker delta function in Eq. (2.2) in Chapter 2.2.3.
The incident wave potential defined by Eq. (8.57) in Cartesian coordinates may
now be expressed in circular cylindrical coordinates by
w(x,y,z,t)
= w(r,9,z,t)
= Re{A<)>w(r,9,z)exp-i(cot
.Ag coshfc/i(l + z/h)

expi(kx
= Re \i
u>
cosh kh
= Re i
Ag coshM(l + z/h)
co
cosh kh
Ag cosh.kh(\ + z/h)
co
cosh kh
+ v)}
cot v)
exp i (kr cos 9 cot v)

00
m+l
exp(im9)Jm(kr)
Re ^2 i
exp - iicot + v) \
oo
(8.71a)
Ag coshfc/i(l + z/h)
co
cosh kh
(
00
x Re | ] ( 2 - Sm0)im+l
lm=0
cosm9Jm(kr)
exp - i(cot + v)\.
(8.71b)
669
The total linearized pressure is now given by Eq. (4.47c) in Chapter 4.5 as
P(r,8,z,t)
= ps(z) +
p(r,6,z,t)
d<t>w(r,6,z,t)
= -pgz + pdt
z-A
-Pg
coshkh(l+z/h)
cosh kh
m
x R e y~] i sxp(im6)Jm(kr)
exp i(wt + v)
(8.72a)
z-A
= ~Pg
xRe
coshkh(\+z/h)
cosh kh
y ^ ( 2 - Smo)im cosm9Jm(kr) exp i(cot + v)

jn=0
(8.72b)
The horizontal component of the surface area vector in Eq. (8.59b) in the xdirection is
(8.72c)
i dS = b cos 9d0 dz ei.
Substituting Eqs. (8.72b, c) into Eq. (8.59a) for the horizontal component of the
net linearized pressure load yields the following dimensionless horizontal load
component:
^l(T)=
*l(T)
pgnb2d(A/h)
2koh
Ji(kb)
(kd)(kb)
kh
1 cosh kd + (
koh
) sinh kd sin(r + v),

(8.73a)
where the deep-water wave number ko = co2/g and x = cot. For bodies that are
small compared to a wavelength k,kb <; 1, J\ (kb) ~ (kb)/2 (vide., Eq. (2.58a)
in Chapter 2.4.3.2), Eq. (8.73a) reduces to
Fi(r)
koh
Id
1 cosh kd +
kh\
.
sinh J sin(r + v).
si
(8.73b)
koh J
For comparison with the MacCamy-Fuchs (1954) dimensional diffraction load

on a full-draft vertical circular cylinder (d = h), the dimensional and dimensionless Froude-Kriloff load on a full-draft vertical circular cylinder where the
670
draft d = h from Eq. (8.73a) is

Fi(r) = (
) J^kb)
kbkh
sin(T
+v>
( 8 - 73c >
knh J\(kb)
Fl(T) =
Th ~lcir
(T + v)
(8-73d)
"
Similarly, the vertical component of the horizontal surface area vector in

Eq. (8.59a) is
n3dS = rdrdG e3-
(8.74a)
Substituting Eq. (8.72b) and Eq. (8.47a) into Eq. (8.59a) for the vertical component of the net linearized pressure load yields the following dimensionless total
vertical load component on the bottom of the cylinder at z = d:
F3(z) =
p gn
_ h_
~ A
b2d(A/h)
2(k0h)Ji(kb)
kh\
(kb){kd)
cosh k d sinh k d cos(r + v). (8.74b)
For bodies that are small compared to a wavelength A. so that tt

Mkb) % (kb)/2 and Eq. (8.74b) reduces to
h
kh (
fk0h\
\
FI(T) - H
coshkd - - ^ - smhkd COS(T + v).
A
kd \
\kh J
J
1, then
(8.74c)
If the draft d is also small compared to a wavelength A so that kd < 1, then

Eq. (8.74c) further reduces to
h
F
I' kh
( T ) - + ( - * o A j c o s ( T + v).
(8.74d)
The moment about the point of rotation R in Fig. 8.8 may be computed from
MR(t)
= - / // p(r,9,z,t)l
p(r,9,z,>
x ndS,
(8.75a)
where d S for the vertical boundary of a vertical circular cylinder is given by

dS = bd6dz.
(8.75b)
671
If the point of rotation R in Fig. 8.8 is located on the vertical axis of symmetry z
at r = 0, then the pseudo-direction cosines i x n may be computed from
e\
I x n = b cos
cos 9
e%
b sin 0
sin 0
ej,
z + dR
0
= - [ ( z + dfl) sin#]2i + [(z + d) cos 6>]e2-
(8.75c)
Substituting Eq. (8.72b) and Eqs. (8.75b, c) into Eq. (8.75a) yields only one
moment component in the y, ei coordinate direction that is due only to the dynamic
pressure component p(r, 0, z, t) in Eq. (8.72b) and that is given by
Afs(f) =
pgAlnbh2
J\{kb)
(kh)2
kdR tanh kh 1
+ k (d dR) cosh kd[tanh kh tanh kd] sin(o)t + v). (8.75d)
+ cosh kd(l tanh kd tanh kh)
A dimensionless moment Ms(r) may be computed from

M5(r)
M5(r)
pgnb d2 (A/h)
2
2khJi(kb)
kbikd)2
kdR tanh kh 1
+ k(d dR) cosh kd[tanh kh tanh k d] sin(r + v).
+ cosh kd{\ tanh &d tanh kh)
(8.75e)
If the point of rotation R is located at the draft depth, then dR = d and Eq. (8.75e)
reduces to
M5(T)
2khJi{kb)
kb(kd)2
x [kdtauhkh
1 + coshfcd(l tanhfcrftanh kh)] sin(r + v).

(8.75f)
672
For comparison with the MacCamy-Fuchs (1954) diffraction moment about the
bottom dR = h on a full-draft vertical circular cylinder, the dimensional and
dimensionless Froude-Kriloff moments on a full-draft vertical circular cylinder
from Eqs. (8.75d, f) are
MsW =
pgA2nbh2 J\(kb)
,,,,2
[k0h - 1 + sech kh] sin(cot + v),
(8.75g)
\KTI)
M5(r) =
2Jx(kb)
, , , [k0h - 1 + sech kh] sin(r + v).
kbkh
(8.75h)
Finally, if the cylinder radius b is small compared to the wavelength k then tt 1

and J\ (kb)/2, and Eqs. (8.75g, h) reduce to
pgAnb2 h
M5(t) s
[k0h - 1 + sech kh] sm(cot + v),
(kh)
[koh 1 + sech kh]
M5(r)
sin(r + v),
7r^-2
(kh)
(8.75i)
(8.75J)
where Eq. (8.75j) is independent of the small cylinder radius b.
8.4. Diffraction by a Full-Draft Vertical Circular Cylinder

There is a very simple closed-form solution for the diffraction of monochromatic simple harmonic linear waves incident on a vertical circular cylinder of
constant diameter that extends over the entire fluid depth d = h in Fig. 8.8 in
Sec. 8.3. The reason that the solution is so simple is because the water particle velocity in the radial direction r computed from the incident wave may be
completely cancelled by a scattered propagating wave from the homogeneous
diffracted wave kinematic body boundary condition (KBBC) on the cylinder
by Eq. (8.12b) and, consequently, no evanescent eigenmodes are required to
satisfy exactly the kinematic body boundary condition on the vertical cylinder. The theory is credited to MacCamy and Fuchs (1954) and there are also
additional solutions for circular cylinders by potential theory that are given by
Morse and Ingard (1968), by Mei (1989) and by Ingard (1990). The diffraction boundary Falue Problem (BVP) may be obtained from Eqs. (8.24a-n)
in Sec. 8.1.
A dimensional scalar diffraction velocity potential Q>D(r,6,z,t) for the
full-draft circular cylinder shown in Fig. 8.8 with dR = d = h and a wave
673
period T = 2n/co may be defined by a linear combination of the real parts

of a linear incident wave potential <f>w(r,9,z) and of a scattered wave potential
cps(r,9,z) according to
$>D{r,9,z,t)
= Re[<j>D(r,9,z) exp - i(cot + v)}

= Re{[0 r a (r,0,z) + & ( r , 0 , z ) ] e x p - i ( < w f + v)},
(8.76)
where the phase angle v in Eq. (8.76) is introduced for data analyses by Finite
Fourier rransform (FFT) algorithms (vide., Chapter 9.2). The fluid motion may
be obtained from the negative gradient of a scalar diffraction velocity potential
D(r, 9, z, t) according to
q(r,6,z,t)
= ur(r,0,z,t)er
+ ud(r,6,z,t)eg
= -VQD(r,0,z,t)
+ w(r,0,z,
t)e3
=Rs{-V4>D(r,0,z)exp-i(cot
+ v)}
= R e { - [ v 0 t u ( r , 0 , z ) + V 0 J ( r , 0 , z ) ] e x p - i ( a > f + v)J,
(8.77a)
where the three-dimensional gradient operator in circular cylindrical coordinates
given by Eq. (2.10b) in Chapter 2.2 with ez = e3 is
f 3 .,
vw
=| ^
/ 1 \ 3 _
(7)w*
3^1
ta|w-
<8 77b)
'
The total linear pressure field P(r, 6, z, t) may be computed from the unsteady
Bernoulli equation in circular cylindrical coordinates with the incident wave
pressure given by Eqs. (8.72a, b) in Sec. 8.3 according to
P(r,e,z,t)
= p(r,9,z,t)
= P
+ Ps(z)
d<t>D(r,9,z,t)
r-
Pgz
at
= Re{-ipco<pD(r, 9, z) exp -i(cot

= Re{-ipco[<pw(r,9,z)
+ v)} - pgz
+ </>s(r,9,z)]exp i(a>t + v)} -
pgz.
(8.77c)
674
The free surface elevation r](r,9,t) may be computed from Eq. (5.71f) in
Chapter 5.3 according to
i
d<t>D(r,e,z,t)
rj(r,9,t) =
,
g
z= 0
dt
CO
= Re{-i4>D(r,8,z)exp-i(cot
+ v)}, z = 0
g
CO
= Rel-i-[(/)w(r,0,z)
+ <ps(r,9,z)]exp-i(cot + v)},
g
z = 0.
(8.77d)
The incident wave potential (pw(r,9,z) may be expressed by the FroudeKriloff velocity potential from Eqs. (8.71a,b) in Sec. 8.3 with the Jacobi-Anger
expansionfromEqs.(2.57) in Chapter 2.4.3.1 in circular cylindrical coordinates as
.Ag cosh k(z + h)
(pw(x,z) = i
expikx,
co cosh k h
(8.77e)
A c a ^ . Ag COSh k(z + h)
4>w(r,6,z) = i
expikr cosd
co
cosh k h
oo
Agcoshk(z -^^/
+ h) ^m + 1,expO'm0)./
m+1
m (fcr)
co cosh
-oo
oo
Ag cosh k(z + h) <^

+1
> (2-yim+lcosfflfl4(^),
co
cosh K m=0
*'
(8.71a)
,.,..,
(8.71b)
where 5mo = Kronecker delta function from Eq. (2.2) in Chapter 2.2.3.
The BVP for the scattered velocity potential (f>s (r, 0, z) is (vide., Chapter 5.3)
V2<ps(r,e,z) = 0,
r > b, 0 < 9 <2JT,
- h < z < 0,
d<t>s(r,0,z)
= 0, r > b, 0 < 6 < lit, z = -h,
dz
d<t>s(r,9,z)
-ko4>s(r,9,z) = 0, r>b, 0 < 9 < In, z = 0,
dz
(8.78a)
(8.78b)
(8.78c)
675
lim
i Kn <Ps(r,e,z) = 0,
d<t>s(r,6,z)
d(j)w(r,0,z)
dr
dr
r = b,
0 < 9 <2n,
h < z < 0.
(8.78d)
(8.78e)
The solution to the BVP in Eqs. (8.78) may be computed from an orthonormal eigenfunction expansion from the following amplitude modulated circular
wavemaker solution in Eqs. (5.86a and 5.79c) in Chapter 5.3:
00
00
</.J(r,0,z)=^^(2-5mO)/mCmn*n(^,z//J)//W(A:r)cos(me),
m=On=l
(8.79a)
where the orthonormal eigenfunctions are (vide., Eqs. (5.78) in Chapter 5.3)
cosh Kn(z + h)
n = 1,2,3,...,
(8.79b)
*(Kn,z) =
Nn
where the propagating eigenvalue A^ = k for n 1 and where the evanescent
eigenvalues Kn = iKn for n > 2 so that the evanescent eigenmodes are defined
from Eq. (8.79b) as
Hi l
COS Kn(Z
+ h)
(8.79c)
rT
,
n>2,
N
and where the dimensionless normalizing constants Nn are computed from
*(Kn,z) =
tf-/
"0
*>*.* (i+ )<(()
2 k h + sinh 2k h
2Knh + sm2Knh
AKnh
n=1
,
(8.79d)
n > 2 and integer

(8.79e)
provided that the eigenvalues k and Kn for n > 2 and integer are computed from
koh =
\khtanhkh,
n= \
Knh tanKnh for n > 2,
(8.79f)
(8.79g)
676
where ko = co2/g = deep-water wave number. The complex-valued Bessel

functions of the third kind or, equivalently, Hankel functions of the first kind
H (Knr) may be defined as (vide., Eq. (2.49a) in Chapter 2.4.3 or Hildebrand,
1976, p. 146, Eq. 92)
H\Knr)
Jm(Knr)+iYm(Knr).
(8.79h)
The orthonormal eigenfunction solution in Eq. (8.79a) satisfies exactly

Eqs. (8.78a-d) from the BVP. The unknown coefficients Cmn may be computed
in a best-least-squares sense from the inhomogeneous kinematic boundary condition in Eq. (8.78e). Substituting Eq. (8.71b) for </>w(r,6,z) and Eq. (8.79a) for
(ps(r,9,z) into Eq. (8.78e), equating terms of cosm0 and integrating over the
dimensionless interval of orthogonality 1 < z/h < 0 yields
*~-mn
Ag Ni
co cosh kh
on\
dJm(kb)/d(kb)
dH^\kb)/d{kb)'
(8.80a)
where the derivatives ofthe Bessel functions d()/d (kb) are evaluated at the cylinder boundary r = b and are dimensionless derivatives with respect to the argument
kb of the Bessel functions. The diffraction velocity potential in Eq. (8.76) is now
given by
<J>o(r,6,z, t) = ~Re{(pD(r,6,z) exp - i(cot + v)}
= Re{[4>w(r, 0, z) + <f>s(r, 6, z)] exp - i(cot + v)}, (8.80b)
where
<t>D(r,9,z) =
Ag coshfc(z + h)
](2-S m o)/ m + 1 cos(m0)
co cosh kh m=0
Jm(kr) -
dJm(kb)/d(kb)
dHJn\kb)/d(kb)
(8.80c)
Hi \kr)
Because the vertical circular cylinder of constant diameter lb extends over the
entire fluid depth (or, equivalently, the total dimensionless interval of orthogonality 1 < z/h < 0), only the propagating eigenmode W\(k,z) for n = 1 is
required in order to satisfy the zero normal flow kinematic boundary condition
in Eq. (8.78e).
671
Deterministic Dynamics ofLarge Solid Bodies

The dynamic pressure p(r,9,z,t)
in Eq. (8.80c) by Eq. (8.77c) is
p(r,0,z,t)
computed from the diffraction potential
= Re{-( pcoôir ,9, z) exp - i (cot + v)}

PSA
coshfc(z + h) s-^
TT^TTT. Z ^
cosh kh
~ 8>"0)l COS (mG)
m=0
= Re
Jm(kr)
dJm(kb)/d(kb)
dH^\kb)/d(kb)
H$\kr)
exp / (cot + v)
(8.80d)
and the free surface profile r\(r,B, t) in Eq. (8.77d) for the total diffracted wave is
r)(r,G,t) =
1 3<& p (r,9,z,Q
,
R
Bt
= Re{-i-(f>D(r,8,0)
z= 0
exp - i(cot + v)},
z-0
^ ( 2 - 5 m 0 ) m cos (mO)
= A Re
m=0
Jm(kr)
dJm(kb)/d(kb)
l
//(1)
H^(kr)
dHi \kb)/d(kb)
exp i(cot + v)
(8.80e)
where, again, the derivatives of the Bessel functions d()/d(kb) are evaluated at
the cylinder boundary r = b and are dimensionless derivatives with respect to the
argument kb of the Bessel functions. The series in Eq. (8.80e) may be interpreted
as a normalized wave profile and applied to compute the wave runup around
the circumference of the cylinder (MacCamy and Fuchs, 1954 and Mei, 1989).
Isaacson (1978b) extended the relatively simple approximation to Eq. (8.80e)
given by MacCamy and Fuchs (1954) for the wave runup on a small cylinder to
V(b,6)
= Aj\
+ (kb)2 2 c o s ^ + l n ( | ) +
( ^ i
(8.80f)
where yE = 0.5772157 = Euler's constant from Eq. (2.41e) in Chapter 2.4.2.
678
Horizontal Pressure Force

The horizontal pressure force in the +x direction of the incident wave
propagation may be computed by substituting Eq. (8.80d) into Eq. (8.59a)
in Sec. 8.3 and obtaining
Fl(t) = -hJ
bdO I
pgAhb
cosh kh
= Re
p(b,e,^,t\cosOd(^\
Wm(kb)
x ;
=Re
exp - i(wt + y) ^
dH^\kb)/d(kb)
cos mO cos Ode /
Jo
pgAnhbkoh
2Sml
(2 - Smo)i"
m= 0
cosh(kh(l+z/h)d
W(kb)
i exp i {cut + v)
dH$\kb)/d{kb)
(8.81a)
where the dimensionless Wronskian W(kb) is
Wm(kb) = Jmikb)
dHîkb)
dikr)
-Hml\kb)
dJm(kb)
2i
d{kb)
Ttkb
(8.81b)
that is independent of the 0m mode m; and where the dimensionless derivative of

the Hankel function is
dH%] (kb)/d(kb)
1
dH^\kb)/d{kb)
exp - ie
Rmikb)
dHml\kb)/d{kb)
Rmikb) = ^[dJm{kb)/d{kb)f
em = arctan
+ [dYm(kb)/d(kb)]2,
~dYm(kb)/d{kb)'
dJm{kb)/d{kb)
(8.81c)
(8.81d)
(8.81e)
r(2)/
where ffj
(kb) = Hankel function of the second kind in Eq. (2.49b) in
Chapter 2.4.3. The dependence of the diffracted forces and moments on the
coefficient \/{kbR\(kb))
is shown in Fig. 8.9. Substituting Eqs. (8.81b, e)
into Eq. (8.81a) reduces the horizontal force F\{t) in the +x direction of the
679
incident wave propagation for m = 1 to
F i W =(
ApgAhbkph \
U(wWcos(
+v 61)
= C(W?) cos (cot + v ei).
(8.82a)
(8.82b)
In order to evaluate the contributions of the scattered potential to the total horizontal force, the amplitude of the diffraction force coefficient C(kb) in Eq. (8.82b)
may be scaled by the amplitude of the Froude-Kriloff force in Eq. (8.73c) in
Sec. 8.3 to obtain
C{kb) =
C(kb)
(2pg7Tb2Ak0h/kbkh)
Jx {kb)
nkbRi (kb)Ji (kb)
(8.82c)
that is illustrated in Fig. 8.9. The diffraction force amplitude C(kb) in Eq. (8.82b)
may then be computed by simply multiplying the dimensionless diffraction force
amplitude from Eq. (8.82c) that is illustrated in Fig. 8.9 by the Froude-Kriloff
force amplitude in Eq. (8.73c) in Sec. 8.3. There are two significant points that
are illustrated in Fig. 8.9. First, the value of the amplitude of the diffraction force
Cikb) in Eq. (8.82b) is approximately = 2 for kb -> 0 that is equivalent to the
inertia coefficient Cm in Eq. (7.16) in Chapter 7.3 for a circular cylinder. Second,
the values of the amplitude of the dimensionless diffraction force amplitude C(kb)
inEq. (8.82c) are approximately equal to unity between values of 1.8 < kb < 2.5
in Fig. 8.9; and this implies that the diffraction effects are negligible in this
restricted range of values for kb.
Fig. 8.9. Parametric dependence of the MacCamy-Fuchs diffraction force coefficients and phase
shift.
680
In contrast to the dimensionless Froude-Kriloff horizontal force in Eq. (8.73c)

in Sec. 8.3, the diffraction force in Eq. (8.82a) is phase-shifted from the incident
wave phase by the phase angle ei that is defined in Eq. (8.81e). Consequently, the
diffraction force per unit length may be compared with the linearized wave force
per unit length on small bodies where the linearized drag force per unit length is
given by Eq. (7.60) in Chapter 7.6.4. The horizontal water particle velocity of the
incident wave evaluated at the vertical centerline of the vertical circular cylinder
at x = r = 0 may be computed from Eq. (8.71b) in Sec. 8.3.2 by
u(z,t) = Re {
exp i(cot + v)
r=0
dr
Agkcoshk(z + h)
=
cos(oot + v),
co
cosh kh
(8.83a)
and the horizontal water particle local acceleration of the incident wave evaluated
at the centerline of the vertical circular cylinder at x = r = 0 may be computed
from Eq. (8.83a) by
ut(z,t) =
du(z,t)
dt
+ h)
= -AgkCOShkiz
(8.83b)
Sm(cot + v).
cosh kh
An inertial and a linearized drag diffraction force per unit length may be expressed
in a form following Eq. (7.23) in Chapter 7.4 as
dFx(
f't) = pnb2 (CMut(z, t) + CDLu(z, t)),

(8.83c)
dz
where CM = an inertia coefficient for a diffraction force per unit length and
CDL = a linear drag force coefficient that is due to radiation damping by
the scattered wave and not to viscous fluid damping as in Chapter 7. The
complex-valued amplitude of the diffraction force per unit length df\(b,z)
may be computed by modifying Eq. (8.81a) to
dfdb,z)
dz
= ipoobf
Jo
An
-pgA2nb
(pD(b,6,z)cosdd9
, coshk(z + h)
Jm(kb)
coshra
ApgAb cosh&(z + .
kbR\{kb)
coshM
exp - iei
dJm(kb)/d{kb)
(1)
"
HX>(kb)
dHln\kb)/d{kb)
(8.84a)
681
and the total diffraction force per unit length dF\ (b, z, t) is given by
dFx(b,z,t)
dz
= Re {I
\df\{b,z)
exp i (cot + v + ei)
dz
4pgAb coshk(z + h)
.,
^-2
exp
-i (cot + v + ei)
F
kbR\(kb)
cosh kh
J
ApgAb
cosh(z
+
h)
_
. /
r
kbRi(kb)
cosh kh
{cos ei cos(cot + v) sin ei sinfwf(8.84b)
+ v).
Equating Eq. (8.84b) to Eq. (8.83c) and then equating the coefficients of the sin()
and cos() terms gives the following force coefficients (Mei, 1989):
sin.,
=4<,YIm,<lm
n(kb) Ri(kb)
=
4co
cos 6i
(kb)2R2(kb)
4codMkb)/dm
n (kb) Ri(kb)
TZ
(kb)2R2(kb)
Again, the analytically-computed force coefficients CM and CDL in Eqs. (8.84c,

d) must be distinguished from the empirically-computed inertia Cm and
linear drag Cdi coefficients in Chapter 7. In addition, the viscous drag
coefficients Cdi are positive-definite, but the radiation damping coefficients
CDL are both positive and negative.
Pressure Moment about the Bottom

The hydrodynamic pressure moment about the vertical axis of symmetry at r = 0
and z h may be computed by substituting Eq. (8.80d) and Eqs. (8.75b, c) into
Eq. (8.75a) from Sec. 8.3 with the vertical point of rotation evaluated at J = h
and obtaining
M5(t) = - h 2 f
bdO j
p(b,9,^,t$l
ApgAh2b
Ms(t) = ,,,,,.2 2 n /i TN [koh ~ * +
kb(kh) Rx(kb)
secn
+
^1
c o s
^\e2dU
(o)t + v e$
= C(kb) [k0h - 1 + sech kh] cos (cot + v - e i ) .
(8.85)
682
In order to evaluate the contributions from the scattered potential to the total
moment, the amplitude of the diffraction moment coefficient C(kb)[koh 1 +
sechkh] in Eq. (8.85) may be scaled by the amplitude of the Froude-Kriloff
moment in Eq. (8.75g) in Sec. 8.3 to obtain, again, Eq. (8.82c); i.e.,
C(kb) =
C(kb)[k0h- I+ sech kh]

(pgA27tbh2Ji(kb)/(kh)2) [k0h - 1 + sechkh]
nkbRi(kb)Ji(kb)'
(8.82c)
8.5. Reciprocity Relationships

Haskind's Theorem for Wave Forces on Fixed Semi-Immersed Lagrangian
Bodies
The total 3D velocity potential <>(x,y,z,t) for the fluid motion with a 3D,
semi-immersed Lagrangian solid body may be represented by a diffraction wave
potential <&D(X, y, z, t) that is a linear combination of an incident wave potential
w(x, y, z, t) plus a scattered wave potential <&s(x, y, z, t)(<$>D = 4>w + $?) pl u s
a six degrees of freedom radiated wave potential <S>r (x, y, z, t) from Eq. (8.24a)
in Sec. 8.1 according to
&(x,y,z,t)
= <S>D(x,y,z,t) + <S>r(x,y,z,t)
Aw[<Pw(x,y,z) + <ps(x, y,z)]
= Re
+ico ^
%j<Pj(x, y, z) + ico ^
7=1
&j<Pj(x, y, z)
exp ioit
7=4
(8.24a)
where a> = 2n/T. Each of the spatial velocity potentials <pt (x, y, z) in Eq. (8.24a)
satisfy the following boundary value problem (BVP) in Eqs. (8.24b-e):
V2<pi = 0;
84>i
= 0;
az
34>e- kofa = 0;
CKDFSBC:
dz
BBC:
\x\<oo,
\y\<oo,
-h < z < 0, (8.24b)
|x|<oo,
\y\ < oo,
z = h,
|JC|<OO,
\y\ < oo,
z = 0,
(8.24e)
(8.24c)
683
where the deep-water wave number ko = co2/g. The scattered potential <f>s and
each of the six radiated potentials cpj must satisfy a kinematic radiation boundary
condition (KRBC) far from the Lagrangian solid body given by Eq. (8.24h). For
the diffraction <$>D BVP, the kinematic body boundary condition on a fixed body
in an ideal fluid is
dn
= 0,
on the body equilibrium surface o 5
(8.86)
or
d<Ps
d<Pw
(8.87)
on the body equilibrium surface QS.
dn
dn
For the radiated O r BVP, the six components of the Lagrangian solid body
velocities of the forced oscillations (wavemaker) may be generalized as in
Eqs. (8.7c, d) to
CO
l;(0
'b
Qi
1,2,3
4,5,6
exp icot
(8.88a-c)
(8.88d-f)
The radiated wave velocity potential cbj may be determined from the kinematic
boundary condition on the oscillating Lagrangian solid body boundary oS in six
degrees-of-freedom from
d<t>j(x,y,z,t)
dn
= Ke\co 'Sj
exp icot:
IPJ J
nj(x,y,z)
n'j(x,y,z)
1,2,3
J =
_4,5,6J
(8.89a-f)
Each of the six radiated wave velocity potentials cpj (JC, v, z) in Eq. (8.24a) may be
computed from the direction itj{x, y, z) or the pseudo-direction n'- (x, y, z) cosines
for a Lagrangian solid body oscillating with six degrees-of-freedom (MDOF)
according to
d<pj(x,y,z)
dn
-nj(x,y,z)\
-n'j(x,y,z)\
J =
1,2,3
4,5,6
(8.90a-f)
n\ = cos(9\,x),
surge,
(8.90g)
2 = cos(^2, y),
sway,
(8.90h)
3 = cos(#3, z),
heave,
(8.90i)
- z cos(62, y),
roll,
(8.90J)
n'5 = zcos(9\,x)
x cos(^3,z),
pitch,
(8.90k)
n'6 = xcos(02,y)
ycos(9i,x),
yaw,
(8.901)
n'4 = y
COS(9TZ)
684
where Oj = angle between the unit normal n and the basis vector gy (vide., Fig. 8.3
in Sec. 8.1).
The exciting forces/moments on a fixed solid body may be computed from a
surface integral over the immersed solid body at its equilibrium position oS and
the hydrodynamic pressure p{x, y, z, t); i.e.,
F/(0
Mf(t)
dS,
I =
1,2,3
4,5,6
(8.91a-c)
(8.91d-f)
where the hydrodynamic pressure may be computedfromthe linearized Bernoulli

equation by
p(x,y,z,t)
=p
d<&l(x,y,z,t)
dt
= Re{picoAê(x,y,z)
exp icot} ,
I = w,s, 1,2,... ,6,

(8.92)
where Ag = amplitude of the Ith radiated velocity potential <$>i(x, y, z, t).

An integral for the hydrodynamic pressure force/moment on a fixed body QS
that is independent of the scattered velocity potential cps may be computed from
the following volume integral that relates the scattered wave potential <f>s to any
one of the six degrees-of-freedom (MDOF) radiated wave potentials (j>j\
/// VsS/2(t)i ~
^^1dv=-
(8.93)
Integrating once by parts and substituting Eq. (8.24b) gives:

d<f>j
/ /
35
<Psdn
d(ps
<Pj-ôn
dS = 0,
(8.94)
where the surface integral is to be evaluated over the following total surface dB
that bounds the total fluid volume V shown in Fig. 8.10:
dB = Sf + oS + Soo + S-n
(8.95a)
685
Fig. 8.10. Surfaces Sj bounding fluid domain V.
and the integral over the total surface 3 B in Fig. 8.10 may be linearly decomposed
into the following sum of integrals:
jj (.)dS = jj (.)z=0 dS + jj (*)dS + jj (.)rôo dS

dB
Sf
Soc.
QS
+ jj(.)z=_hdS
= 0,
(8.95b)
S-h
where the horizontal coordinates r 2 = x2 + y2 and the integrand () in each

integral is
() = (Ps-
0/^
(8.95c)
on
dn
The integral across the horizontal, impermeable bottom boundary S-h vanishes
by the bottom boundary condition (BBC) in Eq. (8.24e); so that, accordingly
dQj
d<ps\
dS
<t>s^
Vj-Z-i
= -
//I
dZ
dz
\z=_h
Similarly, the surface integral across the free surface Sf also vanishes because the
combined kinematic and dynamic free surface boundary condition (CKDFSBC)
given by Eq. (8.24c) requires that
d(ps
ko<Pj; -z = h(t>s; z = 0,
dz
dz
- or/g',
,.2, and, accordingly
where the deep-water wave number ko =
d<pj
d(ps
^^--(Pj^-i
dS = 0,
dz
dz \Z=Q
//I
686
so that Eq. (8.94) now reduces to
jfwiS = -//(.),
,dS.
Finally, the integrand on the vertical boundary in the far-field integral at infinity Soo vanishes due to the kinematic radiation boundary condition (KRBC)
from Eq. (8.24g) in Sec. 8.1 for n = 2 and for a temporal dependency of exp /cot;
i.e.,
lim sfkr \
r-*oo
ik | ^ = 0
\ dr
so that
//{
d<pj
<Ps-z
dz
d<ps
<Pj-rdz
dS = 0
Consequently, Eq. (8.94) now reduces to
//{
84>j
4>s-r,
on
d<t>s
<Pj-T- \ dS = 0,
on '
(h-stds=Jf^ds-
(8.96)
The exciting hydrodynamic pressure forces/moments from the (fixed body)

diffraction BVP for $D(JC, y, z, t) may be computed from the following surface
integral over the fixed body surface boundary QS:
[Mf(f)J-
Re
ipcoAw exp icot
/ /
{4>w +<t>s} Q
[1,2,3,1
[4,5,6 J
\dS
(8.97a-f)
The direction cosines m and the pseudo-direction cosines n't are equivalent to
the normal derivatives of the radiated wave potential dcpj/dn from Eqs. (8.21 b, c).
Substituting fromEqs. (8.21b, c)forthedirectionorpseudo-directioncosinesyields
ME(t)\
=i (aAw
Ww+M-^-dSexp-icot
OS
ipcoAu
exp icot,
f 1,2,31
|4,5,6
687
Substituting Eq. (8.96) and the kinematic body boundary condition for the
diffraction BVP given by Eq. (8.87) into the second integral gives
Flit)
Mf(t)
\ =ipcoAw
= iAwTl
II
<Pw-^
dn
exp (icot),
fa
I =
dfao
dS exp- - (icot)
dn
[1,2,31
I4,5,6j )
(8.98a-c)
(8.98d-f)
where the generalized exciting force/moment amplitude per unit incident wave
amplitude Tl may be computed from the integral
= p(
d(j>t
d<pw
(8.98g-l)
<Pw~;
fa~T~ dS, = 1,2,3,4,5,6
an
dn
oS
The force/moment amplitude on a fixed body from Eqs. (8.98g-l) is independent
of the scattered wave potentials <j>s; but they do depend on the body geometry
because of the kinematic body boundary condition from Eqs. (8.21b,c) for the
radiated wave potential 4>tIn order to now replace the surface integral over the immersed equilibrium
body surface QS with an integral over the far-field boundary Soo at r > oo, apply
Green's second identity from Eq. (2.123c) in Chapter 2.6 to the velocity potentials
4>w and(/>;-:
ff
/ / / Kv2<^ _4>jV24>*,}dv = j j U J ^ -<t>Jd-^\dS = > <8-")

v
dB
where the integral over the entire boundary surfaces dB shown in Fig. 8.10 that
bounds the fluid domain V is again given by Eq. (8.95b). Again, the integrals over
S-h and Sf vanish by the BBC (Eq. (8.24e)) and the CKDFSBC (Eq. (8.24c))
giving:
//{^-^}'//{^-^LThe surface integral over QS may now be replaced by an asymptotic surface

integral according to
FtHt)
\Mf(t)l~
ipcoAy
lHW w
"
= ipcoAwTl
/ /
dfa
<Pwon
exp (icot),
dcj)w
fa-rdn
1,2,3
4,5,6
dS
exp (icot)
(8.100a-c)
(8.100d-f)
688
that is a remarkable result! The magnitude of the exciting force/moment on a

fixed body may be computed without solving for the scattered potential 4>s or
integrating over the body surface QS. The radiated wave potentials <pj may be
constructed from the body geometry and the direction cosines. Note also that
only the propagating eigenmode is required in Eq. (8.100).
8.6. Green's Functions and Fredholm Integral Equations

There are three fundamental methods commonly applied to evaluate numerically
the wave-induced pressure forces on fixed and floating large solid structures: 1) the
Ursell source method (Ursell, 1950), 2) the Schwinger variational method (Black
and Mei, 1969 and Black et ah, 1971), and 3) the Fredholm integral equation
method (John, 1949 and 1950). Only the Fredholm integral equation method is
reviewed in detail because the Ursell source method and the Schwinger variational
method are generally restricted to special structural and fluid geometries that
are separable in one of the 13 separable coordinate systems (vide., Morse and
Feshbach, Chapter 5, 1953).
This review of Green's functions for surface gravity waves follows John (1949
and 1950) and may also be found in Mei (1989). Alternative derivations may
be found in Stoker (1957, Chapter 9), Wehausen and Laitone (1960) and
Newman (1977). An excellent application of singular integral equations that is
relatively easy to understand and that is applicable to surface gravity waves is
given by Lamb (1932, Sec. 240-244). A very robust analyses of Green's functions with many physical applications is given by Courant and Hilbert (1966, Vol I
and 1962, Vol II) and by Stakgold (1979).
John (1950) derives four forms for Green's functions for surface gravity waves in both two-dimensions (2D) and in three-dimensions (3D). These
eight forms of Green's functions for surface gravity waves may be applied
as resolvent kernels in four forms of Fredholm integral equations (Guenther
and Lee, 1996, Chapter 7-3). Green's functions and Fredholm integral equations may be considered to be analogous for boundary value problems to the
impulse response function and the Duhamel convolution integral for initial value
problems (vide., Chapter 2.5.3).
Morse and Feshbach (1953, Chapter 7) derive the fundamental singular
solutions for the Laplace equation in 2D and in 3D in terms of the position
vector Rj(x,xo) shown in Fig. 8.11 where j = 2 for 2D and 7 = 3 for 3D
689
o(*o)^-pP(x)
Fig. 8.11. Observer PQ(X, y, z) and source P(XQ, yo, ZQ) point vector definitions in 3D.
position vectors from the source point Po(*o) to the observer point P(x) and
where y yo = 0 for j = 2. The four fundamental Green's functions for 2D and
for 3D are reviewed first; and then the four forms for the Fredholm integrals are
reviewed.
Green's Functions in 2D (y jo = 0)
The 2D position vector ^2(^,^0) in Fig. 8.11 is given by
(8.101a)
/?2(,o) = Rx2(x) - J?o2(*o)

x = xe\ + zey,
R2(x,xti)
xo = xoe\ + zo?3
= (x - xo)e! + (z -
zo)h
Jf 2 (x,*o)| = [(* - xo)2 + (z - zo) 2 ]
(8.101b,c)
(8.101d)
1/2
(8.101e)
Morse and Feshbach (1953) derive the fundamental singular solution for the 2D
Laplace's equation from the flux of fluid across the arc 0:2 of the circumference
of a small disk of radius e in the vertical x-z plane according to
9G2(,o)
8r
dSe =
dG2(x,x0)
dr
rd9 = o?2,
(8.102a)
where r = radial coordinate in the non-inertial circular cylindrical coordinate axis

located at the center of the small disk of radius e. Integrating around the arc a2
690
of the circumference of the disk of radius e yields

a2G2(x,xo) = ct2 In |J?2(x,3co)|
G2{X,XQ)
(8.102b)
= In |-R2(*,*o)l
(8.102c)
where a2 = the arc on the circumference of the small disk of radius in 2D.
John (1950, p. 100) derives the following 2D integral form of the Green's function
for deep-water h -> oo:
G2(x,x0) = ]n(\R2(x,xo)\) +
ko + k
-k
cos (k{x XQ) ) exp
exp (k(z + zo))
&_
(8.103a)
V
where ko = co2/g = deep-water wave number; and where the integral j> () denotes
a Cauchy principal value integral (Morse and Feshbach, 1953, Chapter 9.2, and
Hildebrand, 1976, Chapter 10.6). The corresponding 2D integral equation for
finite water depth is (John, 1950, Eq. (A25), p. 99)
ln(j?2(*,ico)h +ln^ 2 (Jc,3c 0 )h
G2(x,xo) =
-2lnh
cosh[k(z+h)]cosh[ic(z0+h)]cos\k\x-xo\\
ko cosh kh k sinh kh
+ exp(kh)
dk
k
(8.103b)
where the position vector singularity ^2(^,^0) that is reflected below the
horizontal bottom at z h is defined by
R2(x,xo) = (x - xo)ei + (z + 2h + zo)h
(8.103c)
\R2(x,x0)\ = [(JC - * 0 ) 2 + (z + 2h + zo)2]
(8.103d)
and where the linear combination of the two logarithmic terms in Eq. (8.103b)
satisfy exactly the kinematic bottom boundary condition (KBC) for 2D surface
gravity waves that requires no flow across a horizontal impermeable bottom
boundary given by Eq. (8.17b) in Sec. 8.1.
691
Finally, John (1950, Eq. (A2), p. 100) expands the 2D Green's function in the
following orthonormal eigenseries ty(Kn,z/h) (cf, Eqs. (5.30) in Chapter 5.2):
G2(x,h)
ij^(KnhrlVn(Kn,z/h)Vn(KH,zo/h)expi(Kn\x-xo\),
=i
(8.103e)
where
*n(Kn,Z/h)
COShK 1+Z/h)
= 1,2,...
2kh+&2kht
r
Nl = /
cosh Knh{\ + z/h)d(z/h)
where K\ =k;Kn
(8.103 g)
->
(8103h)
n =
2lc h
" +2lc"h,
(8.103f)
n 2
= iKn for n > 2; and provided that
= koh = kh tarih kh =Knh tan Knh;
n>2.
(8.103 i, j)
Green's Functions in 3D] (yyo ^ 0)

The 3D position vector ^3(3c,ico) in Fig. 8.11 is given by
Rl(5i,xo) = % 3 ( x ) -i?o 3 tfo)
x = xei + yh + zey,
R3(x,x0)
= (x-
(8.104a)
*o = ô?i + yoh + zoh
(8.104b, c)
xojei + (y - yo)h + (z - zo)h
(8.104d)
l*3(*,*o)l = [(* - *o) 2 + (v - yo)2 + (z-
zo) 2 ] 1 / 2
(8.104e)
Morse and Feshbach (1953) derive the fundamental singular solution for the 3D
Laplace's equation from the flux of fluid across the sector 0:3 of the surface of a
small sphere of radius e in 3D according to
3G3(3c,3c0)
3G3(Jc,Jc0)
\r=e dSe =
dr
dr
2 , . , ,Q
\r=e r smfdfdO
=013,
, c ,n* x
(8.105a)
692
where r = radial coordinate in the non-inertial spherical coordinate system located

at the center of the small sphere of radius e. Integrating around the section a3 of
the surface of the small sphere of radius e yields
(8.105b)
R3(X,X0)
G3(x,*o)
(8.105c)
/-* -* '
l^3(*,*0)l
where a3 = section of the surface of the small sphere of radius e. John (1950,
Eq. (A24), p. 98) derives the following 3D integral form of the Green's function
for deep-water h -> oo:
G3(x,x0) =
/0O
+J
1
\R3(x,xo)\
[(tS)
exp
fa
+ Zo)
) J [* (\*x,y(Xx,y,xo*j) |]] dk~

(8.106a)
where /o() = Bessel function of the first kind of order 0 (vide., Eqs. (2.46) in
Chapter 2.4.3) and where the horizontal position vector Rxy (, ) in the argument
of the Bessel function is (John, 1950, p. 93)
Rxy(Xxy,xoXj) = (x- xo)et + (y- yo)e2,
\RxAx^'x^)\
= [(* - xo)2 + (y- yo)]
(8.106b)
(8.106c)
The corresponding integral for finite depth is (John, 1950, Eq. (A9), p. 93)
G3(x,x0)
\R3(x,x0)\
+
\R3(x,x0)\
/oo (ô + k) exp -kh cosh[ic(z + h)]cosh[fc(z0 + h)]Jo (k\Rxj>(xXty,xo )|)

+2 <b
=
z
=
^
!-dk
k sinh kh UQ cosh kh
(8.106d)
where the reflected position vector singularity R3(x,x) below the horizontal
bottom at z h is
R3(i,x0) = (x- x0)h + (y- yo)h + (z + 2h + zo)h,
\h(x,x0)\
= [(x - xo)2 + (y - y0)2 + {z + 2h + z 0 ) 2 ] 1 / 2
(8.106e)
(8.106f)
693
and where the linear combination of the modulus of the two inverse position
vector terms in Eq. (8.106d) satisfy exactly the kinematic bottom boundary condition (KBC) in 3D that requires no flow across a horizontal impermeable bottom
boundary given by Eq. (8.17b) in Sec. 8.1.
Finally, John (1950, Eq. (A16), p. 95) expands the 3D Green's function
in the following orthonormal eigenseries tyn(Kn,z/h) (vide., Eqs. (5.30) in
Chapter 5.2):
00
G3(x,x0) = i |
(tf B Ar 1 * B (tfi.,z/A)*(tf,zo/fc)
x #0(1) (Kn [|jkj, (xXj, *o,,,)|]) ,
(8.106g)
where K\ = k; Kn = iic for n > 2; *() are given by Eqs. (8.103f-j);

H^\) = Hankel function of the first kind of order zero (vide., Eq. (2.64a)
in Chapter 2.4.3.2); and provided that
= k0h = khtaahkh = Knhtan.Knh ,
n > 2,
(8.106h,i)
8
and where (vide., Eq. (2.54) in Chapter 2.4.3)
r;r//0(1) (iKn Rxy (xX)y, x 0xj ,)|j = 2 K0 [Kn | ^ j , (xXJh ioX(V) J ,
n > 2,
(8.106J)
where Ko() = the modified Bessel function of the second kind of order zero
(or Kelvin function, vide., Eq. (2.54) in Chapter 2.4.3).
Loads on vertical, axisymmetric 3D bodies may be computed from 2D vertical plane integrals with an axisymmetric Green's function (Fenton, 1978 and
Isaacson, 1982). Hudspeth et al. (1994) discuss in detail the convergence criteria
for axisymmetric Green's function series.
Fredholm Integral Equations
Lamb (1932, Sees. 57-5 8) provides an excellent introduction to singular Fredholm
integral equations that is reviewed below. More detailed derivations are given
by Morse and Feshbach (1953, Chapter 8) and by Courant and Hilbert (1962,
Vol II, Chapter IV). A treatment that is directed specifically toward engineers
and physicists is given by Hildebrand (1965, Chapter 3). The Fredholm integral
694
equations reviewed here are boundary surface integrals over all or only part of
the boundary surfaces dB that bound the entire fluid domain in either 2D or 3D
as illustrated for a 3D domain in Fig. 8.11. The portions of the fluid boundary that
are required to compute a scalar velocity potential <p (x) from Fredholm integral
equations depends, in part, on which of the four Green's functions defined above
for either 2D or 3D fluid domains is applied as the resolvent kernel. Four boundary integral equations are derived from Green's second identity Eq. (2.123c) in
Chapter 2.6. In order to obtain the first form for a Fredholm integral equation,
define two scalar spatial functions <p(x) and G(x,xo) that are solutions to the
following 2D or 3D Laplace's and Poison's equations, respectively:
V24>(x) = 0,
xeD
V2 G (x,x0) = amS(x - x0)S(y - y0)S(z - z 0 ),
(8.107a)
x, x0 e D.
(8.107b)
where m = 2 or 3. Substituting Eqs. (8.107) into Green's second identity (vide.,

Eq. (2.123c) in Chapter 2.6) yields
dB
A, ff(JG
rd(t>\^
=
G
+
Jj{+-to- to)dS'
am
m=
J2for2>
l3for3D,
dB
(8.107c)
where am =fractionof an arc on a circular disk about the singular point at x = xo
for m = 2 in 2D or the fraction of the surface of a sphere about the singular point
at x = xo for m = 3 in 3D. Equation (8.107c) is a Fredholm integral equation
of the first kind or homogeneous Fredholm integral equation of the second kind
(Guenther and Lee, 1996, Chapter 7-3; Hildebrand, 1965, Chapter 3.1; or Morse
and Feshbach, 1953, Chapter 8.3).
When the fundamental Green's function from Eq. (8.102c) in 2D or from
Eq. (8.105c) in 3D or the deep-water integral Green's function Eq. (8.103a)
in 2D or from Eq. (8.106a) in 3D is substituted into Eq. (8.107c), the integral
must be computed over the entire boundary surfaces dB because the fundamental
Green's function does not satisfy any boundary conditions except for the deepwater integrals where the integrals vanish as z -> oo. Black (1975a, b) applies
Eq. (8.107c) to compute wave forces on large solid bodies.
695
When the combination of reflected fundamental Green's functions plus an

integral over all wave numbers k in Eq. (8.103b) in 2D and Eq. (8.106d) in 3D
are substituted into Eq. (8.107c), the surface integral over the fluid boundary dB
reduces to an integral over only the immersed surface of a solid body oS that is
illustrated in Fig. 8.10.
Finally, when the Green's function that is constructed from the orthonormal
eigenfunction expansion in Eq. (8.103 e) in 2D or Eq. (8.106g) in 3D are substituted
into Eq. (8.107c) as degenerate kernels (Guenther and Lee, 1996, Chapter 7-5),
the surface integral reduces to an integral over only the immersed surface of a
solid body oS that is illustrated in Fig. 8.10.
The integral in Eq. (107c) is not a very efficient integral for computing wave
forces on solid bodies. There are two other Fredholm integral equations that
require computingfirstan auxiliary function from a Fredholm integral equation of
the second kind and then computing the scalar velocity potential from a Fredholm
integral equation of the first kind. The derivation that is reviewed here follows
Lamb (1932, Sees. 57 and 58).
The surface boundary integral over the entire fluid boundary 3 B in Eq. (8.107c)
may be reduced to only a surface integral over the immersed equilibrium surface of
the solid body QS by requiring that the Green's function satisfy certain boundary
conditions on all of the other surface boundaries illustrated in Fig. 8.10. The
surface boundary integral over dB may be linearly decomposed into separate
surface boundary integrals over each of the four boundary surfaces identified in
Fig. 8.10; viz.,
dB
dB
= [[()dS + dS+ [[()dS+

S-h
Soo
ff()dS+
Sf
ff()dS.
(8.107d)
0^
The boundary value problems (BVP) for both scattered <j>s and radiated <pr
wave potentials are prescribed in Eqs. (8.24) in Sec. 8.1. The boundary conditions
for both wave potentials are identical on three of the four surface boundaries
in Eq. (8.107d) except for the inhomogeneous Neumann boundary conditions
(Hildebrand, 1976, Chapter 9.2) that are prescribed on the boundary surface of
the immersed solid body oS. If the Green's function G (X,XQ) is constructed so
that it satisfies the same boundary conditions on the three boundary surfaces
696
that both <ps and <pr satisfy, then Eq. (8.107d) may be reduced to only a single
boundary surface integral over the equilibrium boundary surface of the immersed
solid body oS. This procedure is illustrated in Sec. 8.6.1 below for a wavemaker
in a 2D channel.
If a suitable Green's function can be is constructed, then Eq. (8.107d) reduces to
am<P = jj U~ ~ G^j dS,
(8.107e)
oS
that may be transformed into a Fredholm integral equation of the second kind
when the inhomogeneous Neumann boundary condition Eq. (8.24f) in Sec. 8.1 is
substituted for dfa/dn. Lamb (1932, Sees. 57 and 58) derives formulas for two
auxiliary functions from Eq. (8.107e) that are more computationally efficient.
It is convenient to represent the inhomogeneous Neumann boundary conditions in Eq. (8.24f) on the immersed solid body boundary surface oS by the
following generic notation:
dn
Uj=\
- ^ f , diffraction, ; = s,
rij oxn'j, radiation, ;' = 1,2,3,4,5,6.
(8.107f)
(8.107g)
The BVP may be separated into two domains; viz., an exterior problem that
is defined inside the immersed solid body QS and exterior to the fluid domain V;
and an interior problem that is defined inside of the fluid domain V and exterior
to the immersed solid body QS. The potential for the exterior problem is defined
asty(x) and the potential for the interior problem as <p (x). The Fredholm integral
equation (8.107e) for the interior and exterior BVP's, respectively, are
am<P = I I U^ - Gd-\ dS,
(8.108a)
oS
- / / (
an
dn
where the normal derivatives to the immersed solid body surface o S are defined by
M_-W.
dn
dn
(8,08c)
697
Adding Eq. (8.108a) and Eq. (8.108b) and substituting Eq. (8.108c) yields
(Lamb, 1932, Sees. 57 and 58)
otm
from (8.108d) that depend on whether the boundary conditions on the surface
boundary are inhomogeneous Dirichlet or Neumann conditions (vide., Table 2.3
in Chapter 2.5.1). Each of these two possibilities correspond physically to whether
the tangential velocities or the normal velocities are continuous on the body
surface.
Continuous tangential fluid velocities: Source Density a (Lamb, 1932)
If the tangential fluid velocities are continuous on oS, then \jr = <f> and the second
surface integral in (8.108d) vanishes. Consequently, the normal fluid velocities are
discontinuous; and the resulting fluid motion is caused by a surface distribution
of simple source densities o that may be defined by
where a = the first auxiliary function. The source density method requires computing numerical solutions to two Fredholm integral equations that are singular
integral equations. First, the source density auxiliary function a must be computed from the inhomogeneous Neumann boundary condition on oS given by
Eq. (8.24f)
/
dG
umOj - <p OjdS
J0S on
= Uj,
(8.109b)
that is a Fredholm integral equation of the second kind and where denotes
a Cauchy principal value integral (Hildebrand, 1976, Chapter 10.15). Once the
auxiliary source density function a is computedfromEq. (8.109b), then the scalar
velocity potential may be computed from Eq. (8.108d) with <f> rfr= 0 by
am<pj = <h OjGdS;
JQS
j = s, 1,2,3,4,5,6.
(8.109c)
698
Continuous Normal Fluid Velocities: Dipole Source Density /A (Lamb,

1932)
If the normal fluid velocities are continuous on QS, then
an
an
an
an
by Eq. (8.108c) and the first surface integral in Eq. (8.108d) vanishes. Consequently, the tangential fluid velocities are discontinuous; and the resulting fluid
motion is caused by a surface distribution of dipole source densities /A that may
be defined by
fji, = ^-f,
(8.110b)
where fi = the second auxiliary function. The dipole source density method also
requires computing numerical solutions to two Fredholm integral equations that
are singular integral equations. First, the dipole source density auxiliary function
fx must be computed from the inhomogeneous Neumann boundary condition on
0S given by Eq. (8.24f)
/
a2G
ocmH-j - <b IXjYdS
= Uj,
dn2'
JoS
(8.110c)
that is a Fredholm integral equation of the second kind and where <f denotes
a Cauchy principal value integral (Hildebrand, 1976, Chapter 10.15). Once the
auxiliary dipole source density function (M is computed from Eq. (8.110c), then
the scalar velocity potential may be computed from
am(pj~ d> tijdS;
y=5,l,2,3,4,5,6.
(8.1 lOd)
J0S dn
Because the BVP in Eqs. (8.24a-h) applies inhomogeneous Neumann boundary conditions on the immersed solid body surface oS, the source a density
distribution method is computationally more efficient than the dipole /A source
density method and avoids computing d2G/dn2.
Finally, computing numerical solutions from singular integral equations
requires some care. Some preliminary guidance may be found in Chertock (1953,
1962, 1964, and 1970), in Delves (1977), in Theocaris and Ioakimidis (1979), in
Theocaris et al. (1980) and in Theocaris (1981a, b), inter alios.
699
8.6.1. Orthonormal Eigenfunction Expansion of Green's

Function for 2D Wavemaker
The 2D wavemaker theory reviewed in Chapter 5.2 focuses on the connection between the wavemaker boundary value problem (BVP) and the radiated
wave potential given by Eqs. (8.21) in Sec.8.2 for dynamically responding large
Lagrangian solid bodies. Consequently, it is appropriate at this point to construct a
Green's function for a planar wavemaker in a 2D channel with the same orthonormal eigenfunctions given by Eq. (5.30) that are derived in Chapter 5.2 from the
wavemaker BVP. In order to do this, it is first necessary to construct a BVP for a
Green's function in a 2D wave channel.
However, at this point it may be instructive to identify an analogy between the
Green's function G(X,XQ) as a resolvent kernel in a Fredholm integral equation
for a BVP and the convolution kernel h (x, ) (or impulse response function) in the
Duhamel convolution integral for an initial value problem (vide., Chapter 2.5.3).
The convolution kernel is constructed from the homogeneous solutions to the
governing momentum equation for a damped harmonic oscillator in Eq. (2.92a)
in Chapter 2.5.3; while the Green's function may be constructed from the homogeneous boundary conditions in a BVP. If the structural properties of a Lagrangian
oscillator remain unchanged, the solution to a different loading requires only
convolving the convolution kernel with the new loading because the convolution
kernel is unchanged. Analogously, if the boundary geometry remains unchanged
for a BVP, a solution for a velocity potential for new inhomogeneous boundary
conditions may be computed simply by convolving the Green's function with the
new boundary conditions in a Fredholm integral equation.
The BVP given by Eqs. (8.24b-h) in Sec. 8.1 for either the scattered (f>s or
the radiated (pr velocity potential consists of a homogeneous field equation given
by Laplace's equation (8.24b) with an inhomogeneous boundary condition given
by Eq. (8.24f) on the boundary of the Lagrangian solid body at the equilibrium
position oS. The BVP for the Green's function may be constructed from Green's
second identity in Eq. (2.123c) in Chapter 2.6. The result is that the BVP for the
scalar velocity potential with an homogeneous second-order partial differential
equation (Laplace's equation) with inhomogeneous boundary conditions is traded
for a BVP for the Green's function with an inhomogeneous second-order partial
differential equation (Poison's equation) with homogeneous boundary conditions.
700
It may not be easier to construct a solution for the Green's function BVP than for
velocity potential BVP, but once the Green's function is constructed for a particular
fluid domain, a solution for the velocity potential with different inhomogeneous
boundary conditions on the body boundary may be computed simply by convolving the Green's function with the new boundary conditions in a Fredholm integral
equation.
Specifically, the focus of the Green's function BVP is on the boundary
condition on the wavemaker surface boundary at QS and may compared by
V2G = a2S(x - x0)S(z - zo),
3dG
G
dn - o ,
where U is given by Eq. (5.7e) in Chapter 5.2. The homogeneous Laplace's

equation with an inhomogeneous Neumann boundary condition U on the wavemaker surface boundary for the wavemaker BVP is traded for the inhomogeneous
Poison's equation with an homogeneous Neumann boundary condition on the
wavemaker surface boundary (Courant and Hilbert, 1962, Vol II, Chapter IV or
Stakgold, 1979, Chapter 3).
The BVP for the Green' function for a wavemaker begins with the governing
field equations that is Laplace's equation (8.107a) for the velocity potential and
Poison's equation (8.107b) for the Green's function. Substituting Eqs. (8.107)
into Green's second identity in Eq. (2.123c) in Chapter 2.6 and expanding the
boundary dB over the entire 2D or 3D boundary of the fluid domain leads to
Eq. (8.107d) that is given by
a2<P = I U^- - Gd-f) di(x0) = f (.)^( 0 )

JdB V 9
= f
on J
JdB
()rf(jc0) + I (*)^(*o) + f
+ f Wdlixo),
(m)d(x9)
(8.107d)
where the dimensions of a2 = [Length] and where the line integrals are integrated
over the JCO coordinates. The procedure for constructing the boundary conditions
for the Green's function BVP discussed in Sec. 8.6 may now be demonstrated
from the four boundary surfaces by substituting the boundary conditions for the
velocity potential into the four boundary surfaces on the RHS of Eq. (8.107d).
701
The boundary conditions that are required for the velocity potential are given in
the wavemaker BVP in Eqs. (5.7a-e) in Chapter 5.2.
The first surface boundary on the RHS of Eq. (8.107d) is integrated across a
horizontal, impermeable bottom boundary S-h that is given by
/
Ud-^--Gdf)dl{x*)=
f 4>(^-)
dx0
(8.111a)
by the bottom boundary condition in Eq. (5.7b) in Chapter 5.2. In order to make
this integral vanish, the bottom boundary condition for the wavemaker Green's
function BVP must be
dG
= 0 , 0 < x < + o o , z = -h.
(8.111b)
dz
The second surface boundary integral on the RHS of Eq. (8.107d) is integrated
across the free surface boundary Sf that is given by
f ( dG
d4>\
J U-G-\dl(xo)
f+0
=]
(dG
\
<t>( -koG\
dx0
(8.111c)
by the combined kinematic and dynamic free surface boundary condition in

Eq. (5.7c) in Chapter 5.2 where the deep-water wave number is ko = co2/g.
In order to make this integral vanish, the combined kinematic and dynamic
free surface boundary condition for the wavemaker Green's function BVP
must be
k0G = 0,
0<x<+oo,z
= 0.
(8.111d)
dz
The third surface boundary integral on the RHS of Eq. (8.107d) is integrated
across the vertical surface boundary S^ as x -> +oo that is given by
/ U^- - G^-)
JSoo\ dx
dxJx^+00
dl(x0) = f 4>(^-~
J_h \dx
iKnC)
dzo
/^+oo
(8.1 lie)
702
by the radiation boundary condition in Eq. (5.7d) in Chapter 5.2. The minus
sign in Eq. (8.1 lie) corresponds to the assumed negative sign for the temporal
dependency of the wavemaker potential +oo [ dz
iKnG\=0,
J
x -+ +oo, -h < z < 0.
(8.111f)
The fourth and last integral in Eq. (8.107d) is integrated across the wavemaker
surface boundary at equilibrium oS that is given by
/ ( V ^ - G ^ W i c o ) = / U^--Gu]
J0S\ dx
8xJ
J_h\
dx
Jx
dzo
(8-lllg)
=0
by the kinematic wavemaker boundary condition in Eq. (5.7e) in Chapter 5.2.

In order to convert this integral into a Fredholm integral equation for the wavemaker potential, the kinematic wavemaker boundary condition for the wavemaker
Green's function must be
9G
= 0,
dx
and Eq. (8.107d) reduces to
(8.111h)
x = 0, -h < z < 0
a2(p --= - /
(8.1 Hi)
GUdzo-
J-h
The BVP for the wavemaker Green's function is now complete and may be
compared with the wavemaker BVP in Eqs. (5.7a-e) in Chapter 5.2; i.e.,
= 0;
V2G = -^8(x-x0)8
h
(-- *
h)'
\h
d<l> dG n
= 0; = 0 ;
dz
dz
dG
d\=0;
x-+oo I dz
703
lim
*->-+oo
d(p _
dx
dG
dz
iKnG
dG
' dx
[-h < z
x > + 0 0 ,
= 0;
-h < z < 0,
(8.112g,h)
(8.112ij)
<o.
The alternative to the Poison's equation (8.112b) for the wavemaker Green's
function BVP is to solve an homogeneous Laplace's equation for the Green's
function and specify a jump and a continuity condition (Stakgold, 1979). Because
the boundary conditions for G in Eqs. (8.112d, f) are homogeneous and are
identical to the boundary condition for (/> in Eqs. (8.112c, e), the solution for G
may be expanded in the orthonormal eigenseries tyn(Kn,z/h) from Eq. (5.30a)
in Chapter 5.2 and the jump and continuity conditions may be determined by
integrating Eq. (8.112b).
The wavemaker Green's function G(x, z : xo, zo) may be expanded in the
following orthonormal eigenseries:
G(x,z : x0, zo) = YlXr>(x
:x
> zo)^n(Kn,z/h),
(8.113)
where the orthonormal eigenseries tyn(Kn,z/h) from Eq. (5.30a) in Chapter 5.2
is given by
Vn{Kn,z/h)
cosh Knh{\
+z/h)
n=
l,2,...,
(5.30a)
where the nondimensional normalizing constant Nn is

Nj = I cosh2 Knh{\ + z/h)d(z/h) =
2kh+smh2kh
4kh
'
2Kh+sm.2icnh
4K h
'
n = 1,
(5.30b,c)
provided that ^1 = k for n = 1, Kn = IK for n > 2, and that the eigenvalues

are computed from
koh =
khtanhkh,
-Knh tan Knh,
where k0h = co2h/g (John, 1949 and 1950).
n=1
n > 2,
(5.30d)
(5.30e)
704
Substituting Eq. (8.113) into Poison's equation (8.112b) yields

V2G(x, z : XQ, zo) = -rS(x
~2
~ x^8 {j, ~ ~h) '
+ K;Xn(x : xo, zo) | Vn(Kn,z/h)
'
= ^(x-x
)*g-^).
(8.114a)
Multiply both sides of Eq. (8.114a) by a member of the orthonormal eigenseries

^m{Km,z/h) and integrate over the dimensionless interval of orthogonality
- 1 < zjh < 0 to obtain
d Xn(x:x0,zo)
dxz
+ K2
.^
o^S(x _
h
zo) =
Xo)yn(KnfZo/h)
(8 114b)
Define the solutions for x < xo and for x > xo by the following symbols:
X forO < x < xo,
X forxo < A: < oo.
(8.114c,d)
Integrating Eq. (8.114b) with respect to x, yields the following two ODE BVP's
in the x coordinate:
a An yx . * 0 . w
K ! V
< , .
xo, zo) = 0,
(8.114e)
*o, zo) = 0,
(8.114f)
dx2
8>X>(x:2X0,zo)+K2K(x
dX<(x:x0,zo)=^
dx
lim
*->-+oo
x = Q^
to-""
Z;CI
(8.114g)
xo, zo) = 0.
(8.114h)
The required jump and continuity conditions, respectively, may be obtained by

integrating Eq. (1.114b) once to obtain
dX>(x : xo, zo)
-
6x
dX<(x:x0,
ax
zo)
21I( .
...
= Wn(Kn,zo/h),
n
X>(x:x0,zo)-X<(x:xo,zo)
= 0,
x = x0,
/on>r\
(8.114i)
x = x0. (8.114J)
The solution to Eqs. (8.114e, g) is

X<(x : XQ, zo) = an cosKnx,
(8.115a)
705
and the solution to Eqs. (8.114f, h) is
X>(x : xo, zo) = An expiKnx.
(8.115b)
The two coefficients an and An may be determined by substituting Eqs. (8.115a, b)

into the jump condition in Eq. (8.114i) and the continuity condition in Eq. (8.114j),
respectively, according to
an co$Kxo An expiKnxo
-anKn
= 0,
s i n * 0 - iAnKn expiKx0
(continuity),
(8.115c)
= V(Kn,zo/h),
h
(jump).
(8.115d)
The determinant of Eqs. (8.115c, d) is the Wronskian of Eqs. (8.115a, b)

and is equal to /. The solutions for the coefficients an and An from
Eqs. (8.115c, d) are
.a2^n{Kn,zo/h)
an = i
Knh
exp i Knxo,
An = i
.a2^n{Kn,zo/h)
cos Knxo
Knh
(8.115e,f)
and the 2D planar wavemaker Green's function is

G(x, z : xo, zo)
.^n(^-n,<.0/n)^nK^n,<-/"J
.Vn(K
n,Z0/h)Vn(Kn,Z/h)
Knh
i
nh
^.Vn(Kn,zo/h)Vn(KKn,z/h)
a2 > i
Knh
exp i KnXQ cos Knx,
x < xo,
exp i Knx cos Kxo,
x > xo,
(8.115g,h)
provided that ^ i = k;Kn = iicn and their values are computed from
Eqs. (5.30d, e).
The wavemaker potential may now be computed from Eq. (8.111 i) by
,o
c,z) = - I G(x,z:0,zoW(zo)dzoG(x,z : 0,
<P(x,z)
J-h
J-h
(8.116a)
The critical element now for computing Eq. (8.116a) is to determine which of the
two Green's functions in Eqs. (8.115g, h) is to be substituted into the integral.
Because the Green's functions are symmetric with respect to z and zo, the decision
706
rests with whether x is greater than or less than XQ. Because xo = 0, then x > x$
and Eq. (8.115h) is the correct choice and Eq. (8.116a) reduces to
<t>{x,z) = -Yîh*n(K,Z/h)
expiKnxf
Vn(Kn,z0/h)U(z0)d
(^)
(8.116b)
The dimensional integral in Eq. (8.116b) is identical to the dimensionless integral

Eq. (5.40) in Chapter 5.2 that computes the wavemaker potential coefficients Cn.
Again, in an analogy to the convolution kernel in the Duhamel convolution
integral for initial value problems in Chapter 2.5.3, the degenerate Green's functions in Eqs. (8.115g, h) may be constructed from a BVP with homogeneous
boundary conditions. Once the Green's function is constructed for a given fluid
domain, the coefficients for either the scattered or radiated velocity potentials
may be easily computed from an integral over the equilibrium surface of the solid
body QS for any new values for U.
8.7. Wave Loads Computed by the FEM

The geometries of many ocean and coastal structures are not separable in one of
the thirteen separable coordinate systems (Morse and Feshbach, 1953, Chapter 5).
Consequently, the hydrodynamic wave pressure loads on these structures must
be computed by numerical solutions of integral equations. The two most commonly applied numerical methods are the boundary integral Element Method
(BIEM) and the finite Element Method (FEM). An example of the BIEM is
given by Hudspeth et al. (1994) who compute numerically wave loads on vertically axisymmetric bodies from a Fredholm integral equation with a resolvent
kernel that is an orthonormal eigenfunction expansion of an axisymmetric Green's
function. Only the FEM is reviewed here.
The fundamentals of the FEM are given by Zienkiewicz (1967), inter alios.
Analyses by the FEM for wave interference between two horizontal floating
circular cylinders in oblique seas is given by Leonard et al. (1983); for wave
interference between multiple vertical surface piercing cylinders of arbitrary
cross-section shapes with radiation boundary dampers is given by Huang et al.
(1985a); and for 3D wave interference between multiple permeable and nonpermeable semi-immersed structures of arbitrary cross-sections with radiation
707
boundary dampers is given by Huang et al. (1985b). These FEM analyses are
reviewed below.
Because the matrix equation for the dynamic response of a single solid body
in six degrees-of-freedom given by Eqs. (8.52) must now be replaced by matrices
for NB bodies, it is notationally convenient to assign all six degrees-of-freedom
motions and the forces and moments to single variables instead of the two variables
previously assigned to the translational and rotational modes and to the forces and
moments in Sec. 8.2. The single subscripted variable assigned to the motion modes
of the rath body is defined by
R e f e e x p - ^ } = (Zj'"W'
1
'
j =
123
=4,5,6,
\njn{t),
'''
(8.117a)
where co = 2n/T, where T = wave period and where the complex-valued

amplitude ,- is defined by
yi, = l/i,|expi / l I ,
7 = 1,2,3,4,5,6.
(8.117b)
The Exciting (E) and Restoring (R) forces and moments on the nth body are
defined by
where the complex-valued amplitude /

ffnR)
= \ffnR)\
P"ft.
is defined by
7 = 1,2,3,4,5,6.
(8.117d)
The three boundary Falue Problems (BVP) for the incident wave potential
^w (x, y, z, t), for the scattered wave potential <E\ (x, y, z, t) and for the radiated
wave potential <$>r (x, y, z, t) that are summarized in Sec. 8.1 must now be modified
for multiple NB body interactions. The total dimensional scalar velocity potentials
for the diffraction wave potential & (x, y, z, t) and for the radiated wave potential
<J>r(x, y, z, t) in Eq. (8.15) in Sec. 8.1 are now given by
<t>(x,y,z,t) = D(x,y,z,t)
= Re {ico
+ <t>r(x,y,z,t)
A\<l>w(x,y,z) + 'E.%-i<l>sn(x,y,z)\]
]
L
J
M
exp icoti,
L +fi$=i^B(*,:v,z)
j
(8.118)
708
^ wi\JC\?A
ds,FS
n*
Fig. 8.12. Definition sketch of Ng large solid bodies in 3D seas.
where NB = number of large bodies and where each of the lower-case scalar
velocity potentials 4>i(x,y, z) for I = w,sn or jn are functions only of the
spatial coordinates {x, y, z). For an incident linear wave propagating at an arbitrary
oblique angle of incidence a in Fig. 8.12, the spatial incident wave potential
4>w (x, y, z) in Eq. (8.118) in given by
cosh k (z + h)
4>w (x, y, z) =
exp / (kx cos a + ky sin a),
KQ cosh kh
(8.119a)
where the deep-water wave number &o = &>2 /g and the wave number k = 2n/k
is the solution to the linear dispersion equation
koh = kh tanh kh
(8.119b)
and where X = wavelength.

Each of the dimensional scalar velocity potentials (pi{x,y,z) in Eq. (8.118)
must be a solution to Laplace's equation (2.12a) in Chapter 2.2.9 that is given by
V 4>i(x,y,z) = A<pi(x,y,z)
d2(j>e(x,y,z) , d2(j>e(x,y,z)
dx2
dy2
d24>e(x,y,z)
dz2
I = w,sn, jn
(8.120a)
and to the following boundary conditions for I = w, sn, jn:
dz
dz
= 0,
kofa = 0,
(8.120b)
z = 0.
(8.120c)
709
The scattered and radiated scalar velocity potentials must satisfy a radiation
condition given by
lim Vkr
rôo
[ dr
[ik\
)(j)i
2r J
= 0,
I =
sn,jn
(8.120d)
where the magnitude of the horizontal position vector is r 2 = x2+y2 inFig. 8.12.
The body boundary conditions for the scattered and radiated scalar velocity
potentials are
^
^ L
dnn
0on305,
d(pjn
= rijn ondoSn,
dnn
\L
"nm)
d<Pjn
= 0on305m,
dnm
l,2,...,NB
(8.120e)
n,m 1 , 2 , . . . ,NB
(8.120f)
n=
n,m 1,2,
...,NB
(8.120g)
where Snm = Kronecker delta function (vide., Eq. (2.2) in Chapter (2.2.3)); and
where itjn = the jth direction and pseudo-direction cosines for the nth body that
are defined by Eqs. (8.1 and 8.4) in Sec. 8.1.
The hydrodynamic pressure field may be computed from
p(x,y,z,t)
=Re
poo
L
NB
n=\
j=\
exp icot
(8.121)
where p = fluid mass density. The hydrodynamic exciting load on the fixed nth
solid body in the j t h degree of freedom may be computed from
R*{/exp-iarf}
1
= Re poo A
/ / {fiw + ^fak)
\j =
l,...,6,
\n =
l,...,NB,
njndS exp icot
(8.122a)
710
where 3o5 = the wetted surface area of the nth solid body and where ff = the
complex-valued hydrodynamic exciting load coefficient on the nth body in the
y'th degree-of-freedom. The hydrodynamic restoring load on the nth solid body
in the yth degree-of-freedom may be computed from
NB
Re{/exp-ia)f}=Re
pco ^2 ^
. .
Hjn / / (pmknjndSn exp - it

doS
f NB 6
(8.122b)
where Ffnmk = the complex-value hydrodynamic restoring load coefficient on
the nth body in the jth degree-of-freedom due to the motion of the &th body in
the mth degree-of-freedom. The restoring load coefficient in Eq. (8.122b) may be
separated into real and imaginary components according to
F
fnmk
= P2 / / <t>mknjdSn = 0)2fXjnmk
+ io)Xjnmk,
(8.122c)
doSn
where \Xjnmk = the added mass coefficient and'kjnmk= the radiation damping
coefficient for the nth body in the y'th degree-of-freedom. Applying Green's
second identity in Eq. (2.123c) in Chapter 2.6 to the radiation potential yields the
following symmetric identities:
r
pR
inmk ~ tmkjn^
\n,k=\,...,NB,
l^jnmk H-mkjn, *-jnmk A-mkjn,
[J,m=l,...,6.
(8.122d,e)
The dynamic responses of each of the NB bodies may be computed from the
solutions to the following simultaneous equations of motions:
-a)2(mjnmk + fijnmk)-ia)kjnmk
El
m=l
+ Efcf 1 0 - &kn) [-(02Hjnmk
= ffn,
i =
\j =
\'-'
'
l,...,NB,
+Ffnmk + Ffnmkj^jn
- lCoXjmk + Ffnmk + Ffnmk\ $mk
(8-123)
711
where Ffnmk = the hydrostatic stiffness coefficients in the stiffness force/moment

loads Eqs. (8.50) in Sec. 8.2 and F<rfimk= the external constraining coefficients in
the constraining force/moment Eqs. (8.51) in Sec. 8.2.
FEM Algorithm
Solutions to the 3D BVP's for the scattered and the radiated scalar velocity wave
potentials may be computed from the standard FEM. Because boundary dampers
are applied in the FEM algorithm, the kinematic radiation boundary condition
(KRBC) in Eq. (8.120d) may be applied at only moderate distances from the
structures; and all of the closely spaced NB structures are enclosed within this
reduced radiation boundary.
Radiation boundary dampers, Bettess and Zienkiewicz (1977) The .Kinematic
.Radiation boundary Condition (KRBC) in Eq. (8.120d) is applied at a finite
distance rp according to
"^\^~(ik~2~r~)(pl}
= 0, l=zsnJn
(8 124)
Kinematic fictitious bottom boundary condition In order to avoid discretizing

the fluid domain below the depth where wave dynamics and kinematics are negligible in deep-water applications, the kinematic bottom boundary condition in
Eq. (8.120b) may be modified for the scattered and the radiated wave potentials
to the following:
d
dz
ktanhk(z + h)
tn
= 0,
i = s,j,
(8.120b')
that may be applied at afictitiousbottom z = hf where hf < h and that reduces

to Eq. (8.120b) when z = -h.
The FEM solutions may be computed from variational functional that are
integrals over the entire fluid domain V, over the free surface boundary dSps,
over the radiation boundary surface dSrD, over the bottom surface boundary
dSh and over the NB body surface boundaries doS. The FEM functional for
712
the scattered velocity potential BVP is given by
dSFs
4>2sdS - - / / ktemhk(z + h)<tfdS
n(&) =
dS/,
dSr[)
+ :Ln l
- JJ
-<j)sdS
dnn
(8.125a)
and for the radiated velocity potential BVP by
Uff\(th(^hmV-lff^
SSFS
n (*;)
-\ fj ('* - ^ j ) 4>)ndS - l- fjkUahkiz + h)4>%dS

dSrD
- I
3 S/,
<t>jnnjndS
(8.125b)
These functionals are discretized into finite elements; and the unknown
potentials are expanded in each finite element in a set of nodal unknowns tye
and prescribed shape functions N" where q = \,...,NE
where Ng = the
total number of nodal points in each finite element. A typical element may
be denoted by the superscript e. Expanding the functionals in Eqs. (8.125)
in the nodal parameters ifr* gives the following combinations of discrete
713
functionals:
n(&) =ni(0,) - n2(&) - n3(&) - n4(&) + n5(&)

N
NV
NFS
q=\
q=\
rD
= J2 nf (&) - J2 K&) - E n 3^)

q=\
hf
NB
NNB
q=\
n=\
q=\
(8.126a)
u{(j)jn) =nl{(t>jn) - n2(4>jn) - n 3 ( ^ ) - n4(</>7) - n5(<t>jn)

Nv
NFS
"rD
q=\
q=\
J= l
Nh
NB
NNB
-E 4<w-EEn5(u
n\
7=1
(8.126b)
o=l
where Afy = the total number of finite elements in the fluid domain V; Nps =
total number of surface area elements on the free surface boundary; NrD = the total
number of damper area elements on the radiation boundary at ro', Nhf = total
number of surface elements on the bottom boundary at z = h or on the fictitious
bottom boundary in deep-water at z = ft/ and NBE = total number of surface
area elements on each of the NB structural boundary surfaces.
Each of the five functionals for the scattered velocity potential 4>s{x,y,z)
in Eq. (8.126a) is minimized with respect to the nodal parameters tye over the
boundaries of each element according to
anf(&)
ab
-III
dx
dx
dy
dy
dz
dz
VadV
(8.127a)
9n|(&)
ab
-SI
dS%
k0NeaNebradS
(8.127b)
714
(8.127c)
dSS
rD
+ h)NeaNebfeadS
= ffktanhk(z
(8.127d)
3 st
II K dS
(8.127e)
J Je dnB
3oS
and for the five almost identical functionals for the radiated velocity potential
<Pjn(x, y, z) in Eq. (8.126b) according to
9n*(4>7)
HI
ab
-IS!
dx
dx
dy
dy
dz
dz
VadV
(8.128a)
= ff' k0NeaNebradS
(8.128b)
as*FS
=
ab
are
ff(ik-)NMrdS
*n L -If
k tanh k(z + h)NeaNebfeadS
(8.128c)
(8.128d)
dSi
dne5(<t>jn)
Hi
ab
= / / * *bNebnjndS.
(8.128e)
doS<
The functionals in Eqs. (8.127a-d) for the scattered potential are identical
to the functional in Eqs. (8.128a-d) for the radiation potentials; and only the
inhomogeneous kinematic boundary conditions in Eqs. (8.127e and 8.128e)
are distinct. The minimization and assemblage of the functional derivatives
in Eqs. (8.127 and 8.128) follow the standard porcedures that are outlined
715
in standard FEM texts and references (e.g., Zienkiewicz, 1967). The system
matrices for the scattered and the radiation potentials, respectively, are given by
[A]{<M = {Us},
[A]{<t>jn] = {Ujn}.
(8.129a,b)
The system matrix [A] in Eqs. (8.129) is symmetric and banded and is identical
for both BVP's. Consequently, this system matrix need be assembled only once
for both BVP's. However, this system matrix may be very large for 3D BVP's;
and a very efficient Gauss elimination solution method with block form that
uses secondary computer storage (Wilson et al, 1974) may be required for some
computer systems.
Semi-immersed discus buoy
Huang, et al. (1985b) computed the dimensionless surge amplitude 2|i|///;
the dimensionless heave amplitude 2| 3 |/# and the dimensionless pitch amplitude |5 \/{H/2b) for a semi-immersed discus buoy by the FEM algorithm given
above and compared these three dimensionless motion amplitudes with data
from Hoffman et al. (1973) and with the three dimensionless motion amplitudes computed from the BIEM by a 3D source Green's function (Garrison,
1975) and by an orthonormal eigenfunction expansion of an axisymmetric
Green's function (Hudspeth et al, 1994). In the FEM algorithm, the fluid
domain is discretized into 3D rectangular prism volume elements and 2D
1
.1875b
150.
TZ
.225b
375b
175b
h,
fictitious bottom
Fig. 8.13. Dimensions and FEM mesh for a semi-immersed discus buoy where b
(h/b = oo;hf/b = 1.0; h\jb = 0.5) (Huang et al., 1985b).
2.0 ft
716
2.0
1.5
1.0
0.5
0.
0. 0.5 1.0
1.5 2.0 2.5
3.0 3.5
Fig. 8.14. Dimensionless dynamic response amplitudes ofa semi-immersed discus buoy (h/b =
oo;hf/b = \.0;}n/b = 0.5)( : 2 | 3 | / # & \!-5\/(H/2b) BIEM 3D source Green's function,
Garrison, 1975; & : 2|f 3 |/ff, & \$5\/(H/2b) experimental data, Hoffman etal, 1973; + ,
& : 2II] \/H,2\h\/H, & \^\/(H/2b) BIEM axisymmetric Green's function, Hudspeth etal,
1994; A, o&D: 2 | ^ \/H,2\^\/H, & \^\/{H/2b) FEM, Huang et al, 1985b).
quadrilateral area elements. Two isoparametric finite elements with quadratic

shape functions are applied, viz., a 20-noded prism and an 8-noded quadrilateral.
The FEM mesh and buoy geometry are illustrated in Fig. 8.13 where the radius of
the discus buoy b = 2.0 ft, the weight mg = 198.7 lb, and the polar mass moment
of inertia / = 7.20434 slug-ft2. Cylindrical radiation dampers were applied at a
distance rD = 1.3b and a fictitious bottom athf = b where b = radius of the
discus buoy. Comparisons with data and the two BIEM algorithms are illustrated
in Fig. 8.14.
8.8. Problems
8.1
8.2
Derive a Green's function for each of the two circular wavemakers analyzed in Chapter 5.3 by orthonormal eigenfunction expansion method
applied in Sec. 8.6.1.
Compute the maximum horizontal force and overturning moment about
the bottom on a full depth vertical circular storage tank of diameter
111
8.3
D = 300 ft in a water depth of h = 300 ft from a progressive wave

with H = 45 ft and period 7 = 15 sec.
The dimensionless roll mode equation of motion for a semi-immersed
Lagrangian solid body is
' d2
_ d
~-j~2
+2^
+ 2i;
+ <*4 [ 0 5 ( r ) = A5cojh sin(r - a0 - fa)
5co
5a>5h^r;
5h-rL
dx
dx
where r cot. Applying the method of undetermined coefficients from
Chapter 2.5.6, the dimensionless roll mode rotation @5(r) is assumed
to be given by
@5(r) = | 251 sin(r - aQ - as).
Prove that the dimensionless amplitude Q5 and dynamic magnification
factor D [((Ss/,)-2] are
\Q5\=B^(co5hr2'JA5co25h;
2 2
D[(^r ] = |[i- ( ^r ]
(gy
-1/2
and that the sway mode phase angle a$ is

tan 0:5 =
8.4
tan /S5 + tan e$

1 - tane 5 tan5 J '
tan 65 =
(25/<W5fc)
[l - (co5h)~2]'
Prove that the added mass coefficient fiji and radiation damping
coefficient kji are given by
ff
d<t>i
ff
30;
\Ljt = P
8.5
Re{(f)j}-dS;
kjt = pco / /
lm{<j)j}dS.
JJ0s
dn
JJ0s
dn
In the articulated tower analysis in Chapter 7.8.1, the pitch mode freesurface spring constant K$5 was neglected compared to the pitch mode
excess buoyancy spring K^5. Compare the ratio K^5/K^5 of the pitch
mode free-surface spring constant to the pitch mode excess buoyancy
spring for a large homogenous circular cylinder fixed to the bottom that
are given by
*55 = Pgrfy, 5 < 4 = ^ 5 = S^ ~ mg(z'B - l'R)

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