Contents

Preface 1 Introduction 2 Model Testing

xi 1

2.1 Falling Body in a Vacuum

2.2 Pendulum

10

2.3 Water Waves

11

2.4 Drag Force on a Sphere

13

2.5 Viscous Drag on a Flat Plate

16

2.6 Viscous Drag on General Bodies

18

2.7 Hydrofoil Lift and Drag

20

2.8 Screw Propeller

24

2.9 Drag on a Ship Hull

27

2.10 Propeller-Hull Interactions

32

2.11 Unsteady Force on an Accelerating Body

34

2.12 Vortex Shedding

38

2.13 Wave Force on a Stationary Body

39

2.14 Body Motions in Waves

42

2.15 Ship Motions in Waves

46

Problems

46

References 3 The Motion of a Viscous Fluid

50

53

3.1 Description of the Flow

54

3.2 Conservation of Mass and Momentum

56

3.3 The Transport Theorem

57

3.4 The Continuity Equation

59

3.5 Euler's Equations

59

3.6 Stress Relations in a Newtonian Fluid

60

3.7 The Navier-Stokes Equations

62

3.8 Boundary Conditions

63

3.9 Body Forces and Gravity

64

3.10 The Flow between Two Parallel Walls

65

3.11 The Flow through a Pipe

66

3.12 External Flow past One Flat Plate

67

3.13 Unsteady Motion of a Flat Plate

69

3.14 Laminar Boundary Layers: Steady Flow Past a Flat Plate

72

3.15 Laminar Boundary Layers: Steady Two-Dimensional Flow

78

3.16 Laminar Boundary Layers: Closing Remarks

85

3.17 Turbulent Flow: General Aspects

85

3.18 Turbulent Boundary Layer on a Flat Plate

88

3.19 The 1/7-Power Approximation

95

3.20 Roughness Effects on Turbulent Boundary Layers

96

3.21 Turbulent Boundary Layers: Closing Remarks

98

Problems

98

References 4 The Motion of an Ideal Fluid

100

102

4.1 Irrotational Flows

103

4.2 The Velocity Potential

105

4.3 Bernoulli's Equations

107

4.4 Boundary Conditions

109

4.5 Simple Potential Flows

111

4.6 The Stream Function

115

4.7 The Complex Potential

118

4.8 Conformal Mapping

119

4.9 Separation of Variables

123

4.10 Fixed Bodies and Moving Bodies

126

4.11 Green's Theorem and Distributions of Singularities

127

4.12 Hydrodynamic Pressure Forces

132

4.13 Force on a Moving Body in an Unbounded Fluid

135

4.14 General Properties of the Added-Mass Coefficients

140

4.15 The Added Mass of Simple Forms

144

4.16 The Body-Mass Force

148

4.17 Force on a Body in a Nonuniform Stream

149

4.18 The Method of Images

152

Problems

154

References

157

5 Lifting Surfaces

159

5.1 Two-Dimensional Hydrofoil Theory

161

5.2 Linearized Two-Dimensional Theory

164

5.3 The Lifting Problem

168

5.4 Simple Foil Shapes

172

5.5 Drag Force on a Two-Dimensional Foil

176

5.6 Two-Dimensional Source and Vortex Distributions

177

5.7 Singular Integral Equations

180

5.8 Three-Dimensional Vortices

188

5.9 Three-Dimensional Planar Lifting Surfaces

191

5.10 Induced Drag

197

5.11 Lifting-Line Theory

200

5.12 Cavity Flows

206

5.13 Symmetric Cavity Flows

208

5.14 Supercavitating Lifting Foils

215

5.15 Unsteady Hydrofoil Theory

220

5.16 Oscillatory Time Dependence

226

5.17 The Sinusoidal Gust Problem

229

5.18 Transient Problems

230

Problems

232

References

235

6 Waves and Wave Effect

237

6.1 Linearized Free-Surface Condition

238

6.2 Plane Progressive Waves

240

6.3 Finite-Depth Effects

243

6.4 Nonlinear Effects

247

6.5 Mass Transport

251

6.6 Superposition of Plane Waves

252

6.7 Group Velocity

257

6.8 Wave Energy

260

6.9 Two-Dimensional Ship Waves

266

6.10 Three-Dimensional Ship Waves

270

6.11 The Method of Stationary Phase

275

6.12 Energy Radiation and Wave Resistance

278

6.13 Thin-Ship Theory of Wave Resistance

281

6.14 Wave Pattern Analysis

284

6.15 Body Response in Regular Waves

285

6.16 Hydrostatics

290

6.17 Damping and Added Mass

295

6.18 Wave-Exciting Force and Moment

300

6.19 Motion of Floating Bodies in Regular Waves

307

6.20 Ocean Waves

311

6.21 Motions of Bodies in Irregular Waves

320

Problems

321

References 7 Hydrodynamics of Slender Bodies

325

328

7.1 Slender Body in an Unbounded Fluid

329

7.2 Longitudinal Motion

335

7.3 The Lateral Force

338

7.4 Ship Maneuvering: The Hydrodynamic Forces

343

7.5 Ship Maneuvering: The Equations of Motion

349

7.6 Slender Bodies in Waves

354

7.7 Strip Theory for Ship Motions

362

7.8 Slender Bodies in Shallow Water

373

Problems

382

References Appendix Index

384

387 391