Chapter 2 Hydrostatics

 
p = ρgh 1
BNφ = BM 1 + tan2 φ
2
F∇ = ρg∇
GNφ = KB + BNφ − KG
m = ρ∇  
1
ρg∇ = gm GZφ = GM + BM tan2 φ sin φ
2
p
∆T = 
ρ∇ · GNφ · sin φ

ρAW L φ = arccos
p·c p·c
G0 G1 =
m
 
p·c
φ = arctan
MS = ρg∇ · GNΦ · sin φ ρ∇ · GM
GM = GZ · sin φ p·c
GM =
ρ∇ · tan(φ1 − φ0 )
It
BM = P 0
{ρ i }

1

∇ 00
GG = · 1 + tan φ 2
ρ∇ 2
GM = KB + BM − KG
Z x2 Z y2
IT = y 2 dydx
x1 y1

Chapter 3 Constant potential flow phenomena

 
∂ρ ∂(ρu) ∂(ρv) ∂(ρw) 1 ∂v ∂u
+ + + =0 φ̇ = −
∂t ∂x ∂y ∂z 2 ∂x ∂y
∂u ∂v ∂w ∂Φ ∂Φ ∂Φ
+ + =0 u= v= w=
∂x ∂y ∂z ∂x ∂y ∂z
vr ∂vr 1 ∂vθ ∂Φ 1 ∂Φ
+ + · vr = vθ = ·
r ∂r r ∂θ ∂r r ∂θ
∂2Φ ∂2Φ ∂2Φ
 
ȧ + β̇ 1 ∂v ∂u
= + + + = ∇2 Φ = 0
2 2 ∂x ∂y ∂x2 ∂y 2 ∂z 2

∂v ∂u ∂w ∂v ∂u ∂w
− =0 − =0 − =0
∂x ∂y ∂y ∂z ∂z ∂x

vθ ∂vθ 1 ∂vr
+ − · =0
r ∂r r ∂θ ∂Φ 1 2 p
+ (u + v 2 + w2 ) + + gz = 0
∂u ∂u ∂u ∂u 1 ∂p ∂t 2 ρ
+u +v +w =−
∂t ∂x ∂y ∂z ρ ∂x
∂v ∂v ∂v ∂v 1 ∂p ∂Φ p
+u +v +w =− + + gz = 0 (linearized)
∂t ∂x ∂y ∂z ρ ∂y ∂t ρ
∂w ∂w ∂w ∂w 1 ∂p
+u +v +w =− −g
∂t ∂x ∂y ∂z ρ ∂z
∂Ψ ∂Ψ
u= v=−
∂y ∂x

∂Φ 1 2 p 1 ∂Ψ ∂Ψ
+ V + + gz = C(t) vr = · vθ = −
∂t 2 ρ r ∂θ ∂r

1
Chapter 4 Constant real flow phenomena

∂V 1 2
τ =η· Nw = ρair Vrw · CN w (arw ) · AL · L
∂y 2
η
q
Vrw = Vs2 + Vtw2 + 2V · V
ν= s tw · cos atw
ρ
V ·D 1
Rn = Xc = ρair Vc2 · CXc (ac ) · AT S
ν 2
V 1
Fn = √ Yc = ρair Vc2 · CY c (ac ) · ALS
2
gL
1
1 2 Nc = ρair Vc2 · CN c (ac ) · ALS · L
FD = ρU CD D 2
2
Pin PE T · Ve
1 η= = =
Fl = ρ · U 2 · CL · sin(2πfv t + F t ) Pout PD Q · 2πn
2
p − pv
fv · D σ= 1 2
St = 2 ρV
U
 
U Ve
Ur = β0.7R = arctan
fn · D 0.7π · nD
Rf Ve
Cf = 1
J=
2
2 ρV S
nD
√ T
Cf = 1.328 · Rn (Blasius) KT =
ρD4 n2
0.242
= log10 (Rn · Cf ) (Schoenherr) Q
KQ =
p
Cf ρD5 n2
0.075 PD = Q · 2πn
Cf = (IT T C − 1957)
(log10 (Rn) − 2)2
PE = T · V e
Rt
Ct = 1 2 PE
2 ρV S ηO =
PD
Cw = Ct − (1 + k) · Cf Vs − Ve
wn =
Ctship = (1 + k) · Cf ship + Cw + Ca Vs
1 2
T −R
Xw = ρair Vrw · CXw (arw ) · AT t=
2 T
1 2
R·V
Yw = ρair Vrw · CY w (arw ) · AL ηT = = ηO · ηH · ηR
2 Q · 2πn
QO
ηR =
Q
FL = 4πRρV 2 C
Γ
C=−
4πRV

Chapter 5 Ocean surface waves

H = 2ζa λ
c=
T
kλ = 2π
ζ = ζa cos(kx − ωt)
ωT = 2π

2
 Rayleigh distribution:
(  2 )
ζa g cosh k(h + z) x x
Φw (x, z, t) = · · sin(kx − ωt) f (x) = 2 exp − √
ω cosh kh σ σ 2
ζa g kz 
a2

Φw (x, z, t) = · e · sin(kx − ωt) P {ζ > a} = exp − 2
ω 2σ
∂Φw
+ gζ = 0 f or : z = 0
∂t Weibull distribution:
∂Φw ∂ζ (  b )
= f or : z = 0 H −c
∂z ∂t P (H) = exp −
a
ω 2 = kg · tanh kh
r
g Wave Energy Spectrum:
c= · tanh kh
k
N
X
Z
1 2 ζ(t) = ζan cos(kn x − ωn t + n )
K= (u + w2 )dm
vol 2 n=1
ωnX
+∆ω
1 λ
Z
1 2
P = ρgζ 2 dx Sζ (ωn ) · ∆ω = ζ
2 0
ωn
2 an
1
E = ρgζa2 1
2 Sζ (ωn ) · dω = ζa2n
Z t+T Z 0 2
1 Z ∞
W = p · u · dz · dt σζ2 = Sζ (ω) · dω
T t −h 0
 
1 c 2kh Sζ (ω) · dω = Sζ (f ) · df
W = ρgζa2 · · 1 +
2 2 sinh 2kh q
  ζan = 2 Sζ (ω) · ∆ω
c 2kh
cg = 1+
2 sinh 2kh Z ∞
s mnζ = ω n · Sζ (ω) · dω
Hh 1 0
Ksh = = 2kh


H∞ tanh kh · 1 + sinh 2kh √
σζ = RM S = m0ζ
n o Z ∞
P H̃w > a = f (x)dx
a √
v ζa1/3 = 2 · m0ζ
u N
u 1 X
m0ζ
σ=t ζ2 T1 = 2π ·
N − 1 n=1 n m1ζ
ζa1/3 = 2 · σ r
m0ζ
T2 = 2π ·
H1/3 = 4 · σ m2ζ

Gaussian/Normal distribution:
(  2 )
1 x
f (x) = √ exp − √
σ 2π σ 2
Z ∞ (  2 )
1 x
P {ζ > a} = √ exp − √ dx
σ 2π a σ 2

3
 Bretschneider wave spectrum:
2
173 · H1/3
 
−692
Sζ (ω) = · ω −5 · exp · ω −4
· γA
T14 T14
T1 = 1.086 · T2 = 0.772 · Tp

JONSWAP wave spectrum:

2
320 · H1/3
 
−5 −1950 −4
Sζ (ω) = ·ω ·exp ·ω ·γ A
T14 T14
 !2 
ω
ωp − 1
 
γ = 3.3 A = exp − √
 σ 2 

Tp
ωp =
2π
(
0.07, if ω < ωp
σ=
0.09, if ω > ωp
T1 = 1.073 · T2 = 0.834 · Tp

Handout: Wave loads on slender structures

Morison Equation
π 1
FM or (t) = ρCM D2 · V̇ (t) + ρCD D · V (t)|V (t)|
4 2
V ·D V ·T
Rn = KC =
ν D

Useful derivatives

d 1 d 1
ln x = arctan x =
dx x dx 1 + x2