J. Appl. Math. & Computing Vol. 23(2007), No. 1 - 2, pp.

127 - 140
Website: http://jamc.net

COMPUTATION OF ADDED MASS AND DAMPING

COEFFICIENTS DUE TO A HEAVING CYLINDER

DAMBARU D BHATTA

Abstract. We present the boundary value problem (BVP) for the heave
motion due to a vertical circular cylinder in water of finite depth. The BVP
is presented in terms of velocity potential function. The velocity potential
is obtained by considering two regions, namely, interior region and exterior
region. The solutions for these two regions are obtained by the method of
separation of variables. The analytical expressions for the hydrodynamic
coefficients are derived. Computational results are presented for various
depth to radius and draft to radius ratios.

AMS Mathematics Subject Classification : 76B15, 35Q35, 35J05.

Key words and phrases : Water wave, heave motion, added mass, damping
coefficients, circular cylinder.

1. Introduction

The determination of wave loads on an offshore structure immersed in water

in the presence of a free surface is one of the difficult tasks in the design of the
structure. The forces exerted by surface waves on offshore structures such as
offshore drilling rigs or submerged oil storage tanks are of important consider-
ations in the design of large submerged or semimerged structures. It is useful
to calculate the hydrodynamic coefficients on the structure due to translational
and rotational motions. Bai [1] presented numerical results for the added mass
and damping coefficients of semi-submerged two-dimensional heaving cylinder
in water of finite depth. He showed that the added mass is bounded for all
frequrencies in water of finite depth. Dean and Dalrymple [3] presented a review
of potential flow hydrodynamics. Solutions for standing and progressive small
amplitude water waves provide the basis for application to numerous problems
of engineering interest.

Received August 2, 2005. Revised September 6, 2006.

c 2007 Korean Society for Computational & Applied Mathematics and Korean SIGCAM.

127
128 Dambaru Bhatta

They discussed the formulation of the linear water ware theory and de-
velopment of the simplest two-dimensional solution for standing and progres-
sive waves. An introduction to various offshore structures are described by
Chakrabarti [2]. He presented wave theories using stream and potential func-
tions and wave force on structures of common geometrical shape such as cylinder,
sphere. Floating structure dynamics were discussed by him in details. Numer-
ical results for the added mass of bodies heaving at low frequency in water of
finite depth were presented by McIver and Linton [6]. Rahman and Bhatta [8]
presented the closed form solutions for the added mass and damping coefficient
of a large surface-piercing bottom-mounted vertical circular cylinder undergo-
ing horizontal oscillations. They studied the high-frequency and low-frequency
behavior using asymptotic forms. Debnath [4] presented theoretical studies of
nonlinear water waves over the last few decades. His work is primarily devoted
to the mathematical theory of nonlinear water waves with applications. He stud-
ied the theory of nonlinear shallow water waves and solitons, with emphasis on
methods and solutions of several evolution equations that are originated in the
theory of water waves.
Rahman [9] presented an introduction to the mathematical and physical as-
pects of the theory of water waves. He discussed the wave theory of Airy, non-
linear wave theory of Stokes, tidal dynamics in shallow water. He mentioned
about the dynamics of floating offshore structures. Johnson [5] presented an
introduction to mathematical ideas and techniques that are directly relevant to
water wave theory. Beginning with the introduction of the appropriate equations
of fluid mechanics, together with the relevant boundary conditions, the ideas of
nondimensionalisation, scaling and asymptotic expansions are briefly explored.
In the present work, we formulate the boundary value problem for a floating
heaving circlular cylinder in water of arbitrary uniform depth. Here we consider
the heave motion of the cylinder with the assumption that there is no incident
wave. We present computational results for added mass and damping coefficients
for the heaving cylinder for various depth to radius and draft to radius ratios.
2. Mathematical formulation

A rigid floating structure undergoes six degrees of freedom : three transla-

tional and three rotational. Assuming a suitable coordinate system, OXY Z, the
translational motions in the x, y and z directions are referred as surge, sway and
heave respectively; and the rotational motions about x, y and z axes are referred
as roll, pitch and yaw respectively. Here we consider the heave motion by a
circular cylinder of radius a in water of finite depth h. The cylinder is assumed
to be floating with a draft b in water. Cylindrical coordinate system (r, θ, z)
is assumed with z-axis vertically upwards from the still water level (SWL), r
measured radially from the z-axis and θ from the positive x-axis. Geometry is
depicted in Figure 1. Then for an incompressible, irrotational and invisid fluid
and for small amplitude wave, we can introduce a velocity potential φ(r, θ, z)
such that
 Computation of added mass 129

r
a
x

Figure 1. Cylinder heaving in finite depth water.

∂ 2 φ 1 ∂φ 1 ∂2φ ∂2φ
+ + + 2 = 0, (1)
∂r2 r ∂r r2 ∂θ2 ∂z
∂φ
g − σ2 φ = 0 at z = 0, (2)
∂z
∂φ
= 0 at z = −h, (3)
∂z
∂φ
= w on r ≤ a, z = −b, (4)
∂z
∂φ
= 0 at r = a, −b ≤ z ≤ 0 (5)
∂r
where σ represents the angular frequency and w is the heaving velocity. Due to
symmetry in θ−direction, we assume φ and w take the forms
X∞
φ(r, θ, z) = ψm (r, z) cos mθ, (6)
m=0
X∞
w= wm cos mθ, (7)
m=0
Now we consider the whole fluid region as two regions, interior region and exterior
region. Interior region is the region below the cylinder, i.e., the region where
r ≤ a, z ≥ −h and z ≤ −b. Exterior region is the region where r ≥ a and
−h ≤ z ≤ 0. We seek the solution for interior and exterior regions now.
130 Dambaru Bhatta

3. Interior solution

Substituting (6) and (7) into (1)-(5), we have

m2 (i)
∇2 ψ m
(i)
− ψ = 0, (8)
r2 m
(i)
∂ψm
= 0 at z = −h, (9)
∂z
(i)
∂ψm
= wm on z = −b. (10)
∂z
Superscript (i) is used to denote the solution for the interior region and ∇2 =
∂2 ∂ ∂2 (i)
2
+ + 2 . We decompose ψm into homogeneous and nonhomogeneous
∂r r∂r ∂z
part as
(i) (i) (i)
ψm = ψm h
+ ψm p
. (11)
For homogeneous part using separation of variables method, we can write
αm0  r m X αmnIm (knr)
∞
(i)
ψm = + cos kn(z + h) (12)
h
2 a n=1
Im (kna)
nπ
where αmn ’s are constants, kn = , n = 1, 2, ... and Im (kn r) is the modified
h−b
Bessel function of first kind and order m ( McLachlan [9] ).
The particular solution is
 
(i) wm 2 r2
ψmp (r, z) = (z + h) − . (13)
2(h − b) 2
Hence interior solution is
αm0  r m X αmn Im (knr)
∞
(i)
ψm (r, z) = + cos kn (z + h)
2 a n=1
Im (kn a)
 
wm r2
+ (z + h)2 − . (14)
2(h − b) 2
At r = a, we have
αm0 X
∞
(i)
ψm (a, z) = + αmn cos kn(z + h)
2 n=1
 
wm a2
+ (z + h)2 − . (15)
2(h − b) 2
So αmn ’s can be obtained from
Z −b
2
αmn = ψ(i) (a, z) cos kn(z + h)dz − Inp . (16)
h − b −h m
 Computation of added mass 131

 Z −b 
wm a2
I0p = (z + h)2 − dz
(h − b)2 −h 2
"  2 #
wm (h − b) a
= 2−3 . (17)
6 h−b

Z −b  
wm 2 a2
Inp = (z + h) − cos kn (z + h)dz
(h − b)2 −h 2
2(−1)n wm (h − b)
= . (18)
n2 π 2

4. Exterior solution

In this case the boundary value problem is

m2 (e)
∇2 ψ m
(e)
− ψ = 0, (19)
r2 m
(e)
∂ψm
g − σ 2 ψm
(e)
= 0 at z = 0, (20)
∂z
(e)
∂ψm
= 0 at z = −h, (21)
∂z
(e)
∂ψm
= 0 at r = a, −b ≤ z ≤ 0. (22)
∂r
Superscript (e) is used to denote the solution for the exterior region. We use
(e)
separation of variables method to obtain ψm .
Thus the exterior solution can be written as

(1)
βm0 Hm (s0 r) X
∞
βmj Km (sj r)
(e)
ψm = (1)
Zs0 (z) + Zsj (z) (23)
Hm (s0 a) Km (sj a)
j=1

(1)
where βmj ’s are constants, Hm (s0 r) is the Hankel function of first kind of order
m and Km (sj r) is the modified Bessel function of second kind and order m. Here
s0 and sj satisfy the relations
σ2 = gs0 tanh s0 h, (24)
2
σ = −gsj tan sj h j = 1, 2, .... (25)
In deriving the solution (23), we use the following notations :
−1
Zs0 (z) = Ns0 2 cosh s0 (z + h), (26)
−1
Zsj (z) = Nsj 2 cos sj (z + h), (27)
132 Dambaru Bhatta

with
 
1 sinh 2s0 h
Ns0 = 1+ , (28)
2 2s0 h
 
1 sin 2sj h
Nsj = 1+ . (29)
2 2sj h
Now at r = a , we have
X
∞
(e)
ψm (a, z) = βmj Zsj (z). (30)
j=0

The functions Zsj (z) are orthonormal over [−h, 0] as shown below
Z Z
1 0 2 1 0 cosh2 s0 (z + h)
Z (z) dz = dz
h −h s0 h −h Ns0
 
1 sinh 2s0 h
= h+
2hNs0 2s0
= 1. (31)
For j = 1, 2, 3..., we have
Z Z
1 0 2 1 0 cos2 sj (z + h)
Zsj (z) dz = dz
h −h h −h Ns0
 
1 sin 2sj h
= h+
2hNs0 2sj
=1 (32)
and
Z 0 Z 0
1 1 cosh s0 (z + h) cos sj (z + h)
Zs0 (z) Zsj (z) dz = p p dz.
h −h h −h Ns0 Nsj
Considering the following integral
Z
1 0
I= cosh s0 (z + h) cos sj (z + h) dz
h −h
Z
1 0 h s0 (z+h) i
= e + e−s0 (z+h) cos sj (z + h) dz
2 −h
so that we have
Z h  s0 u 
2I = e + e−s0 u cos sj u du
0
es0 h s0
= 2 2 (s0 cos sj h + sj sin sj h) − 2
s0 + sj s0 + s2j
 Computation of added mass 133

e−s0 h s0
+ (−s0 cos sj h + sj sin sj h) + 2
s20 + s2j s0 + s2j
2
= 2 (s0 sinh s0 h cos sj h + sj cosh s0 h sin sj h)
s0 + s2j
2
=
cosh s0 h cos sj h (gs0 tanh s0 h + gsj tan sj h)
g s20 + s2j
=0 (33)
because of σ2 = gs0 tanh s0 h = −gsj tan sj h [equations (24), (25)]. Also for
l = 1, 2, .. , m = 1, 2, .. and l 6= m, it can shown that
Z Z
1 0 1 0 cos sl (z + h) cos sm (z + h)
Zsl (z) Zsm (z) dz = p p dz = 0. (34)
h −h h −h Nsl Nsm
Hence Zsj (z) are orthonormal over [−h, 0].
Thus due to the orthonormality of the functions Zsj (z), βmj can be obtained
from (30) as
Z
1 0 (e)
βmj = ψ (a, z)Zsj (z)dz. (35)
h −h m

5. Matching condition

Matching conditions at r = a are

φ(i) (a, θ, z) = φ(e) (a, θ, z) (36)
 
∂φ(i) ∂φ(e)
= (37)
∂r r=a ∂r r=a
for −h ≤ z ≤ −b.
Body surface condition is

∂φ(e)
=0 (38)
∂r r=a
for −b ≤ z ≤ 0.
From the equation (16) and condition (36)
Z −b
2
αmn = ψ(i) (a, z) cos kn(z + h)dz − Inp
h − b −h m
Z −b
2
= ψ(e) (a, z) cos kn(z + h)dz − Inp
h − b −h m
X∞
=2 βmj Lnsj − Inp (39)
j=0
134 Dambaru Bhatta

where
Z −b
1
L0sj = Zsj dz, (40)
h−b −h
Z −b
1
Lnsj = Zsj cos kn(z + h)dz. (41)
h−b −h

For j = 0 and j = 1, 2, .. respectively, we have

−1
(−1)n Ns0 2 (h − b)s0 sinh s0 (h − b)
Lns0 = , (42)
(h − b)2s20 + n2π2
−1
(−1)n Nsj 2 (h − b)sj sin sj (h − b)
Lnsj = . (43)
(h − b)2s2j − n2 π2
Now from conditions (37) and (38), we have
X∞ X∞
mαm0
Gm0 + = αmn Gmn cos kn(z + h) + βmj Gmj Zsj (z) (44)
2 n=1 j=0

for −h ≤ z ≤ −b,
∞
X
βmj Gmj Zsj (z) = 0 for − b ≤ z ≤ 0 (45)
j=0

where
wm a2
Gm0 = − (46)
2(h − b)
0
knaIm (kn a)
Gmn =− (47)
Im (kna)
0
(1)
s0 aHm (s0 a)
Gm0 = (1)
(48)
Hm (s0 a)
0
sn aKm (sn a)
Gmn = (49)
Km (sn a)
Now multiplying the equations (44) and (45) by Zsl (z), l = 0, 1, 2... and inte-
grating in the regions of validity and adding them we get
 mαm0  X∞ X∞
h
Gm0 + L0sl = αmn Gmn Lnsl + βmj Gmj δsj sl . (50)
2 n=1
h−b
j=0

Now substituting the values of αmn from equation (39), we get a system of
equations
X
∞
Elj βmj = Xml (51)
j=0
 Computation of added mass 135

where
X∞
h
Elj = −mL0sl L0sj + Gmj δsj sl + 2 Gmn Lnsl Lnsj , (52)
h−b n=1
∞
mI0p L0sl X
Xml = Gm0 L0sl − + Inp Gmn Lnsl . (53)
2 n=1

6. Added mass and damping coefficients

The radiated force can be written as

Z 2π Z a
F = iσρ φ(i)(r, θ, −b)r dr dθ. (54)
θ=0 r=0

Decomposing the radiated force into components in phase with the acceleration
and the velocity, the added mass, µ and damping coefficient, λ are obtained as
Z Z
λ ρ 2π a (i)
µ+i = φ (r, θ, −b)r dr dθ. (55)
σ w θ=0 r=0

Since θ integration is from 0 to 2π, and the integrand contains cos mθ, there will
be contribution for m = 0 only.
Thus
" (  2 )
λ πa2 ρ 1 1 a α00
µ+i = w0 (h − b) − +
σ w0 2 8 h−b 2
∞
#
2 h − b X (−1)n α0nI1 (kn a)
+
π a n=1 nI0 (kna)
 (  2) X ∞
πa2 ρ  1 1 a
= w0(h − b) − + β0j L0sj − I0p
w0 2 8 h−b j=0
 
2 h−b X
∞ n
(−1) I1(kn a)  X∞ 
+ 2 β0j Lnsj − Inp 
π a n=1 nI0 (kna)  j=0 
(
 2) X ∞
1 1 a
= πa (h − b)ρ 
2
+ + γ0j L0sj
3 8 h−b
j=0
 
4 h−b X∞ n
(−1) I1 (kna)  X∞
(−1) n
+ γ0j Lnsj − 2 2  (56)
π a n=1
nI0(kn a)  n π 
j=0

β0j
where γ0j = w0 (h−b) .
136 Dambaru Bhatta

7. Computational results

We write complex matrix equation (51) as

Np
X
Elj γ0j = X0l (57)
j=0

where Elj and X0l ’s are given by

Nn
X
h
Elj = G0j δsj sl + 2 G0nLnsl Lnsj , (58)
h−b n=1
Nn
X
X0l = g00L0sl + InpG0nLnsl (59)
n=1

where l = 0, 1, ..., Np and j = 0, 1, ..., Np and

a2 2(−1)n
g00 = − and Inp = . (60)
2(h − b)2 n2 π 2
Thus E is a square matrix of order (Np + 1) and X is a vector of length
(Np + 1).
The equation (57) is solved by using methods available in JMSL.
We compute sj a, j = 1, 2,.... for given s0 a from the equations (24) and (25)
for h/a = 5.0. The various values of sj a, j = 1, 2, ....., 15 are presented in the
columns of the Table 1 for s0 a = 0.5, 1.0, 1.5, 2.0, 2.5 respectively.

Table 1. Solutions of equation (25) for various s0 a for h/a = 5.0.

n↓ s0 a =0.5 s0 a =1.0 s0 a =1.5 s0 a =2.0 s0 a =2.5

1 0.4653 0.3882 0.3614 0.3486 0.3410
2 1.1773 1.1099 1.0660 1.0382 1.0199
3 1.8323 1.7826 1.7426 1.7121 1.6896
4 2.4739 2.4353 2.4014 2.3730 2.3500
5 3.1101 3.0788 3.0502 3.0247 3.0025
6 3.7437 3.7173 3.6926 3.6701 3.6498
7 4.3757 4.3530 4.3314 4.3112 4.2926
8 5.0069 4.9869 4.9679 4.9497 4.9326
9 5.6374 5.6196 5.6025 5.5861 5.5703
10 6.2675 6.2514 6.2359 6.2208 6.2066
11 6.8972 6.8826 6.8685 6.8547 6.8413
12 7.5267 7.5133 7.5002 7.4876 7.4752
13 8.1560 8.1437 8.1316 8.1198 8.1083
14 8.7852 8.7737 8.7625 8.7514 8.7406
15 9.4143 9.4036 9.3931 9.3827 9.3726
 Computation of added mass 137

To compute added mass and damping, we need to solve the equation (57) first.
We verify the convergence of the solution by the following way.

Figure 2 Figure 3

Fig. 2: Real part of the solution γ01 of equation (57) as function of Np . Fig. 3:
Imaginary part of the solution γ01 of equation (57) as function of Np .

Then we vary Nn keeping Np fixed (Np = 20). We consider s0 a = 1.0,

h/a = 5.00 and b/a = 1.00. Then fixing Nn (= 20), we vary Np and observe the
real and imaginary parts of the solution of (57) as a function of Np . The real
and imaginary parts of the solution γ01 for this case are presented in Figure 2
and Figure 3 respectively.

Figure 4 Figure 5

Fig. 4: Real part of the solution γ01 of equation (57) as function of Nn . Fig. 5:
Imaginary part of the solution γ01 of equation (57) as function of Nn .
138 Dambaru Bhatta

The real and imaginary parts of the solution γ01 are shown in Figure 4 and
Figure 5 respectively.
From the results computed, we see excellent truncation properties for Np and
Nn. From this observation, we choose Np = 20 and Nn = 20 for further compu-
tational purpose.
Truncating the equation (56), added mass and damping coefficient can be
written as
"(  2) X Np
µ + i λσ 1 1 a
= + + γ0j L0sj
S 3 8 h−b j=0
Nn
( Np )#
4 h−b X (−1)n I1 (kna) X (−1)n
+ γ0j Lnsj − 2 2 (61)
π a n=1 nI0(kn a) n π
j=0
2
where S = πa (h − b)ρ and
−1
(−1)n Ns0 2 (h − b)s0 sinh s0 (h − b)
Lns0 = , (62)
(h − b)2s20 + n2π2
−1
(−1)n Nsj 2 (h − b)sj sin sj (h − b)
Lnsj = . (63)
(h − b)2s2j − n2 π2
Computational results of (61) are presented next. Non-dimensional added mass
and damping coefficients are presented in Figure 6 through Figure 9 as functions
of s0 a. Figure 6 shows the computational results of non-dimensional added mass
for depth to radius ratio 3 (h/a = 3) and draft to radius ratios, b/a = 1.5, 1.0,
0.75.

Figure 6 Figure 7

Fig. 6: Added mass for various b/a and h/a = 3.0. Fig. 7: Added mass for various
b/a and h/a = 5.0
 Computation of added mass 139

Results of added mass for h/a = 5 and b/a =1.5, 1.0, 0.75 are presented in
Figure 7. For h/a = 3, 5 and b/a = 1.0, added mass is shown in Figure 8.

Figure 8 Figure 9

Fig. 8: Added mass for various h/a and b/a = 1.0. Fig. 9: Damping coefficient for
various b/a and h/a = 5.0

Figure 9 presents the computational results of non-dimensional damping co-

efficients for h/a = 3 and b/a = 1.5, 1.0, 0.75.

Fig. 10: Damping coefficient for various b/a and h/a = 5.0

Results of damping for h/a = 5 and b/a =1.5, 1.0, 0.75 are presented in Figure
10. In these calculations, we take Np = 20 and Nn = 20. At the same depth of
water (for h/a fixed), heave added mass is higher for higher draft of the cylinder
140 Dambaru Bhatta

(for larger b/a). For the same draft of the cylinder (for b/a fixed), added mass
is higher for lower depth of water (smaller h/a). For all cases variation in added
mass becomes smaller and smaller for wave numbers larger than 3 (s0 a > 3).
Damping coefficients for all the cases are approaching to zero for s0 a > 3.

8. Acknowledgement

Author would like to thank the referee for his encouraging remarks.

References

1. K. J. Bai, The added mass of two-dimensional cylinders heaving in water of finite depth,
Journal of Fluid Mechanics 81 (1977), 85-105.
2. S. K. Chakrabarti, Hydrodynamics of Offshore Structures, Computational Mechanics Pub-
lications, Southampton-Boston, 1986.
3. R. G. Dean and R. A. Dalrymple, Water Wave Mechanics for Engineers and Scientists,
Prentice-Hall Inc, New Jersey, 1984.
4. L. Debnath, Nonlinear Water Waves, Academic Press, London, England, 1994.
5. R. S. Johnson, A Modern Introduction to the Mathematical Theory of Water Waves, Cam-
bridge University Press, Cambridge, 1997.
6. P. McIver and C. M. Linton, The added mass of bodies heaving at low frequency in water
of finitre depth, Applied Ocean Research 13 (1991), 12-17.
7. N. W. McLachlan, Bessel functions for Engineers, Clarendon Press, Oxford, 1961.
8. M. Rahman and D. D. Bhatta, Evaluation of added mass and damping coefficient of an
oscillating circular cylinder, Applied Mathematical Modelling 17 (1992), 70-79.
9. M. Rahman, WATER WAVES: Relating Modern Theory to Advanced Engineering Prac-
tice, Oxford University Press, Oxford, 1994.

Dambaru D. Bhatta received his PhD from Dalhousie University, Halifax, Canada.
Currently he is a faculty in the Department of Mathematics, University of Texas-Pan
American, TX, USA. His research interests include applied mathematics, partial differential
equations, water wave, wave-structure interactions, fractional differential equations, digital
signal processing.
Department of Mathematics, The University of Texas-Pan American, 1201 W. University
Drive, Edinburg, TX 78541, USA
e-mail : bhattad@utpa.edu