The Dynamics of Marine Craft: Maneuvering and Seakeeping -- PREFACE -- CONTENTS -- CHAPTER 1 DYNAMICS OF RIGID BODIES -- 1. Coordinate Systems and Definitions -- 2. Angular Displacements and Coordinate Transformations -- 3. Velocity and Acceleration -- 4. Equations of Motion: Origin at the Center of Mass -- 5. Equations of Motion: Origin at an Arbitrary Point -- 6. A Third Coordinate System -- CHAPTER 2 CALM WATER BEHAVIOR OF MARINE VEHICLES AT ZERO SPEED: HYDROSTATICS -- 1. Gravity and Buoyancy -- 2. Small Perturbations -- 3. The Restoring Force Coefficient Matrix -- 4. Hydrostatic Stability -- 5. Example: Hydrostatics of a Simple Barge -- CHAPTER 3 CALM WATER BEHAVIOR OF MARINE VEHICLES WITH FORWARD SPEED: MANEUVERING -- 1. Equations of Motion -- 2. Added Mass and Added Moment of Inertia -- 2. I Evaluation of added mass coefficients: Hull -- 2.2 Shallow water effects -- 2.3 Evaluation of added mass coefficients: Appendages -- 2.4 Calculation of added mass: Example -- 3. "Steady" Forces and Moments -- 4. Evaluation of Steady Force and Moment Coefficients: Hull -- 4.1 Linear coefficients -- 4.2 Nonlinear coefficients -- 5. Contribution of Appendages -- 6. Shallow Water Effects -- 7. Resistance and Thrust -- 7.1 Resistance -- 7.2 Thrust -- 7.3 Propeller shaft speed -- 7.4 Other operating regions -- 7.5 Waterjets -- 8. Control Forces and Moments -- 8.1 Rudders -- 8.2 Propeller-Rudder-Hull interaction -- 8.3 Vectored thrust -- 8.3.1 Azimuthing thrusters -- 8.3.2 Waterjets -- 8.4 Control forces and moments -- 9. Wind and Current Effects -- 9. I Wind -- 9.2 Current -- 10. Solution of the Equations of Motion -- 10.1 General case: Numerical integration -- 10.2 Solution of the linearized equations -- stability -- 10.2.1 Horizontal-plane motions -- 10.2.2 Example: Controls-fixed stability for horizontal-plane motions.

10.2.3 Vertical-plane motions of submersibles -- 10.2.4 Example: Controls-fixed directional stability for vertical-plane motions -- 10.2.5 Heavy torpedoes -- APPENDIX A PREDICTION OF WAKE FRACTION AND THRUST DEDUCTION -- APPENDIX B COEFFICIENTS IN KT and & KQ POLYNOMIALS -- APPENDIX C ROUTH-HURWITZ STABILITY CRITERION -- CHAPTER 4 WATER WAVES -- 1. A Simple Sinusoidal Wave -- 1.1 Particle velocities and trajectories -- dynamic pressure -- 1.2 Standing waves -- 1.3 Group velocity and wave energy -- 1.4 Application: Wave shoaling -- 2. Forces and Moments -- 2.1 Some analytical solutions -- 2.2 Morison's formula -- 3. Nonlinear Wave Theory -- 3.1 Stokes theory -- 3.2 Limitations of Stokes theory -- 3.3 Wave breaking -- 4. Spectral Representation of Ocean Waves -- 4.1 Determination of wave spectra -- 4.1.1 Wave spectra fiom measurements -- 4.1.2 Semi-empirical formulations of wave spectra -- 4.1.3 Statistics of wave heights -- 4.2 Representation in the time domain -- 5. Long-Term Wave Statistics -- 5.1 Maximum waveheight from occurrence data -- 5.2 Maximum significant waveheight from extreme value distributions -- 5.2.1 Weibull distribution -- 5.2.2 Gumbel distribution -- 5.2.3 Example -- CHAPTER 5 WAVE-INDUCED FORCES ON MARINE CRAFT -- 1. Wave-Induced Motions: Linear Theory -- 1.1 Hydrodynamic forces: Superposition -- 1.2 Equations of motion -- simple 1-DOF case -- 2. Radiation Forces: Added Mass and Damping -- 2.1 General computational procedure, zero speed -- 2.2 Two-dimensional methods -- 2.3 Frequency dependence -- 2.4 Added mass and damping forces -- 2.5 Radiation forces in the time domain -- 2.6 Eflects of forward speed on radiation forces -- 2.6.1 General case -- 2.6.2 Slender bodies -- 2.7 Transformation to "standard" body axes -- 2.8 Radiation forces: Available data -- 3. Wave Exciting Forces -- 3.1 Radiation forces: Available data.

3.2 Frequency dependence -- 3.3 The Haskind relations -- 3.4 Exciting forces in the time domain -- 3.5 Effects of forward speed on wave exciting forces -- 3.5.1 Encounter frequency and encounter spectra -- 3.5.2 Froude-Krylov force with forward speed -- 3.5.3 Diffraction force with forward speed -- 3.6 Transformation to "standard" body axes -- 4. Viscous Roll Damping -- 4.1 Experimental determination -- 4.1.1 General single degree-of-freedom response -- 4.2 Prediction of roll damping -- 4.3 Equivalent linear roll damping -- 5. Some Examples -- 5.1 Heaving and pitching in head seas -- 5.2 Rolling in beam seas -- 6. Roll Stabilization Devices -- 6.1 Passive devices -- 6.2 Active devices -- 7. Motions in Irregular Waves, Frequency Domain -- 7.1 Encounter spectra -- 7.2 Statistics of maxima -- 7.3 Caveats -- 8. Derived Responses -- 8.1 Motions at a point -- 8.2 Relative motions -- 8.3 Slamming -- 8.4 Shear force and bending moment -- 8.5 Motion sickness incidence and motion induced interruptions -- 8.5.1 Motion sickness and fatigue-reduced proficiency -- 8.5.2 Motion induced interruptions -- 8.6 Operability criteria -- 9. Some Nonlinear Effects -- 9.1 Evaluation of second order force: Pressure integration -- 9.2 Evaluation of second order force: Momentum conservation -- 9.3 Newman's approximation -- 9.4 Effects of forward speed: Wave drift damping and added resistance -- 9.4.1 Wave-drift damping -- 9.4.2 Added resistance -- 10. Mooring Systems -- 10.1 Static catenary line -- 10.1.1 A simple example -- 10.2 Stability of a towed or moored ship -- CHAPTER 6 DYNAMICS OF HIGH SPEED CRAFT -- 1. Maneuverability -- 1.1 Transverse/directional stability, general -- 1.2 Trunsverse/directional stability, planing boats -- 1.2.1 Dynamic roll moment -- 1.2.2 Dynamic stability -- effect of appendages -- 1.3 Heave / pitch stability -- 1.4 Turning performance.

2. Seakeeping -- 2.1 Impact accelerations -- 2.2 Application: Habitability -- 2.3 Bottom pressure -- 3. Concluding Remarks -- REFERENCES -- INDEX.