1.

a Seakeeping: Celerity of wave

A surf board travels with Froude number Fn = 0.5 on a deep-water wave of 4 m length. How long must the
surf board be to ride on the wave, i.e. to have the same speed as the wave?
Solution
The speed of the surf board is: V Fn gL
g
2
Both velocities must be the same for surf riding:

The celerity of the wave is: c

V c Fn gL

g
2

2 .5 m
2
2 Fn 2 0.52

1.b Seakeeping: Velocity and acceleration in shallow-water wave

The potential of a regular wave on shallow water is given by:

Re ich sinh( kH ) cosh(k ( z H ))ei (t kx )

wave length
= 100 m
wave amplitude h = 3 m
water depth
H = 30 m
Determine velocity and acceleration field at a depth of z = 20 m below the water surface!
The following parameters are given:

Solution
The velocity is derived by differentiation of the shallow-water potential:

h
h
vx x Re
cosh(k ( z H ))ei (t kx )
cosh( k ( z H )) cos(t kx)
sinh( kH )
sinh( kH )

ih
h
vz z Re
sinh( k ( z H ))ei (t kx )
sinh( k ( z H )) sin(t kx)
sinh(
kH
)
sinh(
kH )

This derivation used the relation c = /k. The individual values are:
2
2
k

0.06283 m1

100
gk tanh( kH ) 9.81 0.06283 tanh(0.06283 30) 0.767 s1
This yields:
vx 0.861 cos(0.767t 0.06283 x )

vz 0.480 sin(0.767t 0.06283 x)

The accelerations are obtained by differentiating the velocities with respect to time:
a x xt 0.661 sin(0.767t 0.06283 x )
a z zt 0.368 cos(0.767t 0.06283 x )
The velocities have a phase shift of 90 and different amplitudes. The particles will thus trace an ellipse.

3 Seakeeping: Wave with two buoys

The position of two buoys is given by their (x,y) coordinates in [m] as sketched below. The buoys are excited
by a regular wave of = 62.8 m, amplitude h = 1 m, and angle = 30 to the x-axis.
a) What is the maximum vertical relative motion between the two buoys if they follow exactly the
waves?
b) What is the largest wave length to achieve maximum vertical relative motion of twice the wave
amplitude?

Solution
2
2

0.1 m1

62.8
Transform coordinates in local -system. Points on = const. have same -values for regular waves.
The two buoys have then coordinates:
1 = 0
2 = x2 cos 30 y2 sin 30 = 30 cos 30 10 sin 30 = 21 m
The relative difference between the wave elevations is:

a) The wave number of this wave is: k

1 2 Re h ei (t k1 ) Re h ei (t k 2 ) Re h eit 1 e ik 2 )

The amplitude (= maximum) of this relative motion is given by:

h e it 1 e ik 2 ) h
1

1 cos(k 2 ) 2 sin( k 2 ) 2
1 cos(0.1 21) 2

sin(0.1 21)

= 1.73 m
b) The maximum difference between wave elevations is twice the wave amplitude if the buoys are
spaced by an odd multiple of half the wave length. The longest wave is obtained for a spacing of
half the wave length:

21 m

= 42 m
2
All other wave lengths fulfilling the criterion are even shorter.

2 Seakeeping: Encounter frequency

A ship travels with 28.28 kn in deep sea in regular sea waves. The ship travels east, the waves come from
southwest. The wave length is estimated to be between 100 m and 200 m. The encounter period Te is
measured at 31.42 s.
a) What is the length of the seaway?
b) Two days before, a storm started in an area 1500 km southwest of the ship's position.
Can the waves have their origin in this storm area?

Solution
The speed is V = 28.28 0.5144 m/s = 14.55 m/s.
The encounter period yields the encounter frequency:
The value of is:

2
2

0.2 s1
Te
31.42

eV 0.2 14.55

0.2966
g
9.81

There are three possible frequencies which could excite this encounter frequency:

g
9.81
1 1 4 cos
1 1 4 0.2966 cos 45 1.123 Hz
2V cos
2 14.55 cos 45
g
9.81
2
1 1 4 cos
1 1 4 0.2966 cos 45 0.6684 Hz
2V cos
2 14.55 cos 45
g
9.81
3
1 1 4 cos
1 1 4 0.2966 cos 45 0.2854 Hz
2V cos
2 14.55 cos 45

The corresponding wave lengths are:

2g 2 9.81
1 2
49 m
1
1.1232

2g 2 9.81

138 m
22
0.66842
2g 2 9.81
3 2
756 m
3
0.28542

Only 2 = 138 m fits the observed bandwidth of wave lengths.

Wave groups travel with group velocity. For deep ocean water, this is
1 g
1 9.81 138
cgr

7.34 m/s
2 2
2
2
At this speed, waves can travel within two days:
s = 48 h 60 min/h 60 s/min 7.34 m/s = 1268 km < 1500 km
The waves can thus not originate from the storm area.

6 Seakeeping: Power requirements for a wave maker

A wave maker is to be designed for a towing tank of width B = 4 m and depth H = 2.5 m. The wave maker
shall be designed for a wave of 5 m length and 0.2 m amplitude.
a) What is the power requirement for the motor for the wave maker if we assume 30% total efficiency
between motor and wave? (For the considered wave length, the depth can be regarded as deep.
The power requirement of the wave is (energy/meter [in direction of wave propagation]) * group
velocity, as the energy in a wave is transported with group velocity.)
b) After switching the wave maker off, for a long time there is still a wave motion with period 40 s
observed in the tank. How long is the tank if the motion is due to the lowest natural frequency of
the tank?
Solution
a) The group velocity is:
1
1 g
1 9.81 5
cgr c

1.397 m/s
2
2 2
2
2
The average energy per area is:
1
1
E gh 2 1000 9.81 0.2 2 196.2 N/m
2
2
Thus the power of the wave is:
P E B cgr 196.2 4 1.397 1096 W
The power of the motor then needs to be:
Pm P / 0.3 3.65 kW
b) The wave length is now long compared to the depth. Thus we have to use finite water depth
expressions:
2
k tanh( kH )

2
0.157 2
0.157 Hz, this yields:
k tanh( kH )
0.002515 m1
T
9.81
This equation has to be solved iteratively. As the convergence is slow, it is useful to start with a good
estimate. For small x, tanh(x) x. This would yield k 0.002515 / 2.5 0.03172 .
We solve the problem using Newton's iteration:
f (k )
k k
f ' (k )
f

tanh(
2.5k ) 0.002515 and f ' tanh(2.5k ) k / cosh 2 (2.5k ) , we obtain within
With
7 iterations:
2
2
k 0.03175

198 m.
k
0.03175
With

The lowest natural frequency is at /2 = L, i.e. the tank has a length of 99 m.

9 Seakeeping: Cylinder with Lewis cross section in regular waves

A cylinder of Lewis cross section (L = 10 m, B = 1 m, T = 0.4 m, Cm = 0.8) floats parallel to the wave crests
of regular waves = 5 m, h = 0.25 m) which excite heave motions. Assume that the form of the free surface
is not changed by the cylinder. What is the amplitude of relative motion between cylinder and free surface
predicted by linear theory?
Solution
Fundamental equation for heave motion:

m m
2

33

in33 c33 u3 fe

The individual quantities needed are:

2g
2 9.81

3.51 Hz

5
2 B 3.512 1
2g

2 9.81

0.628

B
1

1.25
2T 2 0.4
*
*
Then the curves for Lewis sections yield: Cz = 0.62, Az 0.68 , f er 0.39 , f ei 0.38 . This in turn
gives:
B2
12
m33 C z
0.62 1000 243 kg/m
8
8
m Cm B T 1000 0.8 1.0 0.4 320 kg/m
H

n33 Az2

2
g 2
2 1000 9.81

0
.
68

1029 kg/ms
3
3.513

c33 gB 1000 9.81 1.0 9810 N/m2

f e gB f er* f ei*i h 1000 9.81 1.0 (0.39 0.38i ) 0.25 956.5 932.0i N/m
We assume = 1000 kg/m3 here for convenience. As appears in all terms, the final result is not influenced
by the choice of .
This yields the heave motion amplitude:

3.51 243 320 i 3.51 1029 9810 u

2

956.5 932.0i

956.5 932.0i
0.287 0.0366i m
2874 3612i
The amplitude of relative motion is determined from:
u3

r u3 h 0.287 0.0366i 0.25 0.037 0.0366i

0.037 2 0.0366 2 = 0.052 m

8 Seakeeping: Lewis section in forced heave

An infinite cylinder of width B = 2 m, draft T = 1 m and with Lewis cross section of coefficient Cm = 0.8
floats in equilibrium in fresh water. Then a harmonic force per length with period Te = 3.14 s and amplitude
fe=1000 N/m is applied. What motion results after a long time (when the initial start-up has decayed)?
What wave length and what wave amplitude are generated, assuming a deep basin?
Solution
The motion has only one degree of freedom, namely heave. The basic equation is then:

m m
2

33

in33 c33 u3 fe

u3 is the complex amplitude of heave motion. The individual quantities needed are:
2
2

2 Hz
Te
3.14
2 B
22 2

0.408
2g
2 9.81
B
2
H

1
2T 2 1
Then the curves for Lewis sections yield: Cz = 0.7, Az 0.51 . This in turn gives:

B2
22
0.7 1000
1100 kg/m
8
8
m Cm B T 1000 0.8 2.0 1.0 1600 kg/m

m33 C z

n33 Az2

2
g 2
2 1000 9.81

0
.
51

3129 kg/ms
3
23

c33 gB 1000 9.81 2.0 19620 N/m2

This yields the heave motion amplitude:

2 1600 1100 i 2 3129 19620 u

2

1000

1000
0.0754 0.0535i m
8820 6258i
The amplitude is:
u3 0.07542 0.05352 0.0925 m
The wave length follows from:
2 2
2g

2 15.4 m
g

The wave amplitude follows from Az :

h Az u3 0.51 0.0925 0.047 m
u3

10 Seakeeping: Catamaran in waves

A raft consists of two cylinders with D = 1 m diameter and L = 10 m length. The two cylinders have a
distance of 2e = 3 m from centre to centre. The raft has no speed and is located in regular waves coming
directly from abeam. The waves have = 3 m and wave amplitude h = 0.5 m. Assume the two cylinders to
be hydrodynamically independent, i.e. waves created by one cylinder are not reflected at the other cylinder.
The raft has a draft of 0.5 m, centre of gravity in the centre of the connecting plate, radius of moment of
inertia for rolling is kx = 1 m. The density of the water is 1000 kg/m3. The Cm = /4 is close enough to 0.8 to
use the Lewis section curves for this Cm. Neglect sway motion. What is the maximum roll angle?
Hint: The centre of gravity of a semi-circle is 4r/(3) from the flat baseline, where r is the radius.

Solution

D 2
12
L 2 1000
10 2 7854 kg
8
8
2
2
The mass moment of inertia is: m k x 7854 1 7854 kgm2
2 2
k

0.6667 m1
Wave number:

3
2g
2 9.81
Wave frequency:

2.56 s1

3
The metacentric height is:
4
D 3 L / 12 DLe 2 2

GM KB BM KG 1
D
T
3
D 2 L / 4

The mass of the raft is:

1
3

0 .5

1 10 /12 1 10 1.5 2 1 5.23 m

3

12 10 / 4

B
1. 0
2 B 2.56 2 1.0

0.333

1
and
2g
2 9.81
2T
2 0.5
Then the curves for Lewis sections yield: Cz = 0.8, Az 0.4 , f er* 0.6 , f ei* 0.25
Parameters for Lewis curves:

2 ( m44 ) in44 c44 u4 f e 4

The basic equation of roll motion is:
The hydrodynamic added mass m44 and damping n44 (moments) are derived from the added mass for heave
(forces) times lever e:
m44u4 2 m33 u3 e

The factor 2 is due to the two cylinders. The term in parentheses is the vertical force. With u3 e u4 , we
get for the whole 3-d raft:
B 2

1.02
m44 2
C z L e 2 2 1000
0.8 10 1.52 14137 kgm2
8
8

g 2
1000 9.812
10 1.52 41300 kgm2/s
n44 2 Az2 3 L e 2 2 0.4 2
3

2.56

The restoring force constant for roll motion is:

c44 mg GM 7854 9.81 5.23 403 kNm

The exciting moment has to consider the phase shift in the wave between the two hulls. The force on the left
floater is then:
fl f er* if ei* gBh L e ike
The force on the right floater is:
fr f er* if ei* gBh L eike
The phase shift is thus in the last term. Combine the two forces with lever e to get:

f e 4 e f er* if ei* gBh L e ike eike

1.5 0.6 0.25i 1000 9.81 1.0 0.5 10 2i sin(0.6667 1.5)

= (30956 74293 i) kgm2/s2
Then our basic equation becomes:

2.56 (7854 14137) i 2.56 41300 40300 u

(30956 74293i )
258.9 105.7i u4 (30.96 74.29i) u4 0.002 0.288i
2

The (real) roll amplitude is then

u4

0.002 2 0.2882 0.288 16.5

The assumption of linearity is thus no longer justifiable.

7 Seakeeping: Pontoon with crane in waves

Consider a pontoon with a heavy-lift derrick as sketched. The pontoon has L = 100 m, B = 20 m, D = 10 m,
mp = 107 kg. The load at the derrick has mass ml = 106 kg. The height of the derrick over deck is 10 m. This is
where the load can be considered to be concentrated in one point. The longitudinal position of the derrick is
20 m before amidships. A force F = 10 6 N acts on the forward corner. We assume homogeneous mass
distribution in the pontoon.
a) Consider the pontoon in air (without hydrodynamic masses) and determine the acceleration vector
!
u
b) Consider the pontoon statically in water and determine u!

Solution
All numbers are given in standard units. We use the coordinate system as in the book with z pointing down.
Origin is at K.
0
0

0
0

6

F
10
a) The general 6-component force vector is: F

7
F 10m
10
F 50m
5 107

0
0
The mass matrix needs the following expressions:
m m p ml 107 106 1.1 107
m z g m p z g , p ml z g , l 107 ( 5) 106 ( 20) 7 107

m xg m p xg , p ml z g ,l 107 0 106 20 2 107

The moments of inertia are computed for pontoon and load:

L
m
B3
B 2 107
20 2
B D 3 D
p D 2

102

xx , p ( z 2 y 2 ) d m p
3
4
3
4
3
4
= 0.667 109
xx, l ml z g2 , l 106 20 4 0.4 109
Thus

xx xx , p xx , l 1.067 109 . Correspondingly we get:

xz , p

xz d m 0

xz , l ml x g , l z g , l 106 ( 20) 20 0.4 109

Thus

xz xz , p xz , l 0.4 109 .
yy , p ( x 2 z 2 ) d m

= 8.667 109

p B
m
L3
L2
107
1002
L D 3 D p D 2
10 2

3
4
3
4
3
4

yy ,l ml xg2 ,l z g2 ,l 106 (202 202 ) 0.8 109

Thus

yy yy , p yy , l 9.467 109

zz , p ( x 2 y 2 ) d m
= 8.667 109

p D
m
107

202 1002
LB 3 BL3 p B 2 L2
12
12
12

yy ,l ml x g2 , l y g2 ,l 106 (202 02 ) 0.4 109

Thus

zz zz , p zz , l 9.067 109

0
0
0
70
0
11
0
11
0
70
0
20

0
0
11
0
20
0
6
This yields the mass matrix: M 10

70
0
1067
0
400
0
70 0 20
0
9467
0

20
0
400
0
9067
0
Now we can use the fundamental equation F M u , where F and u are generalised 6-component
vectors. Since we solve manually, it is advisable to decouple the 66 system of equations into 33
systems for symmetric and anti-symmetric degrees of freedom:

1
11u
1
70u

3
11u
3
20u

2
11u
2
70u

4
70u
4
1067u

2
20u

4
400u

b) Basic equation of motion is:

5 0
70u
5 1
20u
5 50
9467u

6 0
20u
6 10
400u
6 0
9067u

1
u
3
u
5
u

0.036

0.101
0.005

2
u
4
u
6
u

(M A) i N S u F
2
e

Now we consider the quasi-static case, i.e. e = 0. F is then the exciting force. Then: S u F
m
1.1 107
3
5.5 m,
The hydrostatic data are: Aw L B 100 20 2000 m2, xw = 0, T
Aw 10 2000
GM = KB + BM KG =

T
B2

z g 2.75 + 3.06 6.36 = 2.45 m,

2 12T

T
L2

z g 2.75 151.51 6.36 147.9 m

2 12T
0
0
0
0 0
0 0
0
0
0

0 0 19.62
0
0
S 106
This gives:
0
264.4
0
0 0
0 0
0
0
15960

0
0
0
0 0
It is impossible to make any statement on u1, u2, and u6. The
simple system of equations:
19.62u3 1 u3 0.05 m
264.4u4 10 u4 0.038
15960u5 50 u5 0.0031
GM L

0
0

0
0

0
remaining degrees of freedom form a