06 Transverse Righting Moment

2009 Fall, Ship Stability
SDAL
@
Advanced Ship Design Automation Lab.
http://asdal.snu.ac.kr
Seoul
National
Univ.
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SDAL
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- Ship Stability -
Part.1-II Righting Force and Moment
2009 Fall
Prof. Kyu-Yeul Lee
Department of Naval Architecture and Ocean Engineering,
Seoul National University
SDAL
@
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National
Univ.
Righting Moment
Overview of Ship Stability
Force & Moment on a Floating Body
Newtons 2
nd
Law
Euler Equation
Stability Criteria
Damage Stability
- MARPOL regulation
Pressure Integration Technique
Calculation Method to find GZ
with respect to IMO regulation
sin GZ GM = ,GM KB BM KG = +
sin
L L
GZ GM = ,
L L
GM KB BM KG = +
- Overview of Ship Stability
B
F GZ
Transverse Righting
Moment :
B L
F GZ
Longitudinal Righting
Moment :
<Method >
GZ Calculation
( )
G B
GZ y y = +
( )
L G B
GZ x x = +
<Method >
Z
K
z
O
C
L
y
z M
restoring
G
F
G
B
B
1
N
F
B
1 B
y
G
y
F
B
: Buoyancy force
: Angle of Heel, : Angle of Trim
(x
G
,y
G
,z
G
) : Center of mass in waterplane fixed frame
(x
B
,y
B
,z
B
) : Center of buoyancy in waterplane fixed frame
y'
G
, y'
B
in body fixed frame
Rotational Transformation!
y
G
, y
B
in waterplane fixed frame
Fundamental of Ship Stability
Properties which is related to hull
form of the ship
Hydrostatic Values
Intact Stability
- IMO Requirement (GZ)
- Grain Stability
- Floodable Length
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- Contents -
Part.1-I Fundamentals of ship stability
Ch.1 Overview of Ship Stability
Ch.2 Physics for Ship Stability
Ch.3 Hydrostatic Pressure, Force and Moment on a floating body
Ch.4 Concept of Righting Moment
Ch.5 Hydrostatic Values
Part.1-II Righting Moment
Ch.6 Transverse Righting Moment
Ch.7 Longitudinal Righting Moment
Ch.8 Heeling Moment caused by Fluid in Tanks
Part.1-III Stability Criteria
Ch.9 Intact Stability
Ch.10 Damage Stability
Part.1-IV Pressure Integration Technique
Ch.11 Calculation of Static Equilibrium Position
Ch.12 Governing Equation of Force and Moment with Immersion, Heel and Trim
Ch.13 Partial derivatives of force and moments with immersion, heel, and trim
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- Sec.1 Calculation of Center of Buoyancy -
2009
Prof. Kyu-Yeul Lee
- Ship Stability -
SDAL
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Univ.
Sec.1 Calculation of Center of Buoyancy
Sec.2 Calculation of BM, GZ in Wall Sided Ship
Sec.3 Inclining Test
Sec.4 Transverse Stability of ship (Unstable condition)
Sec.5 Transverse Righting Moment due to Movement of Cargo
Sec.6 Calculation of Heeling Angle due to Shift of Center of Mass
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- Rotational Transformation of Point and Frame
- Example) Calculation of Center of Buoyancy of Ship with
Constant Section
Method Direct calculating center of buoyancy in waterplane fixed frame
Method Transformation center of buoyancy from body fixed frame to
waterplane fixed frame
- Calculation of Center of Buoyancy of Ship with Various Station
Shape
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(Review)
Transverse Righting Moment
Z
K
z
O,O'
y
z
) (+
C
L
y
z
M
righting
G
F
G
B
B
1
N
F
B
1
B
y
G
y

O'x'y'z' : Body fixed frame
Oxyz : Waterplane fixed frame
Righting Moment : Moment to
return the ship to the upright floating
position (Righting moment, Moment
of statical stability))
B
GZ F = i
Transverse Righting moment
1
( )
righting G B B
y y F = + i
Righting arm
Righting Arm (GZ)
1
G B
GZ y y = +
From direct calculation
We should know y
G
, y
B1
From geometrical figure with
assumption that M does not change
within small angle of heel (about 10)
sin GZ GM =
GM is related to below equation by
geometrical figure
GM KB BM KG = +
How to calculate in
waterplane fixed frame ?
1 1
,
B B
y z
x,x'
G: Center of mass B: Center of buoyancy B
1
: Changed center of buoyancy
K : Keel F
G
: Weight of ship F
B
: Buoyant force acting on ship
Z : The intersection of the line of buoyant force through B
1
with the transverse line
through G
M : The intersection of the line of buoyant force through B
1
with the centerline of the ship
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B
K
G
O,O'
y
z
Base
Line
F
B
F
G
z
y
e
External moment (
e
) is applied on the
ship in clockwise. A ship is heeled about
origin O through an angle of
- Transverse Righting Moment
Method 1. calculate center of the buoyancy(B
1
) with respect to waterplane fixed frame
Question : How to calculate center of the buoyancy(B
1
) with respect to waterplane fixed frame?
x,x'
y
z
( ) +
j
k
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1
dydz dA =

= dA A
= ydA M
y A,

= zdA M
z A,
A, Mz, My (with respect to waterplane fixed frame)
Integral value(area and 1
st
moment of area) have
to be calculated for every position when position of
ship is changed.
1
O,O'
y
z
F
B
F
G
B
G
B
1
1
B
y
1
B
z
Center of buoyancy is changed from B to B
1
.
External moment (
e
) is applied on the
How to calculate center of buoyancy B
1
with
respect to waterplane fixed frame?
Method 1. Calculate Center of buoyancy B
1
with
respect to waterplane fixed frame directly
x,x'
y
z
( ) +
j
k
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Integral value(area and 1
st
moment of area) have
to be calculated for every position when position of
ship is changed.
y
z
B
G
B
1
1
B
y
1
B
z
position change
y
z
Wetted surface
at present
z
y
Area and moment of area
have to be calculated again
Wetted surface
with changed position
|
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
, ,
, ) , (
1 1
Center of buoyancy with respect to
1
1
dydz dA =

= dA A
= ydA M
y A,

= zdA M
z A,
A, Mz, My (with respect to waterplane fixed frame)
1
with
1
with
Center of buoyancy is changed from B to B
1
.
External moment (
e
) is applied on the
O,O'
x,x'
y
z
( ) +
j
k
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y
z
Wetted surface
at present
O
y
z
B
K
G
z
y
B
1

1
with
Method 2. Calculate center of buoyancy B
1
with respect to body fixed frame, then
transform B
1
to waterplane fixed frame
with respect to body fixed frame
, ,
, ,
A y A z
A M M
' ' dA dy dz =

= dA A
, '
'
A y
M y dA =
, '
'
A z
M z dA =
Integral value could be used as it is except

intersection region with waterplane area when
position of ship is changed.
( ) ( ) +
1
B
y
1
B
z
1
) with respect to body fixed frame
then transform frame from body fixed frame to waterplane fixed frame
1
O,O'
x,x'
y
z
( ) +
j
k
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y
z
B
K
G
z
y
e
y
z
Wetted surface
at present
( ) ( ) +
position change
y
Only changed area and
moment of area have to calculated.
Wetted surface
z ( ) +
( )
1
1
1
with
1
transform B
1
, ,
, ,
A y A z
A M M
' ' dA dy dz =

= dA A
, '
'
A y
M y dA =
, '
'
A z
M z dA =

O,O'
x,x'
y
z
( ) +
j
k
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y
z
Wetted surface
at present
( ) ( ) +
y
Wetted surface
z
y
z
B
K
G
z
y
e
position change
( ) +
( )
position change
y
z
Wetted surface
at present
z
y
Wetted surface
Is area invariant with respect to reference
frame?
Wetted surface area with respect to waterplane fixed frame
Area is invariant with respect to
reference frame.
1
1
1
with
1
transform B
1
, ,
, ,
A y A z
A M M
' ' dA dy dz =

= dA A
, '
'
A y
M y dA =
, '
'
A z
M z dA =
O,O'
x,x'
y
z
( ) +
j
k
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y
z
B
K
G
z
y
B
1
y
z
Wetted surface
at present
( ) ( ) +
position change
y
Wetted surface
1
B
y
1
B
z
1 1
, ' , '
( ' , ' ) ,
A y A z
B B
M M
y z
A A
| |
=
|
\ .
Center of buoyancy in body fixed frame
1
1
1
with
1
transform B
1
, ,
, ,
A y A z
A M M
' ' dA dy dz =

= dA A
, '
'
A y
M y dA =
, '
'
A z
M z dA =
( ) +
( )
1 1
1 1
'
cos sin
sin cos '
B B
B B
y y
z z

( (
(
=
( (
(
( (

Center of buoyancy in waterplane fixed
frame : Rotational Transformation
O,O'
x,x'
y
z
( ) +
j
k
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y
z
B
G
B
1
1
B
y
1
B
z
O
y
z
B
K
G
z
y
B
1
|
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
, ,
, ) , (
1 1
Center of buoyancy with respect to
dydz dA =

= dA A
= ydA M
y A,

= zdA M
z A,
with respect to waterplane fixed
frame
y z
M M A , ,
1 1
, ' , '
( ' , ' ) ,
A y A z
B B
M M
y z
A A
| |
=
|
\ .
1 1
1 1
'
cos sin
sin cos '
B B
B B
y y
z z

( (
(
=
( (
(
( (

Center of buoyancy with respect to waterplane
fixed frame
Rotational transformation
1
with
1
with
respect to body fixed frame, then transform B
1
to
Same
, ' , '
, ,
A y A z
A M M
' ' dA dy dz = , '
'
A y
M y dA =
, '
'
A z
M z dA =
Convenient
1
B
y
1
B
z
1
B
y
1
B
z
Comparison between Method 1 and Method 2
1
O,O'
x,x'
y
z
( ) +
j
k
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Rotational Transformation of Point and Frame
(A) Rotation of the point (B) Rotation of the frame
Given: Coordinate of P with respect to oyz frame
Find : Coordinate of Q which is rotated coordinate of P
about origin O in the yz plane through an angle of .
P
P
r
y
z
o
Q
Q
r
(

=
(
P
P
Q
Q
z
y
z
y

cos sin
sin cos
Find: Coordinate of P with respect to oyz which is rotated
frame about origin O' from o'y'z' through an angle of .
' y
P
y
P
y
P
z
P
z
cos sin
sin cos
P P
P P
y y
z z

( ( (
=
( ( (

Rotational transformation of point
Rotational transformation of frame
P
P
r
y
z
, o o

' z
cos sin
sin cos
P P
P P
y y
z z

( ( (
=
( ( (

...(1) ...(2 1)
...(2 2)
Rotational transformation of frame
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Rotational Transformation of Point and Frame
Find : Coordinate of Q which is rotated coordinate of P
about origin O in the yz plane through an angle of .
P
P
r
y
z
o
Q
Q
r
(

=
(
P
P
Q
Q
z
y
z
y

cos sin
sin cos
P
y
P
z
Rotational transformation of point through an angle of equals to
rotational transformation of frame through an angle of -.
Rotational transformation of point
y
z
, o o

Find: Coordinate of P with respect to oyz which is rotated
frame about origin O' from o'y'z' through an angle of-.
(A) Rotation of the point (B) Rotation of the frame
cos sin
sin cos
P P
P P
y y
z z

( ( (
=
( ( (

...(2 1)
If we substitude - into
cos sin
sin cos
P P
P P
y y
z z

( ( (
=
( ( (

...(2 1)
P
r
y
z
P
y
P
z P
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(Proof) Rotational Transformation of Point
sin cos cos sin ) sin( + = +
Summation formula of trigonometric function
sin sin cos cos ) cos( = +
Coordinate of point P, Q is expressed by
an angle
) sin(
) cos(

+ =
+ =
Q Q
Q Q
z
y
r
r
sin
cos
P P
P P
z
y
r
r
=
=
( ) ( )

sin cos
sin sin cos cos
sin sin cos cos
) cos(
P P
P P
Q Q
Q Q
z y
y
=
=
=
+ =
r r
r r
r
Let coordinate of Q be expressed by difference formula
of trigonometric function.
( ) ( )

sin cos
sin cos cos sin
sin cos cos sin
) sin(
P P
P P
Q Q
Q Q
y z
z
+ =
+ =
+ =
+ =
r r
r r
r
) ( ,
Q P
r r =
) ( ,
Q P
r r =
(

=
(
P
P
Q
Q
z
y
z
y

cos sin
sin cos
In the matrix form
P
P
r
y
z
o
Q
Q
r
Find : Coordinate of Q which is rotated coordinate of P about origin O in the yz plane through an
angle of .
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(Proof) Rotational Transformation of Frame
sin cos cos sin ) sin( + = +
Summation formula of trigonometric function
sin sin cos cos ) cos( = +
Coordinate of point P is expressed by an angle
cos( )
sin( )
P P
P P
y
z

= +
= +
r
r
cos
sin
P P
P P
y
z
=
=
r
r
( ) ( )
cos( )
cos cos sin sin
cos cos sin sin
cos sin
P P
P P
P P
P P
y
y z

= +
=
=
=
r
r r
r r
Let coordinate of P be expressed by difference formula of
trigonometric function.
( ) ( )
sin( )
sin cos cos sin
sin cos cos sin
cos sin
P P
P P
P P
P P
z
z y

= +
= +
= +
= +
r
r r
r r
cos sin
sin cos
P P
P P
y y
z z

( ( (
=
( ( (

In the matrix form
y
P
y
P
y
P
z
P
z
P
P
r
y
z
o

z
Find: Coordinate of P with respect to oyz which is rotated frame about origin O' from o'y'z' through
an angle of -.
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Constant Section
Shape
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Example) Calculation of Center of Buoyancy of Ship with Constant Section
: Method Direct calculating center of buoyancy in waterplane fixed frame
G: Center of mass K:Keel
B: Center of buoyancy B
1
Given : Breadth (B):20, Depth (D):20, Draft(T) 10, Angle of Heel() : -30
Find : Center of buoyancy (y
B
, z
B
) in Waterplane fixed frame
z
y
O
30
B
K
B
1
20
20
z
y
P
Q
R
S
Question) A ship with a breadth 20m, depth 20m, draft 10m is heel about origin O through an
angle of -30. Calculate center of buoyancy with respect to waterplane fixed frame
z,z
y,y
O
B
K
20
10
20
Q
P
R S
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1
z
y
O
30
B
K
B
1
20
20
z
y
P
Q
R
S
Question) A ship with a breadth 20m, depth 20m, draft 10m is heel about origin O
through an angle of -30. Calculate center of buoyancy with respect to waterplane
fixed frame
Sol.)
P, Q, R,S with respect to waterplane
fixed frame
( , )
P P
P x y iscalculatedbyrotational transformationfrom
Q(x
Q
,y
Q
), R(x
R
,y
R
), S(x
S
,y
S
) are calculated in the same way.
|
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
, ,
, ) , (
1 1
cos(30) sin(30) 10 3.66
sin(30) cos(30) 10 13.66
Q
Q
x
y
| | | || | | |
= =
| | | |

\ .\ . \ . \ .
cos(30) sin(30) 10 13.66
sin(30) cos(30) 10 3.66
R
R
x
y
| | | || | | |
= =
| | | |
\ .\ . \ . \ .
cos(30) sin(30) 10 3.66
sin(30) cos(30) 10 13.66
S
S
x
y
| | | || | | |
= =
| | | |
\ .\ . \ . \ .
cos(30) sin(30)
sin(30) cos(30)
0.866 0.5 10 13.66
0.5 0.866 10 3.66
P P
P P
x x
y y
| | | | | |
=
| | |

\ . \ . \ .
| || | | |
= =
| | |

\ .\ . \ .
Find : Center of buoyancy in Waterplane fixed frame
1 1
( , )
B B
y z
( , )
P P
P x y
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Sol.)
Area
y
z
|
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
, ,
, ) , (
1 1
P
Q
R
S
2 1
1 1
2 1
( )
z z
z z y y
y y
Intersection point between straight line and y

axis have to be calculated in order to know area.
Equation of straight line P
1
S
1
have to be
calculated in order to know intersection point.
Equation of straight line through two points is
as follows.
Substituting two points of P
1
, S
1
into equation of straight line
13.66 ( 3.66)
( 3.66) ( ( 13.66))
( 3.66) ( 13.66)
z y

=

(-13.66,-3.66)
(-3.66, 13.66)
(13.66,3.66)
(3.66,-13.66)
1.732 20 z y = +
T
Intersection
point T
( 11.55,0) T
Equation of straight line of Q
1
R
1
is obtained in the same way
1.732 20 z y =
U
Intersection
point U
(11.55,0) U
z
y
O
30
B
K
B
1
20
20
z
y
P
Q
R
S
1
fixed frame
1 1
( , )
B B
y z
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Sol.)
Area
y
z
|
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
, ,
, ) , (
1 1
P
Q
R
S
Divide area into 4 part, A
1
,A
2
,A
3
,A
4
.
Then calculate area of A
1
.
(-13.66,-3.66)
(-3.66, 13.66)
(13.66,3.66)
(3.66,-13.66)
T (-11.55,0) U
(11.55,0)
A
1 A
2
A
3
A
4
1
1
11.55 ( 13.66) 3.66
2
3.867
A
Area =
=
Area of A
2
, A
3
, A
4
can be calculated in the same way.
2
55.66,
A
Area =
3
86.6
A
Area =
4
53.87
A
Area =
z
y
O
30
B
K
B
1
20
20
z
y
P
Q
R
S
1
fixed frame
1 1
( , )
B B
y z
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Sol.)
Centroid
y
z
|
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
, ,
, ) , (
1 1
P
Q
R
S
(-13.66,-3.66)
(-3.66, 13.66)
(13.66,3.66)
(3.66,-13.66)
T (-11.547,0) U
(11.547,0)
A
1 A
2
A
3
A
4
1
_
2
11.54 ( 11.54 ( 13.66))
3
12.25
c A
x
| |
= +
|
\ .
=
1
_
2
3.66 ( ) 2.44
3
c A
y = =
Centroid of A
1
can be calculated as follows
1 1
_ _
( , )
c A c A
x y
Centroids of A
2
, A
3
, A
4
are calculated in the same way.
2 2
_ _
( , ) ( 3.96, 1.83)
c A c A
x y =
3 3
_ _
( , ) ( 2.11, 6.99)
c A c A
x y =
4 4
_ _
( , ) (6.29, 4.55)
c A c A
x y =
z
y
O
30
B
K
B
1
20
20
z
y
P
Q
R
S
1
fixed frame
1 1
( , )
B B
y z
25
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Sol.)
1
st
moment of area
|
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
, ,
, ) , (
1 1
1
st
moments of area are calculated with areas
and centroids which are calculated in previous.
(13.66,3.66)
y
z
P
Q
R
S
(-13.66,-3.66)
(-3.66, 13.66)
(3.66,-13.66)
T (-11.547,0)
U
(11.547,0)
A
1
A
2
A
3
A
4
Area y
c
z
c
Areay
c
Areaz
c
A
1 3.87 -12.25 -2.44 -47.38 -9.44
A
2 55.66 -3.96 -1.83 -220.24 -101.85
A
3 86.60 -2.11 -6.99 -183.01 -605.62
A
4 53.87 6.29 -4.55 338.78 -245.28
Sum 200.00 -111.85 -962.19
Centoid of total area is calculated as follows.
( )
1 1
, ,
111.85 962.
( , ) , , 0.56, 4.81
200 200
A y A z
B B
M M
y z
A A
| | | |
= = =
| |
\ .
\ .
, A y
M
, A z
M
z
y
O
30
B
K
B
1
20
20
z
y
P
Q
R
S
1
fixed frame
1 1
( , )
B B
y z
26
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Sol.)
Area
z
y
y
z
O
30
B
K
B
1
20
20
Q
P
R
S
A
1
A
2
|
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
' , ' ,
'
,
'
) ' , ' (
1 1
Total area before heel
20 10 200 A = =
Changed areas after heel
1 2
1
, 10 10 tan30 28.87
2
A A = =
A
Total area after heel
Area is invariant with respect
to frame.
1 2
200 28.87 28.87 200
A A A A = +
= + =
: Method Transformation of center of buoyancy from body fixed frame to waterplane fixed frame
z
y
y
z
O
30
B
K
B
1
20
20
Q
P
R
S
1
fixed frame
1 1
( , )
B B
y z
27
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Sol.)
Centroid
Centroid of total area before heel
_ _
( , ) (0, 5)
c A c A
y z =
Centroids of changed area after heel
1 1
_ _
2 1
( , ) ( 10, 10 tan30 )
3 3
( 6.67, 1.92)
c A c A
y z =
=
2 2
_ _
2 1
( , ) ( 10, 10 tan30 )
3 3
(6.67,1.92)
c A c A
y z =
=

z
y
y
z
O
30
B
K
B
1
20
20
Q
P
R
S
A
1
A
2
A
z
y
y
z
O
30
B
K
B
1
20
20
Q
P
R
S
1
fixed frame
1 1
( , )
B B
y z
28
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Sol.)
1
st
moment of area |
|
.
|
\
|
=
A
M
A
M
z y
z A y A
B B
' , ' ,
'
,
'
) ' , ' (
1 1
1
st
moments of area are calculated with areas
and centroids which are calculated in previous.
Area yc zc
Areay Areaz
A 200.00 0.00 -5.00 0.00 -1000.00
A1 -28.87 -6.67 -1.92 192.45 55.56
A2 28.87 6.67 1.92 192.45 55.56
Sum 200.00 384.90 -888.89
, A y
M

, A z
M

Centroid of total area after heel with respect to body fixed frame is as follows
( )
1 1
, ,
384.90 888.89
( , ) , , 1.92, 4.44
200 200
A y A z
B B
M M
y z
A A

| | | |
= = =
| |
\ .
\ .
Rotational
transformation
1 1
1 1
cos sin 1.92 0.56 cos(30 ) sin(30 )
sin cos 4.44 4.81 sin(30 ) cos(30 )
B B
B B
y y
z z

| | | |
| | | | | | | |
= = = | |
| | | |
| |

\ . \ . \ . \ .
\ . \ .

Transform coordinate of centroid of total area with respect to body fixed frame to
centroid with respect to waterplane fixed frame by rotational transformation
Same result
z
y
y
z
O
30
B
K
B
1
20
20
Q P
R
S
A
1
A
2
A
z
y
y
z
O
30
B
K
B
1
20
20
Q
P
R
S
1
fixed frame
1 1
( , )
B B
y z
29
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1
1
0.56
4.81
B
B
y
z
| |
| |
= |
|
|

\ .
\ .
1
1
0.56
( )
4.81
B
B
y
z
| |
=
|
\ .
Same
Calculation Result
Calculation Result
z
y
O
30
B
K
B
1
20
20
z
y
P
Q
R
S
z
y
y
z
O
30
B
K
B
1
20
20
Q
P
R
S
Method Direct calculating center of buoyancy in
Method Transformation of center of buoyancy
from body fixed frame to waterplane fixed frame
30
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Constant Section
Shape
31
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Calculation of Center of Buoyancy of Ship with Various Station Shape
- Introduction
1
B
r 1
B
z
1 B
y
' y
y
' z
z
G
B
K
1
B
L
c
O
O
-
1
'
B
y
1
'
B
z 1 B
z
1 B
y
1
B
r
' z
z
G
B
K
' y
y
L
c
dA
Method Direct calculating center of
buoyancy in waterplane fixed frame
Method Transformation center
of buoyancy frombody fixed frame
How to calculate center of buoyancy of
ship with various sections ?
How to calculate in
waterplane fixed frame ?
1 1
,
B B
y z
position (Restoring moment, Moment
B
GZ F = i
Transverse Restoring moment
1
( )
righting G B B
y y F = + i
Righting arm
Righting Arm (GZ)
1
G B
GZ y y = +
Weshould know y
G
, y
B1
inwaterplanefixed frame
sin GZ GM =
geometrical figure
GM KB BM KG = +
Z
K
z
O,O'
y
z
) (+
C
L
y
z M
righting
G
F
G
B
B
1
N
F
B
1
B
y
G
y

x,x'
32
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VCB(Vertical Center of Buoyancy)
Step Area, 1
st
Moment of Area
z
y
z'
dA
y'
dz'
dy'
c
y
c
z
G
1
n
i
i
A dA dy dz
A
=
= =
=

Area, A
dA dy dz =
Differential element of area, dA
, A y
c
M y dA y dy dz
y A
= =
=

1
st
moment of area with respect to z axis, M
A,x
, A z
c
M z dA z dy dz
z A
= =
=

1
st
moment of area with respect to y axis, M
A,y
( )
, ,
, ,
A y A z
c c
M M
y z
A A
| |
= =
|
\ .
G
Centroid G
(Ai : Area of i-thelement)
( , )
c c
y z : center of A
1) James M. Gere, Mechanics of materials, THOMSON, pp.828-850, 6
th
Edition
33
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Step Sectional Area (A
M
), Displacement Volume
Displacement volume
( ) ' A x dx =

= = ' 'dz dy dA A
Sectional Area
L
form hull
r under wate
B
T
A
x
y
z
( ) ' ' '
' ' '
dx dz dy
dz dy dx dV

=
= =
( ) A x
After calculation of each station area,
displacement volume can be calculated by
integral of section area over the length of ship
Each station
area
Integral
in longitudinal
direction
Volume
A
Area of this Curve
Volume()
A.P x L
A
A
1
A
2
A
3
A
n
..
Oxyz : Waterplane fixed
frame
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Step Vertical Moment of Volume, Vertical Center of Buoyancy(VCB)
Vertical Center of Buoyancy
, ,
( )
z A z
M M x dx
,z
M
VCB

=
Vertical Moment of Volume

( )
,z
M z dV
z dx dy dz
z dy dz dx
=
=
=

,
( )
A z
M x
M
A,z
: Vertical moment of area about y axis
After calculation of each vertical moment of station
area about the y axis(M
A,z
), vertical moment of
displaced volume can be calculated by integral of
vertical moment of section area over the length of ship
L
form hull
r under wate
B
T
x
y
z
A
vertical moment
of station area
about the y axis
Integral
in longitudinal
direction
Vertical
moment of
volume
, ' A z
M
, ' z
M
Area of this Curve

1
st
Moment of
Volume()
,z
M
A.P
x L
M
A1, z
M
A2, z
M
A3, z
M
An, z
.
, A z
M
z
35
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Area of Triangle by Vector
0 0
( , ) x y
1 1
( , ) x y
2 2
( , ) x y
x
y
1 0
r r
2 0
r r
o
2
r
1
r
0
r
1 0 2 0
1
( ) ( ) ( )
2
Area = r r r r r
1 0 2 0 2 0 1 0
1
( )( ) ( )( )
2
x x y y x x y y =
1 0 1 0
2 0 2 0
0
0
x x y y
x x y y
=

i j k
1)
Cross Product
( )
sin = a b a b n
: Area of parellelogram
sin h = b
a
b
b
a
: Area of triangle with side a and b

A = a b
1
2
A = a b
1)
Zill,C. Advanced Engineering Mathematics, p319, J ones and Bartlett, 3
rd
Given : Positionvector r
0
, r
1
, r
2
, of vertexof triangle
Find : Areaof triangle
36
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Area of Triangle
by Rotational Transformation
) ' ' )( ' ' ( ) ' ' )( ' ' (
2
1
0 1 0 2 0 2 0 1
y y x x y y x x =
1 0 2 0 2 0 1 0
1
( )( ) ( )( )
2
x x y y x x y y =
1 0 2 0
1
( ) ( ) ( )
2
Area = r r r r r
1 0 2 0
1
( ') ( ' ' ) ( ' ' )
2
Area = r r r r r
| | | |
0 1 2 0 1 2
cos sin
' ' '
sin cos

(
=
(

r r r r r r
(

=
(
2 1 0
2 1 0
2 1 0
2 1 0
cos sin
sin cos
' ' '
' ' '
y y y
x x x
y y y
x x x

' = r R r
1 1 0 0 2 2 0 0
2 2 0 0 1 1 0 0
1
(( cos sin ) ( cos sin ))(( sin cos ) ( sin cos ))
2
(( cos sin ) ( cos sin ))(( sin cos ) ( sin cos ))
x y x y x y x y
x y x y x y x y

= + +
+ +
) cos ) ( sin ) )(( sin ) ( cos ) ((
) cos ) ( sin ) )(( sin ) ( cos ) ((
2
1
0 1 0 1 0 2 0 2
0 2 0 2 0 1 0 1

y y x x y y x x
y y x x y y x x
+
+ =
2 2
1 0 2 0 1 0 2 0 2 0 1 0 1 0 2 0
2 2
1 0 2 0 2 0 1 0 1 0 2 0 1 0 2 0
1
(( )( )cos sin ( )( )cos ( )( )sin ( )( )sin cos )
2
( )( )cos sin ( )( )cos ( )( )sin ( )( )sin cos )
x x x x x x y y x x y y y y y y
x x x x x x y y x x y y y y y y

= +
+ +
{ }{ }
2 2
1 0 2 0 1 0 2 0
1
cos sin ( )( ) ( )( )
2
x x y y y y y y = +
Is a area changed after rotation about
origin O?
Given : Area before rotation
Find : Area after rotation
1)
rd
0
r
1
r
2
r
x
0
' r
1
' r
2
' r
y
,(R:)
o
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Area of Triangle
) ' ' )( ' ' ( ) ' ' )( ' ' (
2
1
0 1 0 2 0 2 0 1
y y x x y y x x =
1 0 2 0 2 0 1 0
1
( )( ) ( )( )
2
x x y y x x y y =
( )
( ) ( )
Area
Area Area
=
=
Rr
r r
( R : Rotational
transformation matrix)
1 0 2 0
1
( ) ( ) ( )
2
Area = r r r r r
1 0 2 0
1
( ') ( ' ' ) ( ' ' )
2
Area = r r r r r
{ }{ }
2 2
1 0 2 0
1 0 2 0 1 0 2 0
1 0 2 0
1
cos sin ( )( ) ( )(
1
( )( )
)
(
2
)( )
2
x x y y y y y
x x y y y y y y
y = +

=
Area is invariant with respect to frame.
Given :
Find :
1)
rd
0
r
1
r
2
r
x
0
' r
1
' r
2
' r
y
( ) ( ) a Area Are = r r
o
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1
st
Moment of Area
1 0 2 0
1
( ) ( ) ( )
2
Area = r r r r r
( )
C
A = M r r
0 0
( , ) x y
1 1
( , ) x y
2 2
( , ) x y
x
y
C
C
r
( , ) x y
1 2 3
1
( )
3
C
= + + r r r r
A
B
C
O
G
Position vector of centroid of
triangle ABC.
a
Let cent of side BC as D

( )
1
2
OD b c = +

Now, G is the point of internal division with ratio of
2 to 1
2 1 2
2 1 3
OD OA OD OA
OG
+ +
= =
+

( )
1 1
2
3 2
g b c a

= + + =
`
)

( )
1
3
a b c + +

2
1
1 2 3
3
x
x x x
xdA xdxdy A
+ +
= = =

M
1 2 3
3
y
y y y
ydA ydxdy A
+ +
= = =

M
Given : Position vector of vertex of triangle
Find : 1
st
moment of area of triangle
Position vector of centroid of triangle r
1
r
2
r
2
Area of triangle r
1
r
2
r
2
1
st
moment of area of triangle r
1
r
2
r
2
with respect to x and
y axis
(*)
() , 10-,40
th
,2005,,pp.15
1)
rd
o
2
r
0
r
1
r
D
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1 2 3
1
( ' ' ' )
3
C
= + + r r r r
1 2 3
1
( )
3
= + + Rr Rr Rr
1 2 3
1
( )
3
= + + R r r r
C
A = R r
( ) Moment = R r
( )
C
Moment A = r r
1 2 3
1
( )
3
C
= + + r r r r
( ') '
C
Moment A = r r
1 0 2 0
1
( ) ( ) ( )
2
Area = r r r r r
1
st
moment of area of triangle before rotation
( ') ( ) ,( ) Area Area A A = = r r
1
st
moment of area of triangle after rotation
Given : Position vector of triangle, angle of rotation
Find : 1st moment of area of triangle after rotation
about origin O
C
= Rr
C C
= r R r
( )
C
Moment
A =
r
r
| | | |
0 1 2 0 1 2
cos sin
' ' '
sin cos

(
=
(

r r r r r r
(

=
(
2 1 0
2 1 0
2 1 0
2 1 0
cos sin
sin cos
' ' '
' ' '
y y y
x x x
y y y
x x x

' = r R r
1)
rd
0
r
1
r
2
r
x
0
' r
1
' r
2
' r
y
C
' C
C
r
1
st
Moment of Area
C
r
o
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C C
= r Rr
C
A = Rr
( ) Moment = R r
( ) ( )
C
Moment Moment
A
=
=
R r Rr
Rr
( R : Rotational
transformation matrix)
0
r
1
r
2
r
x
0
' r
1
' r
2
' r
y
C
' C
C
r
( )
C
Moment A = r r
1 2 3
1
( )
3
C
= + + r r r r
( ') '
C
oment A = M r r
1 0 2 0
1
( ) ( ) ( )
2
Area = r r r r r
1
st
moment of area of triangle before rotation
( ') ( ) ,( ) Area Area A A = = r r
1
st
moment of area of triangle after rotation
1
st
moment of area is invariant with
respect to frame.
| | | |
0 1 2 0 1 2
cos sin
' ' '
sin cos

(
=
(

r r r r r r
(

=
(
2 1 0
2 1 0
2 1 0
2 1 0
cos sin
sin cos
' ' '
' ' '
y y y
x x x
y y y
x x x

' = r R r
1)
rd
Given : Position vector of triangle, angle of rotation
Find : 1st moment of area of triangle after rotation
about origin O
1
st
Moment of Area
C
r
o
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Constant Section
Shape
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Example) Calculation of Center of Buoyancy of Ship with Various Station
Shape
Given: Length(L) : 50, Breadth(B) : 20, Depth(D) : 20, Draft(T):10,Angleof Heel() : -30
Find : Center of buoyancy(y
,c
, z
, c
) after heel inwaterplanefixedframe
Problem) There is ship (L x B x D : 50 x 20 x 20) with various station shape. When this
ship is heeled about x axis in counter-clock wise through an angle of 30 compulsorily,
calculate y and z coordinates of center of buoyancy with respect to waterplane fixed
frame.
20
C
L
20
10
O,O'
y,y'
z,z'
x,x'
10
10
20
20
10
20
20
20
20
20
20
10
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y dz dy dx
dz dy dx

=

y dz dy dx =
dz dy dx =
O y
z
x
A
3
A
2
A
1
Sectional area of each section
(Body fixed frame)
( ) A x dA dy dz = =

1
st
moment of area of
each section
(Body fixed frame)
, A y
M y dy dz
, A z
M z dy dz
Displacement volume
(Body fixed frame)
dV =
1
st
moment of
displacement volume
(Body fixed frame)
,y
M

,z
M

.
.
( )
F P
A P
A x dx =
Center of buoyancy
(Body fixed frame)
,c
y
.
.
( ( ))
F P
c
A P
y A x dx =
, ,
( , )
c c
y z

: Center of displaced
volume
.
.
.
.
( )
( )
F P
c
A P
F P
A P
A x y dx
A x dx

=

,y
M

=
,c
z
,z
M

=
z dz dy dx
dz dy dx

=

.
.
.
.
( )
( )
F P
c
A P
F P
A P
A x z dx
A x dx

=

, ,
, ,
cos sin
sin cos
c c
c c
y y
z z

| | | |
| |
=
| |
|

\ .
\ . \ .
Center of Buoyancy
(Waterplane fixed frame)
z dz dy dx =
.
.
( ( ))
F P
c
A P
z A x dx =
( )
c
y A x =
( )
c
z A x =
( ) A x
: Sectional areaat x
( , )
c c
y z
: Centroidof sectionat x'

Example) Calculation of Center of Buoyancy of Ship

with Various Station Shape
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O,O'
y,y'
z,z'
x,x'
)
y'
y
z' z
<SectionA
1
>
<SectionA
2
>
<SectionA
3
>
Given: Length(L) : 50, Breadth(B) : 20, Depth(D) : 20, Draft(T):10, Angleof Heel() : -30
,c
, z
, c
frame.
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
y'
y
z' z
y'
y
z' z
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)
In the same way of previous example, calculate center of buoyancy with respect to body
fixed frame at first, then calculate center of buoyancy with respect to waterplane fixed
frame by rotational transformation.
Coordinateof P
1
, Q
1
isknownas(-5,0), (5,0) bygeometric shape.
Coordinate of P
1
, P
2
, Q
1
, Q
2
of section A3
<SectionA
3
>
O y
z
x
A
3
A
2
A
1
z
y
y
z
O
30
B
K
B
1
20
20 Q
2
Q
1
P
1
P
2
Q
P
Calculate equations of straight line PK, KQ in order to know P
2
,Q
2
The equation of straight line PK 2 10 z y =
The equation of straight line KQ
2 10 z y =
Theequationof lineof waterplanewithrespect tobodyfixedframeisasfollows,
becausewaterplaneisinclinedthroughanangleof 30.
tan30 0.5774 z y y = =
Intersectionpoint P
2
,Q
2
betwwenwaterplaneandstraight linePK, KQcanbecalculatedasfollows
P
2
(-3.88, -2.24), Q
2
(7.03, 4.06)
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
AreabelowwaterplanecanbecalculatedalsobyGaussianQuadrature.
,c
, z
, c
frame.
46
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-A
3
: Sectional area of A
3
O y
z
x
A
3
A
2
A
1
z
y
y
z
O
30
B
K
B
1
20
20 Q
2
Q
1
P
1
P
2
Q
P
A
3_2
A
3_1
A
3_0
3_0
0.5 10 10 50 A = =
3_1 1 2
1
( ) ( )
2
0 5 0
0 3.88 2.24
5.60
A =
=

=
P O P O
i j k
3_ 2 1 2
1
( ) ( )
2
0 5 0
0 7.03 4.06
10.15
A =
=
=
Q O Q O
i j k
Total sectional areabeforeheel
Changedareaafter heel
Total sectional areaafter heel
3
50 5.60 10.15 54.55 A
= + =
If a ship is not a wall sided ship,
area below waterplane is different.
P
2
(-3.88, -2.24), Q
2
(7.03, 4.06)
P
1
(-5,0), Q
1
(5,0)
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
( )
( )
i
A x dA
dy dz
A x
=
=
=
( )
k
A x : Sectional areaat x
_
( )
k i
A x : Partial areaof sectionat x'
,c
, z
, c
frame.
<SectionA
3
>
47
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Centroid of A
3
O y
z
x
A
3
A
2
A
1
z
y
y
z
O
30
B
K
B
1
20
20 Q
2
Q
1
P
1
P
2
Q
P
A
3_2
A
3_1
A
3_0
P
2
(-3.88, -2.24), Q
2
(7.03, 4.06)
P
1
(-5,0), Q
1
(5,0)
3_0
1
Cetroidof (0, ( 10))
3
10
(0, )
3
A =
=
3_1
0 5 3.88 0 0 2.24
Cetroidof ( , )
3 3
( 2.96, 0.75)
A
+
=
=
3_ 2
0 7.03 5 0 0 4.06
Cetroidof ( , )
3 3
(4.01, 1.35)
A
+ + + +
=
=
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
,c
, z
, c
frame.
<SectionA
3
>
48
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Calculate1
st
moment of areainorder toknowcentroidof sectionA
3
withrespect tobodyfixedframe
Area
Area*y'c_3_i Area*z'c_3_i
A
3_0 50.00 0.00 -3.33 0.00 -166.67
A
3_1 5.60 -2.96 -0.75 -16.57 -4.18
A
3_2 10.15 4.01 1.35 40.69 13.73
-+
54.55 57.26 -148.76
- A
3
: 1
st
moment of area of section A
3
Centroidof section A
3
with respect to body fixed frame is calculated as follows
( )
3 3
3 3
, ,
_3 _3
( , ) ,
57.26 148.76
, 1.05, 2.73
54.55 54.55
A y A z
c c
A A
M M
y z
Area Area

| |
= |
|
\ .
| |
= =
|
\ .
3
, A y
M
3
, A z
M
3
, A y
M
: 1
st
moment of area of
sectionA
3
about z' axis
3
, A z
M
: 1
st
moment of area of
sectionA
3
about y' axis
O y
z
x
A
3
A
2
A
1
y
y
O
30
B
K
B
1
20 Q
2
Q
1
P
1
P
2
Q
P
A
3_2
A
3_1
A
3_0
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
z 20
,
k
A y
M y dy dz
_ _ _
( )
c k i k i
y A x =
_
( )
c k k
y A x =
Example) Calculation of Center
of Buoyancy of Ship with Various Station Shape
_3_ c i
y
_3_ c i
z
,c
, z
, c
frame.
<SectionA
3
>
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Calculate1
st
2
Area
A
3_0 200.00 0.00 -5.00 0.00 -1000.00
A
3_1 -28.87 -6.67 -1.92 192.45 55.56
A
3_2 28.87 6.67 1.92 192.45 55.56
Sum
200.00 384.90 -888.89
-A
2
,- A
2
: A
2
1
2
( )
3 3
2 2
, ,
_ 2 _ 2
384.90 888.89
( , ) , , 1.92, 4.44
200 200
A y A z
c c
A A
M M
y z
Area Area

| |
| |
= = = |
|
|
\ .
\ .
y'
z'
y
z
A
2_2
A
2_1
A
2_0
2
, A y
M
: 1
st
moment of area of
sectionA
2
about z' axis
2
, A z
M
: 1
st
moment of area of
sectionA
2
about y' axis
O y
z
x
A
3
A
2
A
1
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
2
, A y
M
2
, A z
M
_ 2_ c i
y
_ 2_ c i
z
,
k
A y
M y dy dz
_ _ _
( )
c k i k i
y A x =
_
( )
c k k
y A x =
,c
, z
, c
frame.
<SectionA
2
>
50
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Coordinateof R
1
, S
1
isknownas(-7.5,0), (7.5,0) bygeometric shape.
Coordinate of R
1
, R
2
, S
1
, S
2
of section A
1
O y
z
x
A
3
A
2
A
1
Calculateequationsof straight lineRR
3
, SS
3
inorder toknowR
2
,S
2
The equation of straight line RR
3
4 30 z y =
The equation of straight line SS
3
4 30 z y =
The equation of line of waterplane with respect to body fixed frame is as
follows, becausewaterplaneisinclinedthroughanangleof 30.
tan30 0.5774 z y y = =
Intersectionpoint R
3
,S
3
betweenwaterplaneandstraight lineRR
3
, SS
3
canbecalculatedasfollows
P
2
(-6.55,-3.78), Q
2
(8.77,5.06)
z
y
y
z
O
30
B
K
B
1
20
20
S
R
S
2
S
1
R
1
R
2
R
3
S
3
10
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
,c
, z
, c
frame.
<SectionA
1
>
51
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- A
1
: Sectional area of section A
1
A
1_2
A
1_1
A
1_0
1_0
0.5 (15 10) 10 125 A = + =
1_1 1 2
1
( ) ( )
2
0 7.5 0
0 6.55 3.78
14.19
A =
=

=
P O P O
i j k
1_ 2 1 2
1
( ) ( )
2
0 7.5 0
0 8.77 5.06
18.98
A =
=
=
Q O Q O
i j k
1
125 14.19 18.98 129.79 A
= + =
If a ship is not a wall sided ship,
area below waterplane is different.
P
2
(-6.55,-3.78), Q
2
(8.77,5.06)
P
1
(-7.5,0), Q
1
(7.5,0)
O y
z
x
A
3
A
2
A
1
z
y
y
z
O
30
B
K
B
1
20
20
S
R
S
2
S
1
R
1
R
2
R
3
S
3
10
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
_
( )
( )
k
k i
i
A x dA
dy dz
A x
=
=
=

,c
, z
, c
frame.
<SectionA
1
>
Total sectional areabeforeheel
Changedareaafter heel
Total sectional areaafter heel
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1
3_0
(15 10) ( 5) (0.5 2.5 10) 10 (2/ 3)
Cetroidof (0, )
125
(0, 4.67)
A
+
=
=
3_1
0 7.5 6.55 0 0 3.78
Cetroidof ( , )
3 3
( 4.68, 1.26)
A
+
=
=
3_ 2
0 7.5 8.77 0 0 5.06
Cetroidof ( , )
3 3
(5.42, 1.69)
A
+ + + +
=
=
P
2
(-6.55,-3.78), Q
2
(8.77,5.06)
P
1
(-7.5,0), Q
1
(7.5,0)
A
1_2
A
1_1
A
1_0
O y
z
x
A
3
A
2
A
1
z
y
y
z
O
30
B
K
B
1
20
20
S
R
S
2
S
1
R
1
R
2
R
3
S
3
10
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
,c
, z
, c
frame.
<SectionA
1
>
53
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Calculate1
st
1
Area
A
1_0 125.00 0.00 -4.67 0.00 -583.34
A
1_1 14.19 -4.68 -1.26 -66.48 -17.90
A
1_2 18.98 5.42 1.69 102.90 32.02
-+
129.79 169.38 -533.42
- A
1
: 1
st
moment of area of section A
1
1
1
, A y
M
: 1
st
moment of area of
sectionA
1
about z' axis
1
, A z
M
: 1
st
moment of area of
sectionA
1
about y' axis
)
A
1_2
A
1_1
A
1_0
O y
z
x
A
3
A
2
A
1
z
y
y
z
O
30
B
K
B
1
20
20
S
R
S
2
S
1
R
1
R
2
R
3
S
3
10
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
, A y
M y dy dz
_
( )
c i i
y A x =
( )
c
y A x =
1
, A y
M
1
, A z
M
_1_ c i
y
_1_ c i
z
( )
1 1
1 1
, ,
_1 _1
( , ) ,
169.38 533.42
, 1.31, 4.11
129.79 129.79
A y A z
c c
A A
M M
y z
Area Area

| |
= |
|
\ .
| |
= =
|
\ .
,c
, z
, c
frame.
<SectionA
1
>
54
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Area of this curve
Volume()
Displacement volume can be calculated by
integral of sectional areainlongitudinal direction
50
0
( ) 7,304 A x dx = =
Displacement Volume
x'
0
Area
A
1
A
2
A
3
54.55
200
127.79
25 50
' Adx =
O y
z
x
A
3
A
2
A
1
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
dV dx dy dz = =

dz dy dx =
.
.
( )
F P
A P
A x dx =
,c
, z
, c
frame.
55
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Area of this curve
Transverse moment
of volume
x'
169.38
25 50
384.9
57.26
0
After calculation of each transverse moment of sectional area about the z'
axis(M
A,y'
), transverse moment of displaced volume can be calculated by
integral of transverse moment of section area over the length of ship
, A y
M

-1 : Transverse moment of displaced volume
50
, ,
0
12,455
y A y
M M dx

= =
, A y
M
: Transversemoment of areaabout z' axis

, A z
M
: Vertical moment of areaabouty' axis

1
, A y
M

2
, A y
M

3
, A y
M

, ' , '
'
y A y
M M dx
O y
z
x
A
3
A
2
A
1
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
y dy dz dx =
,y
M

.
.
( ( ))
F P
c
A P
y A x dx =
,c
y
=
(Bodyfixedframe)
,c
, z
, c
frame.
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-2 : Vertical moment of displaced volume
, A z
M

Area of this curve
Vertical moment
of volume
After calculation of each vertical moment of sectional area about the y
axis(M
A,z
), vertical moment of displaced volume can be calculated by
integral of vertical moment of section area over the length of ship
50
, ,
0
30,794
z A z
M M dx

= =
x'
-148.76
-888.89
-533.42
25
50
1
, A z
M

2
, A z
M

3
, A z
M

, ' , '
'
z A z
M M dx
O y
z
x
A
3
A
2
A
1
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
,z
M

z dy dz dx =
.
.
( ( ))
F P
c
A P
z A x dx =
,c
z
=
(Bodyfixedframe)
0
,c
, z
, c
frame.
, A y
M
: Transversemoment of areaabout z' axis

, A z
M
: Vertical moment of areaabouty' axis

57
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Center of buoyancy (Body fixed frame)
Center of buoyancy canbecalculatedif wedividetransverse, vertical moment of displacedvolumebydisplacedvolume.
( )
, ' , '
, ,
( , ) ,
12,455 30,794
, 1.71, 4.21
7,304 7,304
y z
c c
M M
y z TCB VCB

| |
= = =
|

\ .
| |
= =
|
\ .
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
y dy dz dx
dx dy dz

=

,c
y
,y
M

=
,c
z
,z
M

=
z dy dz dx
dx dy dz

=

Center of buoyancy with respect to waterplane fixed frame have

to be calculated.
,c
, z
, c
frame.
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)
20
C
L
y
z
20
10
O y
z
x
10
10
20
20
10
Center of buoyancy (Waterplane fixed frame)
,
,
cos sin 1.71
sin cos 4.21
cos(30) sin(30) 1.71 0.63
sin(30) cos(30) 4.21 4.50
c
c
y
z

| | | || |
=
| | |

\ .\ . \ .
| || | | |
= =
| | |

\ .\ . \ .
, ,
, ,
cos sin
sin cos
c c
c c
y y
z z

| | | |
| |
=
| |
|

\ .
\ . \ .
Center of buoyancy with respect to waterplane fixed frame have to be calculated.
,c
, z
, c
frame.
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N
a
v
a
l

A
r
c
h
i
t
e
c
t
u
r
e

&

O
c
e
a
n

E
n
g
i
n
e
e
r
i
n
g
SDAL
@
Seoul
National
Univ.
- Sec.2 Calculating BM, GZ in Wall Sided Ship -
2009
Prof. Kyu-Yeul Lee
- Ship Stability -
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Transverse Righting Moment
Z
K
z
O,O'
y
z
) (+
C
L
y
z
M
righting
G
F
G
B
B
1
N
F
B
1
B
y
G
y

position (Righting moment, Moment
B
GZ F = i
Transverse Righting moment
1
( )
righting G B B
y y F = + i
Righting arm
Righting Arm (GZ)
1
G B
GZ y y = +
We should know y
G
, y
B1
sin GZ GM =
geometrical figure
GM KB BM KG = +
x,x'
G: Center of mass B: Center of buoyancy B
1
K : Keel F
G
: Weight of ship F
B
: Buoyant force acting on ship
Z : The intersection of the line of buoyant force through B
1
with the transverse line
through G
M : The intersection of the line of buoyant force through B
1
BM
KB : Vertical center
of buoyancy
BM : Transverse Metacenter Radius
KG
: Vertical center of mass of ship
is determined by the shape of ship
, KB BM
KG is determined by loading condition of cargo
restoring B
GZ F =
sin GZ GM =
GM KB BM KG = + BM
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M: The intersection of the line of buoyant force through B1 with the centerline of the ship
B
2
: The intersection of the line of buoyant force through B1 with the transverse line through B
M
Z
B
G
z
y
z
K
C
L
B
1
=
=
=
y
W
2
W
1
L
2
L
1
g
1
g
B
2
restoring
F
B
Calculation of BM (1)
(BM : Transverse Metacentric Radius)
y
v,c
B
1
y
z
( ) +
j
k
Z : The intersection of the line of buoyant force
through B1 with the transverse line through
G
G: Center of mass
B: Center of buoyancy
F
G
: Weight of ship (=W)
F
B
: Buoyancy (=g)
Wall sided ship
: When a ship is in upright position, a
ship which have perpendicular side shell
to waterplane is called wall sided ship.
Assumption
1. Wall sided ship
Submerged volume is same with
emerged volume when the ship is
heeled. ( A ship is heel without change
of displacement volume )
2. A main deck is not flooded.
3. Center of rotation is not changed.
(M is not changed)
F
G
Lets derive BM in case of simple section like
a wall sided ship.
O,O'
x,x'
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M
Z
B
G
z
y
z
K
C
L
B
1
=
=
=
y
W
2
W
1
L
2
L
1
g
1
g
B
2
restoring
F
B
y
v,c
Relation between moving distance of center
of changed displacement volume and
moving distance of center of center of
buoyancy is as follows.
y
z
( ) +
j
k
1 1
g v
BB gg
g
1 1
2
v
BB Og =
The shape of displacement volume is

changed as a ship is heeled.
F
G
: Displacement volume
v : Changed displacement volume
BB
1
: Moving distance of center of
buoyancy
gg
1
: Moving distance of center of
changed displacement volume
1 1
g BB g v gg =
1 1
( 2 ) gg Og =
B
2
B
1
G
G: Center of mass
F
G
F
B
: Buoyancy (=g)
O,O'
x,x'
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1 1 1 2 1 2
2 cos( ) cos( ) B BB g O
v
B Og L B =
Z
B
G
z
y
z
K
C
L
B
1
=
=
=
y
B
2
restoring
F
B
y
v,c
y
z
( ) +
j
k
1 1
2
v
BB Og =
1 2 1 2
B BB g OL =
2
BB
L.H.S
R.H.S
2
sin BM BB =
(L.H.S)
,
2
v c
v
y =

g
1
g
Assumption
1. Wall sided ship.
3. Center of rotation is not
changed
F
G
W
2
W
1
L
2
L
1 2
BB
,
2
v c
v y =

: y coordinate of changed displacement volume
, v c
y
B
2
B
1
G
G: Center of mass
F
G
F
B
: Buoyancy (=g)
v : Changed displacement volume
BB
1
: Moving distance of center of buoyancy
gg
1
: Moving distance of changed displacement volume
O,O'
x,x'
2
sin BM BB =
In this case, an angle of heel is (-)
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(R.H.S)
,
2
v c
v y

: y coordinate of center of changed displacement volume
: Changed displacement volume
, v c
y
v
dz dy dx =
dV =
.
.
( )
F P
A P
A x dx =

, ,
, ,
cos sin
sin cos
v c v c
v c v c
y y
z z

| | | | | |
=
| | |

\ . \ . \ .
, , ,
cos sin
v c v c v c
y y z =
Represent center of buoyancy with respect to waterplane
fixed frame as one with respect to body fixed frame.
, ,
( , )
v c v c
y z
2 ,
2
v c
BB v y =

, ,
co si
2
s n ( )
v c v c
y z v =

, ,
2 2
cos sin
v c v c
v y v z =

Transverse moment of volume with

respect to body fixed frame.
Vertical moment of volume with
y
y
g
1
L
1
L
2
z z
,
cos
v c
y
,
sin
v c
z
, v c
y
O,
O'
x,
x'
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(R.H.S)
,
2
v c
v y

dz dy dx =
dV =
.
.
( )
F P
A P
A x dx =

, ,
2 2
cos sin
v c v c
v y v z =

Transverse moment of volume

with respect to body fixed frame.
How to calculate 1
st
moment of volume?
, ,
( )
F
A
x
v y v
x
c c
M v y y dy dz dx A x y dx
= = =

: It can be calculated by integral of 1
st
moment of area over the the length of ship.
: Transverse center of section
,
c
y
, ,
( )
F
A
c
x
v z v c
x
M v z dy dz dx A x z dx z
= = =

,
c
z
: Vertical center of section
( ) ( )
( ) ( )
2 2
cos sin
F F
A A
x x
x
c c
x
y A x A x d z x dx =

y
y
g
1
L
1
L
2
z z
,
cos
v c
y
,
sin
v c
z
, v c
y
2 ,
2
v c
BB v y =

, v c
y
v
O,
O'
x,
x'
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(R.H.S)
,
2
v c
v y

dz dy dx =
dV =
.
.
( )
F P
A P
A x dx =

, ,
2 2
cos sin
v c v c
v y v z =


( ) ( )
( ) ( )
2 2
cos sin
F F
A A
x x
x
c c
x

How to calculate sectional area?
tan
0 0 0 0
( )
y z y y
dA dz dy dz d A x y

= = =

( )
0
tan
y
y dy
2 2
0
1 1
tan tan
2 2
y
y y
(
= =
(

In case of triangular section
2 2
2 1 2 2 1 1
cos tan sin tan tan
2 3 2 3
F F
A A
x x
x x
y y dx y y dx
| | | |
=
| |

\ . \ .

How to calculate centroid of section?
2
3
c
y y = ,(In case of triangular section)
1
tan
3
,
c
y z =
y
y
g
1
L
1
y tan
L
2
z
z
2 ,
2
v c
BB v y =

, v c
y
v
O,
O'
x,
x'
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(R.H.S)
,
2
v c
v y

dz dy dx =
dV =
.
.
( )
F P
A P
A x dx =

, ,
2 2
cos sin
v c v c
v y v z = +

( ) ( )
( ) ( )
2 2
cos sin
F F
A A
x x
x
c c
x

2 2
2 1 2 2 1 1
cos tan sin tan tan
2 3 2 3
F F
A A
x x
x x
y y dx y y dx
| | | |
=
| |

\ . \ .

3 2 3
1 2 1 2
tan tan cos sin
3 2 3
F F
A A
x x
x x
y dx y dx =

2
1 1
tan t cos a
2
sin n
T T
I I =

3
2
3
F
A
x
T
x
I y dx =

2
sin
1 1
sin tan
2
T T
I I
| |
= +
|
\ .
y
y
g
1
L
1
L
2
z z
,
cos
v c
y
,
sin
v c
z
, v c
y
2 ,
2
v c
BB v y =

: y coordinate of changed displacement volume
,
,
v c
y
,v
,
, v c
y
v
O,
O'
x,
x'
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M
Z
B
G
z
y
z
K
C
L
B
1
=
=
=
y
g
1
g
B
2
restoring
F
B
L.H.S R.H.S
y
z
( ) +
j
k
W
2
W
1
L
2
L
1
2 ,
2
v c
BB v y =

2
1 1
sin (sin sin tan )
2
T T
BM I I = +
2
(L.H.S) sin BB BM =
2
,
sin
2 1 1
(R.H.S) sin tan
2
v c T T
v y I I
| |
= +

\ .
2
1 1
( tan )
2
T T
BM I I = +
2
1
(1 tan )
2
T
I
BM = +
F
G
Derivation of BM
B
2
B
1
G
G: Center of mass
F
G
F
B
: Buoyancy (=g)
Assumption
1. Wall sided ship.
changed
O,O'
x,x'
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M
Z
B
G
z
y
z
K
C
L
B
1
=
=
=
y
g
1
g
B
2
restoring
F
B
y
z
( ) +
j
k
W
2
W
1
L
2
L
1
2
1
(1 tan )
2
T
I
BM = +
4. An angle of heel is small.

T
I
BM =
if is small
tan
2
2
=0
If we assume that is small,
T
I
BM =
That BM does not consider change of center

of buoyancy in vertical direction.
In order to distinguish those, we will indicate
two as follows
2
0
1
(1 tan )
2
T
I
BM = +
T
I
BM =
,(Consideringchange of center
of buoyancy in vertical direction)
,(Not consideringchange of center
of buoyancy in vertical direction)
F
G
Derivation of BM in case of small angle of heel
B
2
B
1
G
G: Center of mass
F
G
F
B
: Buoyancy (=g)
which is generally known as BM.
Assumption
1. Wall sided ship.
changed
O,O'
x,x'
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M
Z
B
G
z
y
z
K
C
L
B
1
=
=
=
y
g
1
g
B
2
restoring
F
B
y
z
( ) +
j
k
W
2
W
1
L
2
L
1
sin GZ KN KG =
sin sin KM KG =
0
( )sin sin KB BM KG = +
2
0
1
(1 tan )
2
T
I
BM
| |
= +
|
\ .
2
1
( (1 tan ))sin sin
2
T
I
KB KG = + +
2
1
( )sin tan sin
2
T T
I I
KB KG = + +

Righting armin wall sided ship!
T
I
BM
| |
=
|
\ .
2
1
( )sin tan sin
2
KB BM KG BM = + +
F
G
N
2
1
sin tan sin
2
GM BM = +
Derivation of GZ
2
0
1
(1 tan )
2
T
I
BM = +
T
I
BM =
Calculation of GZ
(GZ : Righting arm)
B
2
B
1
G
G: Center of mass
F
G
F
B
: Buoyancy (=g)
Assumption
1. Wall sided ship.
changed
O,O'
x,x'
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y
z z
y
B
G
K
C
L
W
M
Z
B
G
z
y
z
K
C
L
B
1
y
W
1
W
L
1
L
g
1
g
B
2
Assumption
1. Wall sided ship.
3. Center of rotation is not changed
1 1
/ / BB gg
1 1
,
v
BB gg =
Assumption 4. An angle of heel is small

2
tan
BB
BM
=
Displacement volume of
is same with displacement volume
1
WOW
1
LOL
(Ref.) Calculation of BM Another method (1)
y
z
) (+
2 1 1
tan tan tan
BB BB v gg
BM

= =
2
tan
BB
BM
=
restoring
F
B
F
G
: Transverse Metacenter Radius BM
B
2
: The point at which a vertical line through B1 crosses parallel line with line WL through B
B
1
G
G: Center of mass
F
G
F
B
: Buoyancy (=g)
O,O'
x,x'
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y
z z
y
B
G
K
C
L
W
M
Z
B
G
z
y
z
K
C
L
B
1
y
W
1
W
L
1
L
g
1
g
B
2
tan y
y
2/3 y
3
1 1
0
2
tan
3
L
v gg dv gg y dx = =

tan ,
T
I =
|
|
.
|
\
|
=

L
T
x d y I
0
3
3
2
1
tan
tan tan
T T
v gg I I
BM

= = =

1
tan
2
y y
Sectional Area of WOW
1
and LOL
1
are as follows
Differential area of ship = dx'
1
tan
2
dv y y dx =
Differential volume of WOW
1
and LOL
1
1
2
2 2
3
gg Og y =
2 1 1
tan tan tan
BB BB v gg
BM

= =
T
I
BM =
y
z
) (+
restoring
F
B
F
G
I
T
: 2
nd
moment of waterplane area about x' axis
Because is small
(Ref.) Calculation of BM Another method (2)
B
2
: The point at which a vertical line through B1 crosses parallel line with line WL through B
B
1
G
G: Center of mass
F
G
F
B
: Buoyancy (=g)
Assumption
1. Wall sided ship.
3. Center of rotation is not changed
4. An angle of heel is small.
x,x'
1
tan
v gg
BM
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(Ref.) Transverse Moment of Inertia (I
T
)
{ }
3
( )
2 2
,half breadth
0 0 0
( )
( ) ( )
3
L y x L
T
y x
I x dA x dy dx dx

= = =

y'
x'
dA
dy'
dx'
O L
y'(x)
{ }
3
0
2
( )
3
L
T
I y x dx

=

2
nd
moment of waterplane area about x axis is as follows
( ) x
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Inclining Test (1)
GIVEN
Draft
Weight of ship(W)
Hydrostatic values (KB,BM)
Angle of heel when cargo is moved
rightward through a distance d
KG (Transverse center of gravity)
FIND
G
B
w
G
1
B
1
- Inclining Test
restoring B
GZ F =
sin GZ GM =
GM KB KG BM = + KG
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Inclining Test (2)
G
B
d
w
K
z'
y'
G
1
1
w d
GG
W
=
Shift of center of total mass
B
1
Z
y
z
M
F
B
F
G
F
B
1
cos W GG
Transverse heeling moment
Transverse righting moment
sin
B B
F GZ F GM
Static equilibrium of moment
1
cos sin
B
W GG F GM =
1
tan tan
GG w d
GM
W
= =
KG BM KB GM + =
KG
If we know an angle of heel ,
we can calculate KG.
G: Center of total mass
F
G
: Total weight (=W)
F
B
: Buoyant force(=g=g)
d : Moving distanceof cargo
: An angleof heel
M: Metacenter
tan
w d
KG KB BM
W
= +
known known
O,O'
x,x'
restoring B
GZ F =
sin GZ GM =
GM KB KG BM = + KG
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Transverse Stability(1)
Center of mass(G ) and center of
buoyancy (B) are in the same vertical
line which is perpendicular to
waterplane Transverse moment
arms about origin Origin O about z
axis are same. (static equilibrium of
moment)
(static equilibrium of force)

0
G B
= + =
F F F
G B
G G B B
= +
= +
r F r F
y
z
) (+
y
z z
y
B
G
K
C
L
F
B
F
G
0 ( ) ( )
0 ( ) ( )
external
G Gravity B Buoyancy ex
Gravity Buoyanc
tern
y
al

= + + + +
= + + + +
M
r F F M
M M
r
Heel case in ship hydrostaics ( :angle of heel)
G: Center of mass
F
G
F
B
: Buoyant force acting
on ship (=g)
,
0 0
0 0
0
G G
G z
z
F
=
=
i j k
,
, 0 0
0 0
0
B B
B z
z
F
=
=
i j k
0 0 0
G B
= +
= + =
O,O'
x,x'
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Center of buoyancy is changed
from B to B
1
.
External moment (
e
) is applied on
the ship in clockwise.
(Negative moment is applied)
B
G
z
y
K
C
L
y
F
B
g
1
g
e
z
B
1
F
G
y
z
( ) +
j
k
A ship is heeled about origin O
through an angle of .
B
1
G: Center of mass
F
G
F
B
on ship (=g)
O,O'
x,x'
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B
y
K
C
L
y
F
B
g
1
g
F
G
e
z
B
1
M
G
Z
1
B
r
G
r
z
1
G G B B
= + r F r F
G B
= +
1
,
G B
GZ y y = +
1 1
0 0
0 0
0 0
G G B B
G
B
y z y z
F
F
= +
i j k i j k
1
G G B B
y F y F = + i i
0
G B
= + =
F F F
G B
F F =
1
( )
G B B
y y F = + i
Moments due to weight of
ship and buoyant force are
calculated as follows
F
G
G
r
G
o
F
B
1
B
1
B
r
o
Z : The intersection of the line of buoyant force through B1 with the transverse line through G
M : The intersection of the line of buoyant force through B1 with the centerline of the ship
Z: B
1
G
y
y
z
( ) +
j
k
G: Center of mass
F
G
F
B
on ship (=g)
B
1
O,O'
x,x'
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B
y
K
C
L
y
F
B
g
1
g
F
G
e
z
B
1
M
G
Z
1
B
r
G
r
z
1
G G B B
= + r F r F
G B
= +
1
( )
G B B
y y F = + i
heeling
F
G
G
r
G
o
F
B
1
B
1
B
r
o
y
z
( ) +
j
k
1
,( )
G B
GZ y y = +
If y
G
is larger than y
B
(= y
G
is located in right side more than y
G
)
(= Center of mass is located in a high level )
Because GZ=(-y
G
+y
B
) is (-)
1
( )
G B B
y y F = + i
Heeling moment about origin O in (-i)
direction is applied on a ship.
(A ship become heeled more
: unstable condition)
G: Center of mass
F
G
F
B
on ship (=g)
B
1
O,O'
x,x'
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B
y
K
C
L
y
F
B
g
1
g
F
G
e
z
B
1
M
G
Z
1
B
r
G
r
z
1
G G B B
= + r F r F
G B
= +
1
( )
G B B
y y F = + i
heeling
F
G
G
r
G
o
F
B
1
B
1
B
r
o
y
z
( ) +
j
k
1
,( )
G B
GZ y y = +
Or, Substituting -F
G
into F
B
Thought GZ=(y
G
-y
B
) is positive, but
F
G
is applied in k direction
Heeling moment about origin O in (-
i) direction is applied on a ship.
(A ship become heeled more
: unstable condition)
1
( )
G B G
y y F = i
G: Center of mass
F
G
F
B
on ship (=g)
B
1
O,O'
x,x'
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Transverse Righting Moment due to Movement of Cargo
Case1 : Considering weight of ship and weight of cargo
separately (1)
Center of mass of ship(G ) and center

of buoyancy (B) and center of mass of
cargo are(G
P
) in the same vertical line
which is perpendicular to waterplane
y components of moment arms about
origin O about z axis are same. (static
equilibrium of moment)
( )
P
G B P
G P B B G P
= + +
= + +
r W w r F r w
( )
0
P P B
= + +
=
F W w w F
y
z z
y
B
G
K
C
L
G
P
F
B
W-w
P
y
z
( ) +
j
k
, , , ,
, ,
0
0
T gravity T Buoyancy T Ext static
G gravity B Buoyancy T Ext static
M M M
F F M
+ + =
+ + =
i i i
r k r k i
Heel case in ship hydrostatics
w
P
( : Angle of Heel)
Case1) Considering weight of ship and
weight of cargo separately
0 0 0
0 0 ( )
G G
z P
z
W w
= =
i j k
0 0 0
0 0
P
P G
P
z
w
= =
i j k
, 0 0 0
0 0
B B
B
z
F
= =
i j k
0 0 0 0
G P B
= + +
= + + =
G: Center of mass of ship

G
P
: Center of mass of cargo
B: Center of buoyancy, K : Keel
W: Total Weight
W w
P
: Weight of ship
w
P
: Weight of cargo
F
B
on ship (=g)
G
: Moment due to weight of ship
P
: Moment due to weight of cargo
B
: Moment due to buoyancy
O,O'
x,x'
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, , , ,
, ,
0
0
M M M
F F M
+ + =
+ + =
i i i
r k r k i
( : Angle of Heel)
y
z
B
G
K
C
L
P
G
1 P
G
1 P
G
r
P
A moment due to weight of cargo

The cargo is moved right side.
Moment due to weight of cargo
about origin O is as follows
y
z
B
G
K
C
L
F
B
W-w
p
( )
G G P
= r W w
A moment due to weight of ship
Moment due to weight of ship about
origin O is as follows
1
G
r
w
P
G
o
1 P
G P
r w
y
z
( ) +
j
k
P
G
1 P
G
1 P
G
r
1 P
P G P
= r w
w
P
P
1 1
0
0 0
P P
G G
P
y z
w
=
i j k
1
.
P P
y w = i
0 0 0
0 0
G
G
z
w
= =
i j k
A ship is heeled in clockwise direction
by a moment due to weight of cargo.
(Heeling moment)
y
z
B
r
G
r
separately (2)
G
P
B
G
P
W: Total Weight
W w
P
: Weight of ship
w
P
: Weight of cargo
F
B
on ship (=g)
O,O'
x,x'
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, , , ,
, ,
0
0
M M M
F F M
+ + =
+ + =
i i i
r k r k i
( : Angle of Heel)
from B to B
1
.
B
G
z
y
K
C
L
y
z
F
B
B
1
1
B
r
G
r
1 P
G G G
= r F
F r =
B
W-w
P
1
B
r
F
B
o
1
B B
r F
y
z
( ) +
j
k
1 P
G
w
P
G
1 P
G
r
If we assume that moment due to
weight of ship, moment due to weight
of cargo and moment due to buoyancy
are in static equilibrium at an angle of
heel
1
G
r
w
P
G
o
1 P
G P
r w
G B P
= + +
1 1
( )
P
P B B P G G
= + + W w r r r F w
0 ( )
0 0 ( )
G G z P
z P
G G
y z y W w
W w
= =
i j k
i
1 1
1
0
0 0
( )
P P
P
P G G
P
G P
y z
w
y w
=
=
i j k
i
1 1
1
, 0
0 0
( )
B B B
B
B B
y z
F
y F
=
=
i j k
i
1
1
( ) ( )
( )
0
P
G z P G P
B B
y W w y w
y F
= +
+
=
i i
i
Position of G with respect to waterplane
fixed frame is changed as a ship is heeled.
-> Heeling moment is caused.
,(In a static equilibrium of moment)
W-w
P
1
G
r
o
1
G G
r F
separately (3)
G
P
B
G
P
B
1
W: Total Weight
W w
P
: Weight of ship
w
P
: Weight of cargo
F
B
on ship (=g)
O,O'
x,x'
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B
G
z
y
K
C
L
y
z
F
B
B
1
1
B
r
G
r
If we assume that moment due to
weight of ship, moment due to weight of
cargo and moment due to buoyancy are
in static equilibrium at an angle of heel
0
G B P
= + + =
1
1
( )
0
P
G P B B
G P
= +
+ =
r W w r F
r w
B
W-w
P
y
z
( ) +
j
k
w
P
G
1 P
G
r
1 P
G
1 1
0
0 0
P P
P G G
P
y z
w
=
i j k
If we consider components of moment due to

weight of cargo
Moment arm due to weight of cargo with respect to
waterplane fixed frame also can be represented by
moments arm in body fixed frame by rotational
transformation
1
( )
P
G P
y w = i
1 1
( cos sin )
P P
G G P
y z w = + i
1 P
G
y
1 P
G
z
1 P
G
y
separately (4)
Remind! : Rotational transformation!
G
P
B
G
P
B
1
W: Total Weight
W w
P
: Weight of ship
w
P
: Weight of cargo
F
B
on ship (=g)
, , , ,
, ,
0
0
M M M
F F M
+ + =
+ + =
i i i
r k r k i
( : Angle of Heel)
O,O'
x,x'
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B
G
z
y
K
C
L
y
z
F
B
B
1
W-w
P
1
B
r
B
The cargo is moved to centerline of

ship again.
1
B
r
F
B
o
1
B B
r F
G B P
= + +
Because moment due to weight of cargo

is decreased from static equilibrium of
moment,
moment due to buoyancy is larger than
heeling moment.
A ship returns to upright floating
position due to transverse righting
moment.
y
z
( ) +
j
k
G
r
separately (5)
G
P
B
G
P
B
1
W: Total Weight
W w
P
: Weight of ship
w
P
: Weight of cargo
F
B
on ship (=g)
w
P
P
G
O,O'
x,x'
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y
z z
y
B
G
K
C
L
F
B
W-w
P
Center of mass of ship(G ) and center
of buoyancy (B) and center of mass of
cargo are(G
P
) in the same vertical line
which is perpendicular to waterplane. It
becomes in static equilibrium of moment.
( )
P
G B P
G P B B G P
= + +
= + +
r W w r F r w
A ship is rotated in counter-clock wise
direction.
y
z
( ) +
j
k
G
P
w
P
,
0 0 0
0 0 ( )
G G
z P z
z
W w
= =
i j k
0 0 0
0 0
P
P G
P
z
w
= =
i j k
, 0 0 0
0 0
B B
B
z
F
= =
i j k
0 0 0 0
G P B
= + +
= + + =
B
r
G
r
separately (6)
G
P
W: Total Weight
W w
P
: Weight of ship
w
P
: Weight of cargo
F
B
on ship (=g)
G
P
B
O,O'
x,x'
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Center of total mass(G) and

center of buoyancy (B) are in the
same vertical line which is
perpendicular to waterplane y
components of moment arms about
origin Origin O about z axis are
same. (static equilibrium of moment)
G B
= +
0
G B
= + =
F F F
y
z z
y
B
G
K
C
L
F
B
F
G
,( )
G Ship Weight
= + F W w
y
z
) (+
Case2 : Considering Weight of Cargo is included in Weight
of Ship (1)
0 0
0 0
0
G G
G
z
F
=
=
i j k
, 0 0
0 0
0
B B
B
z
F
=
=
i j k

0 0 0
G B
= +
= + =
Case2 : Considering Weight of Cargo is

included in Weight of Ship
B
r
G
r
G : Center of total mass
G
1
: Changed center of total mass
B
1
F
G
: Total weight (=W=W
Ship
+W
Weight
)
F
B
on ship (=g)
G
: Moment due to total weight
B
O,O'
x,x'
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G
1
The cargo is moved right side
Center of mass of total weight is
moved from G to G
1
.
1
G
r
G
y
z z
y
B
G
K
C
L
F
B
F
G
1
G G G
= r F
Moment due to total weight
about origin O about z axis
1
G
r
F
G
G
o
1
G G
r F
y
z
( ) +
j
k
P
1
P
1
p
G
w
GG d
F
=
,(w
p
: The weight of cargo)
A ship is heeled about origin O
through an angle of by a moment
due to total weight
d
B
r
Case2 : Considering Weight of Cargo is included in Weight
of Ship (2)
G
1
B
1
F
G
Ship
+W
Weight
)
F
B
on ship (=g)
G
B
O,O'
x,x'
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from B to B
1
.
B
G
z
y
K
C
L
y
z
F
B
B
1
F
G
G
G
1
1
B
r
1
G
r
1
G G G
= r F
F r =
Changed center of mass(G
1
) and
changed center of buoyancy (B
1
) are in the
same vertical line which is perpendicular to
waterplane. Then it become in static
equilibrium at angle of heel .
0
G B
= + =
1 1
G G B B
= + r F r F
B
1
G
r
1
B
r
o
F
B
o
1
B B
r F
F
G
1
G G
r F
y
z
( ) +
j
k
, , , ,
, ,
0
0
M M M
F F M
+ + =
+ + =
i i i
r k r k i
Heel case
1 1
1
0
0 0
G G G
G
G G
y z
F
y F
=
=
i j k
i
1 1
1
, 0
0 0
B B B
B
B B
y z
F
y F
=
=
i j k
i
( )
1 1
G G B B
y F y F = + i
0
G B
= + =
F F F G B
F F =
because they lay in the same
vertical line
1 1
G B
y y =
( )
1 1
B B B B
y F y F = +
i
0 =
1
G
y
1
B
y
Case2 : Considering Weight of Cargo is included in
Weight of Ship (3)
G
1
B
1
F
G
Ship
+W
Weight
)
F
B
on ship (=g)
G
B
O,O'
x,x'
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B
G
z
y
K
C
L
y
z
F
B
B
1
F
G
1
B
r
1
B B B
= r F
B
The cargo is moved to centerline

of ship again.
Center of total mass is moved
from G
1
to G.
1
B
r
F
B
o
1
B B
r F
G W
= +
Because moment due to total

weight is decreased from static
equilibrium of moment, moment
due to buoyancy is larger than
heeling moment.
A ship returns to upright floating
position due to transverse righting
moment.
1
G G G
= r F
F r =
y
z
( ) +
j
k
GG
1
Weight of Ship (4)
G
1
B
1
F
G
Ship
+W
Weight
)
F
B
on ship (=g)
G
B
O,O'
x,x'
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y
z z
y
B
G
K
C
L
F
B
F
G
Center of total mass(G) and center
of buoyancy (B) are in the same
vertical line which is perpendicular to
waterplane. It becomes in static
equilibrium of moment.
A ship is rotated in counter-
clock wise direction.
y
z
( ) +
j
k
G B
= +
0 0
0 0
0
G G
G
z
F
=
=
i j k
, 0 0
0 0
0
B B
B
z
F
=
=
i j k
0 0 0
G B
= +
= + =
B
r
G
r
Weight of Ship (5)
G
1
B
1
F
G
Ship
+W
Weight
)
F
B
on ship (=g)
G
B
O,O'
x,x'
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1
G G G
= r F
F r =
Calculation of KG in static equilibrium of
moment at angle of heel
1
w
GG d
W
=
1
cos GG GZ =
cos
w
d GZ
W
=
sin GZ GM =
cos sin
w
d GM
W
=
g
tan tan
w d w d
GM
W

= =

By geometric shape
B
G
z
y
K
C
L
y
z
F
B
B
1
G
1
1
B
r
1
G
r
F
G
y
z
( ) +
j
k
GM KB BM KG = +
KG KB BM GM = +
g
tan
w d
KG KB BM
= +

If we know an angle of heel , we can
calculate KG.
That is a same way for Inclining Test.
known known
Z
Weight of Ship (6)
restoring B
GZ F =
sin GZ GM =
GM KB KG BM = + KG
G
1
B
1
F
G
Ship
+W
Weight
)
F
B
on ship (=g)
G
B
O,O'
x,x'
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Calculation of Heel Angle due to the shift of center of mass
- Righting Arm due to Shift of Center of Buoyancy(KN)
Righting arm due to shift of
center of buoyancy
B
K
y'
G
z'
KN
y
B
1
M
N
Z
y
B
z
B
K'
F
B
B
B
1
y
B
'
z
B
'
K
N
I
II
III
z'
y
K'
sin KG =
sin KB =
GZ +
Righting moment arm(KN) about origin
K about KK' axis is as follows
(Righting arm)
y
z
in body Fixed
frame.
in body Fixed
frame.
Rotational Transformation
Waterplane fixed frame
(Moment about origin K about KK axis)
Given: Shift distanceof center of buoyancy
(y'
B
,z'
B
)
Find: RightingarmKN Anangleof heel
II + III +
cos
B
y + sin
B
z +
in body Fixed
frame.
M: The intersection of the line of buoyant force through B1
B
1
: Changed center of buoyancy , K : Keel
G: Center of mass
F
G
F
B
: Buoyant force (=g)
N: The intersection of the line of buoyant force through B1 with the transverse line through K
O,O'
x,x'
I =
Method
Method
Calculation of KN
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Calculation of Heel Angle due to the shift of center of mass
- Heeling Arm due to Shift of Center of Mass (h
a
)
Heeling arm due to shift of
center of mass
K
G
a
h
G
1
a
h
G
0
K'
G
G
1
y'
G
V
VI
z'
G
z'
IV
V
VI
( )
a
h IV =
sin KG =
0
sin tan cos sin
G
KG GG z
= + +
0
( )sin sin
G
KG GG z = + +
F
G
Heeling moment arm(h
a
) about origin K
about KK' axis is as follows
y
z
y'
z'
y
in body Fixed
frame.
in body Fixed
frame.
Rotational Transformation
Waterplane fixed frame
y'
G
z'
G
Given: Changedcenter of massG
1
(y'
G
,z'
G
)
Find: Heelingarmha Anangleof heel
V + VI +
cos
G
y + sin
G
z +
G: Center of mass
G
1
: Changed center of mass
F
G
K : Keel
O,O'
x,x'
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Calculation of Heel Angle
due to the Shift of Center of Mass
( ) ( )
B G a
F KN F h =
B G
F F =
) ( ) (
a
h KN =
( sin ) KN KG GZ = +
sin sin cos sin
G G
KG GZ KG y z + = + +
cos sin
G G
GZ y z = +
sin cos sin
G G
z GM y + =
Heeling Moment = Righting Moment
Static Equilibrium of Force:
Buoyant force = Gravitational force
sin GM GZ
( if is small)
( ) ( )
a
KN h =
If we know angle of heel and y'
G
, z'
G
, we can
calculate GM. (= Inclining Test)
After calculating GM, if another shift of center of mass
(y'
G
, z'
G
) happens, we can calculate an angle of heel .
Meaning of equation ?
restoring B
F GZ =
GM KB BM KG = +
sin GZ GM
Given: Changedcenter of massG
1
(y'
G
,z'
G
)
Find: Heelingarmha Anangleof heel
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( ) ( )
B G a
F KN F h =
B G
F F =
) ( ) (
a
h KN =
sin cos sin
G G
GM y z +

=
Is it related with transverse righting
moment due to movement of cargo ?
restoring B
F GZ =
GM KB BM KG = +
sin GZ GM
(Kyz)
1
cos GG GZ =
1
cos sin GG GM =
By geometric shape
Transverse Righting Moment due to Movement of
Cargo considered shift of center of mass in only y
direction.
If we consider a shift of center of mass in z direction,
we may derive same equation.
1 G
GG y =

is a shift of center of
mass in y direction y'
G
1
GG
sin cos
G
GM y =
(Review) Transverse Righting Moment due to Movement of Cargo
Case2 : Considering Weight of Cargo is included in Weight of Ship
O
B
G
z
y
K
C
L
y
z
F
B
B
1
g
1
g G
1
1
B
r
2
G
r
F
G
y
z
( ) +
j
k
Z
Heeling Moment = Righting Moment
Static Equilibrium of Force:
Buoyant force = Gravitational force
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References
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Area
a
Movement of Center
caused by Movement of Area (1)
Lets consider 1
st
moment of area about
origin g about y axis,

g
1
G
( )
Area
A a
x
y
<1
st
moment of area>
1 ( ) 1
Area Area Area
A A a a
gG gg gg
= +
i
j
G
1
: Centroid of total area, Area
A
: Total area
g : Centroid of large circle, Area
A-a
: Area of large circle
g
1
: Centroid of small circle, Area
a
: Area of small circle
1
1
n
x i i
n
n
i i
n
Q A x
A x A x
=
=
=
=
First Moment of Composite Area(Q

x
)
1)
1)
Gere, Mechanics of Materials, 6
th
,Ch.12.3, 2006
Q
x
: 1
st
Moment
A
i
: Each Area
A : Total Area
: Coordinate of
Centroid
x
1
g
1
1
Area
Area
a
A
gG
gg
=
1 1
Area Area
A a
gG gg =
,( 0) gg =
x
y
( ) +
i
j
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2
g
g
x
y
g
1 ,

<ag
1
g
2
,
>
1
g
2
G
1
G
1
1
n
x i i
n
n
i i
n
Q A x
A x A x
=
=
=
=
First Moment of Composite Area(Q

x
)
1)
1)
Gere, Mechanics of Materials, 6
th
,Ch.12.3, 2006
Q
x
: 1
st
Moment
A
i
: Each Area
A : Total Area
: Coordinate of
Centroid
x
i
j
2 ( ) 2
Area Area Area
A A a a
gG gg gg
= +
2 2
Area Area
A a
gG gg =
,( 0) gg =
2
2
Area
Area
a
A
gG
gg
=
( )
Area
A a
Area
a
x
y
( ) +
i
j
Movement of Center
G
1
: Centroid of total area, A : Total area
g : Centroid of large circle, A-a : Area of large circle
g
1
: Centroid of small circle, a : Area of small circle
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Triangle G
1
gG
2
and g
1
gg
2
are similar.
(SAS(Side-Angle-Side) similarity)
By , ,
2
g
g
1
G
x
y
Using ratio of similitude
i
j
In case that partial area is moved,
moving distance of total area can be calculated by
using areas of each shape and moving distance
of partial area.
Path of the total area is parallel to path of the partial
area.
2
G
2 1 2 1
gg g gG G =
1
g
( )
Area
A a
x
y
( ) +
i
j
Movement of Center

1
1
Area
Area
a
A
gG
gg
=

2
2
Area
Area
a
A
gG
gg
=
1 2 1 2
/ / GG g g
1 2
1 2
Area
Area
a
A
GG
g g
=
1 2 1 2
Area
Area
a
A
GG g g =
Area
a
Area
a
G
1
: Centroid of total area, A : Total area
g : Centroid of large circle, A-a : Area of large circle
g
1
: Centroid of small circle, a : Area of small circle
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1
1
1
( ) ( )
n
j j
j
f t d t A f t
Find: Integral of f(t) over [-1,1]

1 1
0
) (t f
t
1
( ) f t
3
( ) f t
1
t
2
t
3
t
Given: function f(t)
t
1
= -0.7745966692
n
Node
t
2
= 0
t
3
= 0.7745966692
3
j
t Coefficients
j
A
A
1
= 0.5555555556
A
2
= 0.8888888889
A
3
= 0.5555555556
2
( ) f t
In case of 3
rd
order Gaussian quadrature
1
1 1 2 2 3 3
1
( ) ( ) ( ) ( ) f t d t A f t A f t A f t
+ +
(Ref.) Gaussian quadrature

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Examples
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Example 1> Heeling Moment caused by Fluid in Tanks(1)
Question) A ship with section of breadth B, depth D is afloat in water, and fluid is
partially filled in tank with draft T (Waterline WL). Waterline of a fluid in tank is shifted
from WL to W
1
L
1
due to heel. Calculated heeling moment arm about origin K about the
axis which is perpendicular to waterline W
1
L
1
.
G: Center of mass,
G' : Changedcemter of mass, B': Changedcenter of buoyancy
B
D
T
C
L
Base
Line
K
G
W
L
z
y
B
D
T
C
L
Base
Line
K
G
W L
1
W
1
L
G
z
G
y
z
y
a
h
G
B
Find: Heeling arm h
a
about the axis which is perpendicular to waterline W
1
L
1
Given: B, D, T,

5.1
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Example 1> Heeling Moment
caused by Fluid in Tanks(2)
Question) A ship with section of breadth B, depth
D is afloat in water, and fluid is partially filled in
tank with draft T (Waterline WL). Waterline of a
fluid in tank is shifted from WL to W
1
L
1
due to heel.
Calculated heeling moment arm about origin K
about the axis which is perpendicular to waterline
W
1
L
1
.
Solution)
G: Center of mass,
Find : Heeling arm h
a
about the axis which
is perpendicular to waterline W
1
L
1
cos sin
a G G
h y z = +
cos sin
a G G
h y z = +
Heelingarmabout newwaterlineha:
K
G
z
y
G
G
z
G
y
a
h
cos
G
y
sin
G
z
C
L
b
D
T
C
L
Base
Line
K
G
W L
1
W
1
L z
y
B
a
b a
2
B
a
A
A
G
B
G
z
G
y
Given: B, D, T,
B
D
T
C
L
Base
Line
K
G
W
L
z
y
||
+
B
D
T
C
L
Base
Line
K
G
W L
1
W
1
L
G
z
G
y
z
y
a
h
G
B
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b
D
T
C
L
Base
Line
K
W L
1
W
1
L z
y
B
a
b a
2
B
a
A
A
Solution)
Calculation of b
1
( )
2tan tan
D D
D b D BT

+ =
+
= BT =
2tan
BT D
b
D
= +
Calculationof a
tan
D
b a
=
Fromtheequation,
tan 2tan
D BT D
a b
D
= =
cos sin
a G G
h y z = +
Heelingarmha:
G: Center of mass,
B
D
T
C
L
Base
Line
K
G
W
L
z
y
||
+
B
D
T
C
L
Base
Line
K
G
W L
1
W
1
L
G
z
G
y
z
y
a
h
G
B
1
L
1
due to heel.
W
1
L
1
.
a
1
L
1
cos sin
a G G
h y z = +
Given: B, D, T,
111
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b
D
T
C
L
Base
Line
K
G
W L
1
W
1
L z
y
B
a
b a
2
B
a
A
A
Solution)
( ) ( )
( 1)
2 2 3
a b a b a
a D D

= +
2 3 3
2
( )
2 2tan 8tan 6tan
BT BT D D D
D
2
= +
Thetransversemoment of aboutA-A' axis
Transversecenter of massabout center line
cos sin
a G G
h y z = +
Heelingarmha:
( )
2
y
G
M
B
y a
BT
=
y
M =
G
y =
1 G
y +
2 G
y
G
B
G
y
3
2
2 2 24tan
B BT D
D BT
=
G: Center of mass,
B
D
T
C
L
Base
Line
K
G
W
L
z
y
||
+
B
D
T
C
L
Base
Line
K
G
W L
1
W
1
L
G
z
G
y
z
y
a
h
G
B
1
L
1
due to heel.
W
1
L
1
.
a
1
L
1
cos sin
a G G
h y z = +
Given: B, D, T,
112
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b
D
T
C
L
Base
Line
K
G
W L
1
W
1
L z
y
B
a
b a
2
B
a
A
A
Solution)
Vertical moment of about baseline
Vertical center of mass about baseline
cos sin
a G G
h y z = +
Heelingarmha:
3
2 12tan
z
G
M D D
z
BT BT
= =
( )
2 2 3
D b a D
a D D
= +
3
2 12tan
D D
BT
BT
=
z
M =
G
z =
1 G
z +
2 G
z
G
B
G
z
G: Center of mass,
B
D
T
C
L
Base
Line
K
G
W
L
z
y
||
+
B
D
T
C
L
Base
Line
K
G
W L
1
W
1
L
G
z
G
y
z
y
a
h
G
B
1
L
1
due to heel.
W
1
L
1
.
a
1
L
1
cos sin
a G G
h y z = +
Given: B, D, T,
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Solution)
When center of mass is shifted fromG to G1(y
G
,z
G
),
thenheelingarmhais
cos sin
a G G
h y z = +
Heelingarmha:
cos sin
a G G
h y z = +
3
2 12tan
G
D D
z
BT
=
3
2
2 2 24tan
G
B BT D
y
D BT
=
K
G
z
y
G
G
z
G
y
a
h
cos
G
y
sin
G
z
C
L
3
2
1
1 cos sin
2 2 12 2tan 2
B BT D D
D BT

( | |
= + +
( |
\ .

G: Center of mass,
B
D
T
C
L
Base
Line
K
G
W
L
z
y
||
+
B
D
T
C
L
Base
Line
K
G
W L
1
W
1
L
G
z
G
y
z
y
a
h
G
B
1
L
1
due to heel.
W
1
L
1
.
a
1
L
1
cos sin
a G G
h y z = +
Given: B, D, T,
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Example2>Heel Angle caused by Movement
of Passengers in Ferry (1)
Question) Emergency circumstance happens in Ferry with displacement (mass) 102.5 ton.
Heeling moment of 8 tonm occurs due to passengers moving to the right of the ship.
What will be an angle of heel?
Assume that wall sided ship with KB=0.6m, KG=2.4m, I
T
=200m
4
.
Find: Anangleof heel
GZof wall sidedship
Given: KB, KG, I
T
, Heelingmoment M
h
Solution) If it is in static equilibrium at an angle of heel
Righting moment in wall sided ship(M
r
) Heeling moment (M
h
) =
2
1
tan sin
2
GM BM
| |
+
|
\ .
8ton m
=
Calculation of BM
102.5 ton =
3
/1.025 100 m = =
200
2
100
T
I
BM m = = =
GM KB BM KG = +
Calculation of GM
( )
2
8
0.2 tan sin
102.5
+ =
Non linear equation
about ?
2
1
tan sin
2
GZ GM BM
| |
= +
|
\ .
0.6 2 2.4 0.2m = + =
5.2
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Question) Emergency circumstance happens in Ferry with displacement (mass) 102.5 ton.
Heeling moment of 8 tonm occurs due to passengers moving to the right of the ship.
What will be an angle of heel?
Assume that wall sided ship with KB=0.6m, KG=2.4m, I
T
=200m
4
.
( )
2
0.2 tan sin 0.078 + =
Becauseof nonlinear equation, solveit by
numerical method.
Result of calculationisabout =16.0.
LHS
(Righting arm)
RHS
(Heeling arm)
15 0.0703 0.0780
16 0.0778 0.0780
17 0.0858 0.0780
0.0703
0.0858
15
17
0.0778
Heeling
arm
Righting
arm
In static
equilibrium
Example2>Heel Angle caused by Movement
of Passengers in Ferry (2)
Righting moment in wall sided ship(M
r
) Heeling moment (M
h
) =
2
1
tan sin
2
GM BM
| |
+
|
\ .
8ton m
=
Find: Anangleof heel
GZof wall sidedship
Given: KB, KG, I
T
, Heelingmoment M
h
2
1
tan sin
2
GZ GM BM
| |
= +
|
\ .
116
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Question) A cargo carrier of 10,000 ton displacement is floating. KB=4.0m,
BM=2.5m, KG=5.0m. Cargo in hold of cargo carrier is shifted in vertical
direction through a 10 meter, and shifted in transverse direction through a 20
meters. Find an angle of heel.
Given: displacement (), KB, BM, KG, weight of cargo(w) andmovingdistance
Find : angleof heel
200 ton
h=10.0 m
d=20.0 m
C
L
Base
Line
G
B
4.0m 5.0m
y
z

5.3
Example3> Heel Angle caused by Movement of Cargo (1)
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Example3> Heel Angle caused by Movement
of Cargo (2)
Question) A cargo carrier of 10,000 ton displacement is floating.
KB=4.0m, BM=2.5m, KG=5.0m. Cargo in hold of cargo carrier is shifted
in vertical direction through a 10 meter, and shifted in transverse
direction through a 20 meters. Find an angle of heel.
GZof wall sidedship
2
1
tan sin
2
r
M GM BM
| |
= +
|
\ .
Find : angleof heel
200 ton
h=10.0 m
d=20.0 m
C
L
Base
Line
G
B
4.0m
5.0
m
Shift of center of massof theship
200 20
0.4
10,000
G
w d
y

= = =
200 10
0.2
10,000
G
w h
z

= = =
Heeling moment due to

shift of center of mass
=
( sin cos sin )
G G
W KG y z + + KN
=
Righting moment
y
z

118
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GZ
2
1
tan sin
2
r
M GM BM
| |
= +
|
\ .
200 ton
h=10.0 m
d=20.0 m
C
L
Base
Line
G
B
4.0m
5.0
m
Heeling moment due to shift of center of mass =
( sin cos sin )
G G
W KG y z + + KN =
Righting moment
Fromtheequationof moment equilibrium
( sin cos sin )
( sin )
G G
W KG y z KN
KG GZ

+ + =
= +
cos sin
G G
y z GZ + =
Case1) Assumptionof small angleof
heel (<10)
Case1) Assumption of large angle of
heel (<10)
sin GZ GM =
2
1
tan sin
2
GZ GM BM
| |
= +
|
\ .
of Cargo (3)
Find : angleof heel
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GZ
2
1
tan sin
2
r
M GM BM
| |
= +
|
\ .
200 ton
h=10.0 m
d=20.0 m
C
L
Base
Line
G
B
4.0m
5.0
m
Case1) Assumptionof small angleof heel (<10)
cos sin
G G
y z GZ + =
sin GZ GM =
sin 0
G
z Alsosmall angleof heel follows,
cos sin
G
y GM =
tan
G
y
GM
=
1 1
0.4
tan tan 0.2666rad ( 14.93)
1.5
G
y
GM

= = = =

Because of >10
This result contradicts the
assumption
of Cargo (4)
Find : angleof heel
( sin cos sin )
G G
W KG y z + + KN =
Righting moment
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LHS RHS
Ratio
(LHS/RHS)
14.9 0.4532 0.4227 107%
15.1 0.4540 0.4293 106%
15.3 0.4547 0.4359 104%
15.5 0.4555 0.4426 103%
15.7 0.4562 0.4494 102%
15.9 0.4570 0.4562 100%
16.1 0.4577 0.4630 99%
GZ
2
1
tan sin
2
r
M GM BM
| |
= +
|
\ .
200 ton
h=10.0 m
d=20.0 m
C
L
Base
Line
G
B
4.0m
5.0
m
Case1) Assumptionof largeangleof heel (<10)
cos sin
G G
y z GZ + =
2
1
( tan )sin
2
GZ GM BM = + Alsoassumptionof wall sidedship
2
1
cos sin ( tan )sin
2
G G
y z GM BM + = +
Becauseof nonlinear equation, solveit bynumerical method.
Initial value? Startwithvalue14.9 fromcase1
If we divide cos for both side, we can get an cubic
equationabout tan.
2
1
tan ( tan )tan
2
G G
y z GM BM + = +
15.9

of Cargo (5)
Find : angleof heel
( sin cos sin )
G G
W KG y z + + KN =
Righting moment
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Example4> Change of Center
caused by Movement of Cargo (5)
Question) As below cases partial weight w of the ship is shifted. What is the
shift distance of center of mass of the ship?
C
L
Base
Line
Case1) Vertical shift of the partial weight
h
G
G
1
C
L
Base
Line
Case2) Horizontal shift of the partial weight
b
G G
1
5.5
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Question)
A barge is 40m length, 10m breadth,
5m depth, and is floating at 1 m draft.
The vertical center of mass of the ship
is located in 2 m from the baseline.
A cargo is supposed to be loaded in
center of the deck. Find the maximum
loadable weight that keeps the
stability of ship.
Problem to calculated position of the ship when
external force are applied.
C
5m
40m
20m
5m
C
L
Base
Line
- Calculation of Righting Force And Stability
Example5> Calculation of Deadweight of Barge
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200 ton
27.0 m
16.0 m
Question)
A Cargo carrier of 18,000 ton displacement
is afloat and has GM = 1.5m. And we want
to transfer the cargo of 200 ton weight
from bottom of the ship to land.
A lifting height of cargo is 27.0 m from the
original position.
After lifting the cargo, turn the cargo to
the right through a distance of 16.0 m
from the centerline.
What will be the angle of heel of the ship?
Problem to calculated position of the ship when
external force are applied.
C
L
Base
Line
- Calculation of Righting Force And Stability
Example6> Calculation of Position of Ship
when Cargo is moved by Crane
124
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06 Transverse Righting Moment

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06 Transverse Righting Moment

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2009 Fall, Ship Stability

- Overview of Ship Stability

How to calculate center of buoyancy B

Integral value could be used as it is except

Integral value could be used as it is except

Intersection point between straight line and y

- Transverse Righting Moment

O'x'y'z' : Body fixed frame

Vertical Moment of Volume

Area of this Curve

: Area of triangle with side a and b

Let cent of side BC as D

Example) Calculation of Center of Buoyancy of Ship

Example) Calculation of Center of Buoyancy of Ship

: Transversemoment of areaabout z' axis

: Vertical moment of areaabouty' axis

: Transversemoment of areaabout z' axis

: Vertical moment of areaabouty' axis

Center of buoyancy with respect to waterplane fixed frame have

- Overview of Ship Stability

The shape of displacement volume is

Transverse moment of volume with

Transverse moment of volume

Transverse moment of volume

4. An angle of heel is small.

That BM does not consider change of center

Assumption 4. An angle of heel is small

(static equilibrium of force)

Center of mass of ship(G ) and center

G: Center of mass of ship

A moment due to weight of cargo

If we consider components of moment due to

The cargo is moved to centerline of

Because moment due to weight of cargo

Center of total mass(G) and

(static equilibrium of force)

Case2 : Considering Weight of Cargo is

The cargo is moved to centerline

Because moment due to total

First Moment of Composite Area(Q

First Moment of Composite Area(Q

Find: Integral of f(t) over [-1,1]

(Ref.) Gaussian quadrature

- Transverse Righting Moment

- Transverse Righting Moment

Heeling moment due to

- Transverse Righting Moment

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