Mr.

Faisal Ikram bin Abd Samad

Equation of pitching motion can be written as
follows: 2
d d
a 2 +b +c =Mo cos et
dt dt

z
y
x
Pitching
Equation of pitching motion in calm water is

d2  d
I'yy 2
+b + g GM L =0
or dt dt
d2 b d  g GM L
2
+ +  =0
dt I'yy dt I'yy
This equation can also be written as
 +2   +2  =0


Where and
b b c  g GM L
2   2  
a I' yy a I' yy
Here  is the natural frequency (circular)
for pitching. The expression for the natural
pitching period, T is given
2  as
T 

Now, the solution is written as;

or   e  t (A1cos dt +A 2 sin dt)

  e  t A sin(dt   )
Where,
d  2   2
Example 2.8

L = 150 m
Kyy = 0.25 L
GML = 150 m
 = 15,000 tonnes

If the added mass moment of inertia is about 90

%, find the natural pitching period.
Example 2.8

a =1. 90  K 2yy =1.90 15,000 (0.25 150 )2

=40,078,125 tonnes m2
c =  g GM L = 15,000 x9. 81x150 =22,072,500 kNm

c 22,072,125
 = = =0.742rad / sec
a 40 ,078, 125
2
T = =8. 463 sec

Equation of pitching motion in waves is;

d2  d
I'yy 2
+b + g GM L =M0 sinet
dt dt

The steady state solution is usually taken for

analysis.

 = a sin (et -2)

or st
= sin(et 2 )
(1 - 2 )2  4k22
The amplitude of the forced pitching motion
a is given by: a = st. 

Where, Mo
st = static pitching amplitude c=
a
 = magnification factor =st
1
=
(1 2 )2  4k22
Freq. of encounter e
 = tuning factor = Nat. freq. = 
 = non-dimensional damping factor

=

b c
= and  =
2 I'yy I'yy
2 = phase angle between the exciting force and the
motion 2k
1 2
= tan –1
Example 2.9

Given :
L = 140m Cwp = 0.80 B = 19m
GML = 135m T = 8.5m Kyy = 32m
CB = 0.65  = 30o V = 15knots
a = 1.5m  = 1025 kg/m3

i) Added mass moment of inertia is 55% of the mass

moment of inertia of the ship
ii) Non-dimensional damping coefficient of pitching
motion b gL
2
=0. 07
b’pitching =  gL
Example 2.9

iii) The non-dimensional amplitude of the pitching moment,

Mo
fo = = 0. 25
1
g aL2B
2
(Where, w = L and Cwp = 0.8)

Find :
a) Amplitude of the pitching motion
b) Phase differences between the wave and the pitching
motion
Example 2.9

Restoring moment coefficient,

c = .g.GML = 15063913 X 9.81 X 135
kg.m.m/s2
= 1.995 x 1010 N.m/rad.

 Natural frequency for pitching,

c 1.995 x1010Nm / rad
2 2
 =a = (1.55x15063913x32 )kg m

= 0.912 rad/sec.
Example 2.9
e
Tuning factor,  = = 0.34

2
b = b'..g.L 07x15063913x9. 81x140 2
0.=
g.L 9.81x140
= 5470945 x 103 kg.m/s

Damping factor, k =  / 

{5470945 x10 }3

= {2 x2.39 x10 } 10
= 0.125
0 . 912
Example 2.9
m 702107831
Static pitch deflection, st = o =
c 1. 995x1010
= 0.0352 rad. (2.02o)

The amplitude ratio,  =a = 1

 st (1 - 2 2
) +4 K 2 2

= 1.13

Amplitude of pitch motion, a =  x st =1.13 x

0.0352
= 0.04 rad.
Example 2.9

The phase angle bet. wave motion and pitching

motion,

 = 1 + 2
 2.k.   2 x0.125 x0.34
 2  2 
2 1  
= tan-1 = tan-1 1 - 0.34 

= 5.5o
 = 90 + 5.5 = 95.5o
Example 2.9
excitation moment
wave pitching motion
B
C
 et

A et
A B C
 
 a = Iyy +  Iyy
z

Can also be written as:

a = (m + m) x kyy2
x
For normal ships
kyy = 0.24 L  0.26 L
(L = ship length) x

Approximation L /2
A (x)
2 y

Iyy  L / 2 ( x) dx
A x
The added mass moment of Inertia for pitching can
be determined by experiment or by the strip
theory.
Added mass for each section
L /2
 Iyy =  L / 2 a n x2dx

Added mass can be obtained experimentally

through the following equations:
Added mass, a = (1/2) (c – (mo.cos/a) – Iyy
 Example 2.10

Find the added mass moment of inertia for pitching of a ship

model for which the added mass was determined in Example 2.4.

 (m)  2(m2) 2
Station No. an an  (m2) SM Product
(from Ex. 2.4)
1 2 3 4 5 6 7

0 0 - 3.0723 9.439 0 1 0
5 190.92 - 1.6093 2.590 494.48 4 1,977.92
10 190.92 - 0.1463 0.021 4.00 2 8.00
15 190.92 1.3167 1.734 331.06 4 1,324.24
20 0 2.7797 7.727 0 1 0

SUM 3,310.16
Example 2.10

Note:  (m) = Lever Arm, distance of each station from

LCG

The added mass moment of inertia for pitching is;

A = an 2d

=1/ 3stationspacing SUM
=1/ 31.4633,310.16 =1,614.25 kg m2
bn is the damping coeff. for each strip along the
ship’s length and  is the dist. of individual strip from
the LCG (same as LCB for equilibrium situation).
L /2
b(pitching) = bn ( heaving ). 2.dx
- L / 2
In brief the damping from experiments can be
obtained through the following equations:

Damping, b = (mo/.) sin 

 Example 2.11

Find the damping coefficient for pitching of a ship

model for which the damping coefficient was
determined in Example 2.5.

S
Station bn  (m) 2 (m2) 2
bn  Product
2 M
No. (from Ex. -2.4) (m)
1 2 3 4 5 6 7
0 0 - 3.0723 9.439 0 1 0
5 268.41 - 1.6093 2.590 695.18 4 2,780.72
10 268.41 - 0.1463 0.021 5.64 2 11.12
15 434.06 1.3167 1.734 752.66 4 3,010.64
20 0 2.7797 7.727 0 1 0
SU M 5,802.48
Example 2.11

Note:  (m) = Lever Arm, distance of each station

from LCG

The damping coefficient for pitching is

b = bn 2d

=1/ 3stationspacing SUM
=1/ 31.4635,802.48=2, 829. 68Nms
 L /2
2
Restoring Moment = c =
.g..
- L /2
x .2y( x).dx
= .g..Iyy
dx 2 y (x)
Since BML  Iyy/
 c. = .g.. .BML

or c. = .g... GML (For small )L/2

c = B.GML or .g.. GML

 Example 2.12

Find the restoring moment coefficient for pitching

of a ship model for which the restoring coefficient
for heaving was determined in Example 2.6.

S
Station Bn c n = gB n 2 (m2) Cn 2 Product
(N) M
No. [m] [kg/ms2]
1 2 3 4 5 6 7
0 0 0 9.439 0 1 0
5 0.790 7,749.9 2.590 20,072.24 4 80,288.96
10 0.790 7,749.9 0.021 162.75 2 325.5
15 0.790 7,749.9 1.734 13,438.33 4 53,753.32
20 0 0 7.727 0 1 0
SUM 134,367.78
Example 2.12

Note:  (m) = Lever Arm, distance of each station from LCG

The restoring moment coefficient for pitching is;

C = c n 2d

=1/ 3station spacing SUM
=1/ 31.463
134,367.78 =65,526.69 Nm
 z section z y(x) = Bn(x)/2
z (x)

wave surface
x still y
x y(x)
water
dx

L /2
M = g 
-L / 2
2y( x). ( x).x.dx.

Where, (x)= a cos (k’x - e t) and k’ = k cos 

(is ship’s heading angle with respect to wave
direction)

M = g a { L /2
- L/ 2 }
y(x).x. sin(kx cos  ).dx Sin  t
e
For the whole ship  M = Mo.sin e t
Mo
and o = 1 2
(Non dimensional form.)
..g. a.B.L
2

= 4 L /2

B.L 2 - L / 2 y(x).x. sin( kxcos ).dx

Note : Phase angle between wave profile and
exciting
moment due to waves is 90o.
 Example 2.13

Using the data from Example 2.7, calculate the

exciting moment for the pitching motion.

sin y  sin
Station y =B n /2  (m) y k  cos  (k cos ) (k  cos ) SM Product
2
No. (m )
2 3 4 5 6 7 8 9
0 0 -2.93 0 1.570 1.000 0.000 1 0.000
5 0.4 -1.465 - 0.586 0.785 0.707 - 0.414 4 - 1.656
10 0.4 0 0 0.000 1.000 0.000 2 0.000
15 0.4 1.465 0.586 - 0.785 -0.707 - 0.414 4 - 1.656
20 0 2.93 0 - 1.570 -0.000 0.000 1 0.000

SUM -3.312
Example 2.13

Integral = 1/3 x station spacing x SUM

= 1/3 x 1.465 x –3.312 = -1.617 m3

Therefore

or 4 4
f0 = 2
x integral = 2
x - 1. 617= - 0. 235
BL BL
1
M0 =  g a B L2 f0 =1,899.95Nm
2