2.

20 - Marine Hydrodynamics, Spring 2005

Lecture 13

2.20 - Marine Hydrodynamics

Lecture 13

3.18 Unsteady Motion - Added Mass

D’Alembert: ideal, irrotational, unbounded, steady.

Example Force on a sphere accelerating (U = U (t), unsteady) in an unbounded fluid that

is at at rest at infinity.

ϕ θ
r U(t)

x
3D Dipole
a
n̂

U(t)


∂φ

K.B.C on sphere:
= U (t) cos θ

∂r

r=a
Solution: Simply a 3D dipole (no stream)

a3
φ = −U (t) cos θ
2r2

∂φ 
Check: = U (t) cos θ

∂r

r=a

Hydrodynamic force:
  
∂φ 1 2
Fx = −ρ + |∇φ| nx dS
∂t 2
B

On r = a,


∂φ  3
˙ a cos θ| 1˙
 = − U 2 r=a = − U a cos θ
∂t r=a 2r 2
   
∂φ 1 ∂φ 1 ∂φ 1
∇φ|r=a = , , = U cos θ, U sin θ, 0
∂r r ∂θ r sin θ ∂ϕ 2
 1
|∇φ|2 r=a = U 2 cos2 θ + U 2 sin2 θ; n̂ = −êr , nx = − cos θ
4
 π
dS = (adθ) (2πa sin θ)
B 0

adθ
a sin θ
a
θ
x

Finally, ⎡ ⎞⎤ ⎛
⎛ ⎞

π ⎢ 1 ⎜ 1 2 2 ⎟ ⎥
2 ⎝ ⎠ ⎢ ˙ 1 ⎜ 2 2 ⎟ ⎥
Fx = (−ρ) 2πa dθ (sin θ) − cos
 θ ⎢− U a cos θ + 2 ⎝U cos θ + U sin θ⎠⎥
0 ⎣ 2    4  ⎦
nx
∂φ
∂t
|∇φ|2
π π 
3 2 2 2 2 1 2
Fx = −U̇ (ρa )π dθ sin θ cos θ + (ρU )πa dθ sin θ cos θ cos θ + sin θ
4
0   0
  
⎡
2/3 ⎤ = 0, D’alembert revisited

⎢ 2 3 ⎥

Fx ⎢
= − U̇ (t) ⎣ ρ πa ⎥

   ⎦

Hydrodynamic Force Acceleration Fluid Density

3  
Volume =1/2∀sphere

Thus the Hydrodynamic Force on a sphere of diameter a moving with velocity U (t) in
an unbounded fluid of density ρ is given by
 
2 3
Fx = −U̇ (t) ρ πa
3

Comments:

• If U̇ = 0 → Fx = 0, i.e., steady translation → no force (D’Alembert’s Condition ok).

• Fx ∝ U̇ with a (−) sign, i.e., the fluid tends to ‘resist’ the acceleration.

• [· · · ] has the units of (fluid) mass ≡ ma

• Equation of Motion for a body of mass M that moves with velocity U :

 
M
 U̇ = ΣF = F + F = − U̇ m + FB ⇔

H

B

a
Body mass Hydrodynamic force All other forces on body Fluid mass
S pn̂dS

(M + ma ) U̇ = FB

i.e., the presence of fluid around the body acts as an added or virtual mass to the
body.

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3.19 General 6 Degrees of Freedom Motions
3.19.1 Notation Review
(3D) U1 , U2 , U3 : Translational velocities
U4 ≡ Ω1 , U5 ≡ Ω2 , U6 ≡ Ω3 : Rotational velocities

2
5
1
6 4

(2D) U1 , U2 : Translational velocities

U6 ≡ Ω3 : Rotational velocity
U3 = U 4 = U 5 = 0

2
6
1

3.19.2 Added Mass Tensor (matrix)

mij ; i, j = 1, 2, 3, 4, 5, 6

mij : associated with force on body in i direction due to unit acceleration in j

direction. For example, for a sphere:

m11 = m22 = m33 = 1/2ρ∀ = (mA ) all other mij = 0

3.19.3 Added Masses of Simple 2D Geometries

• Circle
2

a
1

m11 = m22 = ρ∀ = ρπa2

• Ellipse

a
1
b

m11 = ρπa2 , m22 = ρπb2

• Plate

1
2a

m11 = ρπa2 , m22 = 0

• Square

2a
1

2a

m11 = m22 ≈ 4.754ρa2

A reasonable approximation to estimate the added mass of a 2D body is to

use the displaced mass (ρ∀) of an ‘equivalent cylinder’ of the same lateral
dimension or one that ‘rounds off’ the body. For example, consider a square
and approximate with an
(a) inscribed circle: mA = ρπa2 = 3.14ρa2 .

2a

√ 2
(b) circumscribed circle: mA = ρπ 2a = 6.28ρa2 .

(√2)a

Arithmetic mean of (a) + (b) ≈ 4.71ρa2 .

3.19.4 Generalized Forces and Moments

In this paragraph we are looking at the most general case where forces and moments
are induced on rigid body moving with 6 DoF motions, in an unbounded fluid that
is at rest at infinity.

Body fixed reference frame, i.e., OX1 X2 X3 is fixed on the body.

x2
v
U( t )

o x1

x3
v
Ω( t )

 (t) = (U1 , U2 , U3 ) , translational velocity

U

= (Ω1 , Ω2 , Ω3 ) ≡ (U4 , U5 , U6 ) , rotational velocity with respect to O
Ω(t)

 , Ω),
Consider a body with a 6 DoF motion (U  and a fixed reference frame OX1 X2 X3 .
Then the hydrodynamic forces and moments with respect to O are given by the
following relations (JNN §4.13)

• Forces

Fj = −U̇i mji − Ejkl Ui Ωk mli with i = 1, 2, 3, 4, 5, 6

1. 2.
and j, k, l = 1, 2, 3

• Moments

Mj = −U̇i mj+3,i − Ejkl Ui Ωk ml+3,i − Ejkl Uk Ui mli with i = 1, 2, 3, 4, 5, 6

3. 2. 3.
and j, k, l = 1, 2, 3

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Einstein’s Σ notation applies.

⎧
⎪
⎪ 0 if any j, k, l are equal
⎪
⎪
⎨ 1 ifj, k, l are in cyclic order, i.e.,
Ejkl = ‘alternating tensor’ = (1, 2, 3), (2, 3, 1), or (3, 1, 2)
⎪
⎪
⎪
⎪ −1 ifj, k, l are not in cyclic order i.e.,
⎩

(1, 3, 2), (2, 1, 3), (3, 2, 1)

Note:

(a) if Ωk ≡ 0 , Fj = −U̇i mji (as expected by definition of mij ).

Also if U̇i ≡ 0, then Fj = 0 for any Ui , no force in steady translation.

(b) Bl ∼ Ui mli ‘added momentum’ due to rotation of axes.

  
Then all the terms marked as 2. are proportional to ∼ Ω × B where B is linear
momentum (momentum from i coordinate into new xj direction).

(c) If Ωk ≡ 0 : Mj = −U̇i mj+3,i mij − Ejkl Uk Ui mli .

 
 

even with U˙ =0, Mj =0 due to this term

Moment on a body due to pure steady translation – ‘Munk’ moment.

3.19.5 Example Generalized motions, forces and moments.

A certain body has non-zero added mass coefficients only on the diagonal, i.e. mij =
δij . For a body motion given by U1 = t, U2 = −t, and all other Ui , Ωi = 0, the
forces and moments on the body in terms of mi are:
F1 = , F2 = , F3 = , M1 = , M2 = , M3 =

Solution:

mij = δij

U1 = t U2 = −t Ui = 0 i = 3, 4, 5, 6 Ωk = 0 k = 1, 2, 3

U̇1 = 1 U̇2 = −1 U̇i = 0 i = 3, 4, 5, 6

Use the relations from (JNN §4.13):

k Ω =0
Fj = −U̇i mij − Ejkl Ui Ωk mil −→
Fj = −U̇i mij

k Ω =0
Mj = −U̇i mi(j+3) − Ejkl Ui Ωk mi(l+3) − Ejkl Uk Ui mli −→
Mj = −U̇i mi(j+3) − Ejkl Uk Ui mli

where i = 1, 2, 3, 4, 5, 6 and j, k, l = 1, 2, 3

For F1 , F2 , F3 use the previous relationship for Fj with j = 1, 2, 3 respectively:

F1 = − U̇1 m11 − U̇2 m21 −U̇3 m31 −U̇4 m41 −U̇5 m51 −U̇6 m61 → F1 = −m11
     
=1 =0 =0 =0 =0 =0

− U̇2 m22 → F2 = m22

Check
F2 =

=−1

− U˙ 3 m33 → F3 = 0
Check
F3 =

=0

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For M 1, M2 , M3 use the previous relationship for Mj with j = 1, 2, 3 respectively:

M1 = −U̇i mi(1+3) − E1kl Uk Ui mli

= −U̇i mi4 − E1kl Uk Ui mli

= −U̇1 m14 −U̇2 m24 −U̇3 m34 − U̇4 m44 − U̇5 m54 −U̇6 m64

     

=0 =0 =0 =0 =0 =0
 
−E123 U2 U1 m13 +U2 m23 + U3 m33 + U4 m43 +U5 m53 +U6 m63
     
=0 =0 =0 =0 =0 =0
 
−E132 U3 U1 m12 + U2 m22 + U3 m32 +U4 m42 +U5 m52 +U6 m62 → M1 = 0
      
=0 =0 =−1 =0 =0 =0 =0

M2 = −U̇i mi5 − E2kl Uk Ui mli

= U̇5 m55 − E231 U3 Ui m1i − E213 U1 Ui m3i
= −E213 U1 U3 m33 → M2 = 0

M3 = −U̇i mi6 − E3kl Uk Ui mli

= U̇6 m66 − E312 U1 Ui m2i − E321 U2 Ui m1i
 
+1 −1

= − U1 U2 m22 + U2 U1 m11 → M3 = t2 (m22 − m11 )

   
t −t −t t

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3.19.6 Example Munk Moment on a 2D submarine in steady translation

2
1

θ U

3 (out of page)

U1 =U cos θ
U2 = − U sin θ

Consider steady translation motion: U̇ = 0; Ωk = 0. Then

M3 = −E3kl Uk Ui mli

For a 2D body, m3i = mi3 = 0, also U3 = 0, i, k, l = 1, 2. This implies that:

M3 = − E312 U1 (U1 m21 + U2 m22 ) − E321 U2 (U1 m11 + U2 m12 )

 
=1 =−1

= −U1 U2 (m22 − m11 )

⎛ ⎞

= U 2 sin θ cos θ ⎝m22 − m11 ⎠

  
>0

Therefore, M3 > 0 for 0 < θ < π/2 (‘Bow up’). Therefore, a submarine under
forward motion is unstable in pitch (yaw). For example, a small bow-up tends to
grow with time, and control surfaces are needed as shown in the following figure.

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 B
H

• Restoring moment ≈ (ρg∀H)sinθ.

• critical speed Ucr given by:

2
(ρg∀) H sin θ ≥ Ucr sin θ cos θ (m22 − m11 )

θ
Ucr
H

2
Usually m22 >> m11 , m22 ≈ ρ∀. For small θ, cos θ ≈ 1. So, Ucr ≤ gH or Fcr ≡
U
√ cr
gH
≤ 1. Otherwise, control fins are required.

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