2.

20 Marine Hydrodynamics, Fall 2014

Lecture 13
c 2014 MIT - Department of Mechanical Engineering, All rights reserved.
Copyright

2.20 - Marine Hydrodynamics

Lecture 13

3.16 Some Properties of Added-Mass Coecients

1. mij = [function of geometry only]
F, M = [linear function of mij ] [function of instantaneous U, U , ]
not of motion history

2. Relationship to uid momentum.

F(t)

where we dene to denote the velocity potential that corresponds to unit velocity
U = 1. In this case the velocity potential for an arbitrary velocity U is = U .
in the uid is given by
The linear momentum L

=
L

v dV =

dV

Greens
theorem

ndS

|{z}

0 at

Lx (t = T ) =

U nx dS = U

nx dS
B

The force exerted on the uid from the body is F (t) = (mA U ) = mA U .
1

T
dt [F (t)] =

Newtons Law

mA U dt = mA U ]T0
| {z }

Lx (t = T )Lx (t = 0) = U

nx dS
B

mA U

Therefore, mA = total uid momentum for a body moving at U = 1 (regardless of

how we get there from rest) = uid momentum per unit velocity of body.
K.B.C.

= n
= (U, 0, 0) n
= U nx ,

= U nx

U
n

= U nx

mA =

= nx
n

nx dS
B

mA =

dS
n

For general 6 DOF:

mji
|{z}

i
|{z}
B

jforce/moment
idirection of motion

nj dS =

potential due to body

moving with Ui =1

i
B

j
dS = j uid momentum due to
n
i body motion

3. Symmetry of added mass matrix mij = mji .

(

mji =

i
B

j
n

i (j n
)dS

dS =
B

Divergence
Theorem

i j + i 2 j dV
| {z }

=0

Therefore,

i j dV = mij

mji =
V

(i j ) dV

4. Relationship to the kinetic energy of the uid. For a general 6 DoF body motion
Ui = (U1 , U2 , . . . , U6 ),
= Ui i ; i = potential for Ui = 1
|{z}

notation

1
K.E. =
2

dV = 21
V

1
= Ui Uj
2

Ui i Uj j dV

i j dV = 12 mij Ui Uj
V

K.E. depends only on mij and instantaneous Ui .

5. Symmetry simplies mij . From 36

symmetry

21 ?. Choose such coordinate system

that some mij = 0 by symmetry.

Example 1 Port-starboard symmetry.

m11 m12 0

m22 0

m33
mij =

U1

U2

U3

0
0
m34
m44

0
0
m35
m45
m55

m16
m26
0
0
0
m66
3
3

Fx
Fy
Fz
Mx
My
Mz

12 independent coecients

Example 2 Rotational or axi-symmetry with respect to x1 axis.

m11 0
0

m22 0

m22
mij =

0
0
0
0

0
0
m35
0
m55

0
m35
0
0
0
m55

where m22 = m33 , m55 = m66

and m26 = m35 , so 4 dierent coecients

Exercise How about 3 planes of symmetry (e.g. a cuboid); a cube; a sphere?? Work
out the details.

3.17 Slender Body Approximation

Denitions
(a) Slender Body = a body whose characteristic length in the longitudinal direction is
considerably larger than the bodys characteristic length in the other two directions.
(b) mij = the 3D added mass coecient in the ith direction due to a unit acceleration in
the j th direction. The subscripts i, j run from 1 to 6.
(c) Mkl = the 2D added mass coecient in the k th direction due to a unit acceleration in
the lth direction. The subscripts k, l take the values 2,3 and 4.

x2

x5
x2

x4

x1

x4
x3

x6
x3
Goal To estimate the added mass coecients mij for a 3D slender body.
Idea Estimate mij of a slender 3D body using the 2D sectional added mass coecients
(strip-wise Mkl ). In particular, for simple shapes like long cylinders, we will use known 2D
coecients to nd unknown 3D coecients.

mij =
[Mkl (x) contributions]
3D

2D

Discussion If the 1-axis is the longitudinal axis of the slender body, then the 3D added
mass coecients mij are calculated by summing the added mass coecients of all the thin
slices which are perpendicular to the 1-axis, Mkl . This means that forces in 1-direction
cannot be obtained by slender body theory.

Procedure In order to calculate the 3D added mass coecients mij we need to:
1. Determine the 2D acceleration of each crossection for a unit acceleration in the ith
direction,
2. Multiply the 2D acceleration by the appropriate 2D added mass coecient to get the
force on that section in the j th direction, and
3. Integrate these forces over the length of the body.
Examples
Sway force due to sway acceleration
Assume a unit sway acceleration u 3 = 1 and all other uj , u j = 0, with j = 1, 2, 4, 5, 6.
It then follows from the expressions for the generalized forces and moments (Lecture
12, JNN 4.13) that the sway force on the body is given by

f3 = m33 u 3 = m33 m33 = f3 = F3 (x)dx

L

A unit 3 acceleration in 3D results to a unit acceleration in the 3 direction of each

2D slice (U 3 = u 3 = 1). The hydrodynamic force on each slice is then given by
F3 (x) = M33 (x)U 3 = M33 (x)
Putting everything together, we obtain

m33 = M33 (x)dx =

M33 (x)dx
L

Sway force due to yaw acceleration

Assume a unit yaw acceleration u 5 = 1 and all other uj , u j = 0, with j = 1, 2, 3, 4, 6.
It then follows from the expressions for the generalized forces and moments that the
sway force on the body is given by

f3 = m35 u 5 = m35 m35 = f3 = F3 (x)dx

L

For each 2D slice, a distance x from the origin, a unit 5 acceleration in 3D, results
to a unit acceleration in the -3 direction times the moment arm x (U 3 = xu 5 = x).
The hydrodynamic force on each slice is then given by
F3 (x) = M33 (x)U 3 = xM33 (x)
6

Putting everything together, we obtain

m35 =

xM33 (x)dx
L

Yaw moment due to yaw acceleration

Assume a unit yaw acceleration u 5 = 1 and all other uj , u j = 0, with j = 1, 2, 3, 4, 6.
It then follows from the expressions for the generalized forces and moments that the
yaw force on the body is given by

f5 = m55 u 5 = m55 m55 = f5 = F5 (x)dx

L

For each 2D slice, a distance x from the origin, a unit 5 acceleration in 3D, results
to a unit acceleration in the -3 direction times the moment arm x (U 3 = xu 5 = x).
The hydrodynamic force on each slice is then given by
F3 (x) = M33 (x)U 3 = xM33 (x)
However, each force F3 (x) produces a negative moment at the origin about the 5 axis
F5 (x) = xF3 (x)
Putting everything together, we obtain

m55 =
x2 M33 (x)dx
L

In the same manner we can estimate the remaining added mass coecients mij - noting
that added mass coecients related to the 1-axis cannot be obtained by slender
body theory.

In summary, the 3D added mass coecients are shown in the following table. The empty
boxes may be lled in by symmetry.

m22 = M22 dx m23 = M23 dx m24 = M24 dx m25 = xM23 dx

m26 = xM22 dx

L
L
L
L
L

m33 = M33 dx m34 = M34 dx m35 = xM33 dx

m36 = xM32 dx

L
L
L
L

m44 = M44 dx m45 = xM34 dx

m46 = xM24 dx

L
L
L

m55 = x2 M33 dx m56 = x2 M32 dx

L
L

m66 = x2 M22 dx

3.18 Buoyancy Eects Due to Accelerating Flow

Example Force on a stationary sphere in a uid that is accelerated against it.

(r, , t) = U (t)
r +

a3
2r2
|{z}

cos

dipole for sphere



3a
= U
cos

t r=a
2
(
)
3
|r=a = 0, U sin , 0
2

1
9
||2 r=a = U 2 sin2
2
8
Then,
(

Fx = () 2r

)
2

= U 3a

3a
9
d sin ( cos ) U
cos + U 2 sin2
2
8

d sin cos +U
|0

(
)
Fx = U 2a3
| {z }

{z

2 9 2

d cos sin3

|0

{z
=0

=2/3

4
a3 + 23 a3
3

Part of Fx is due to the pressure gradient which must be present to cause the uid to
accelerate:

x-momentum, noting U = U (t) :

U
U
U
1 p
U
+w
+U
=
(ignore gravity)
+v
t
x
y | {z
z}
x
|{z}
| {z }
0

dp
= U for uniform (1D) accelerated ow
dx
Force on the body due to the pressure eld

F =
p
ndS =
pdV ;
B

VB

Fx =
VB

Buoyancy force due to pressure gradient = U

10

p
dV = U
x

Analogue: Buoyancy force due to hydrostatic pressure gradient. Gravitational acceleration g U = uid acceleration.
ps = gy

ps = gj F s = gj Archimedes principle
Summary: Total force on a xed sphere in an accelerated ow
(
)
Fx = U
+ m(1)
= U 32 = 3U m(1)
|{z}
|{z}
Buoyancy

added mass
1

In general, for any body in an accelerated ow:

Fx = Fbuoyany + U m(1) ,
where m(1) is the added mass in still water (from now on, m)
Fx = U m for body acceleration with U

Added mass coecient

cm =

in the presence of accelerated ow Cm = 1 + cm

11

Appendix A: More examples on symmetry of added mass tensor

Symmetry with respect to Y (= X-Z plane symmetry)

12 non-zero, independent coefficients

Symmetry with respect to X and Y (= Y-Z and X-Z plane symmetry)

12

7 non-zero, independent coefficients

Axisymmetric with respect to X-axis

4 non-zero, independent coefficients

Axisymmetric with respect to X axis and X (=Y-Z plane symmetry)

13

3 non-zero, independent coefficients