A ship is not stationary when at sea.

The only
times a ship may be assumed to be stationary and
upright are only before launching and when in dry
dock.
Thus when a ship is stated to be upright, it should
be regarded as rolling slightly above the upright
position.

Consider a stationary ship

This is the equilibrium position of the ship.

However at sea,
When the ship is inclined by an external force to an angle, the centre of
gravity remains in the same position but the centre of buoyancy shifts.

However there is a limit on how far the ship can

incline so that it can still be regarded as rolling
slightly above the upright position.
This limit can be defined relative to position of the
TRANSVERSE METACENTRE of the ship
which is point of intersection of line of action of
the weight and the line of action of the buoyant
force.

When the ship is inclined by an external force to an angle, the

centre of gravity remains in the same position but the centre of
buoyancy shifts.

The buoyancy acts through B1

The weight still acts through G.
Thus a moment is created which tends to return the ship to the upright
and it is called righting moment.

The righting moment is given by

g GZ
Here, GZ is known as the righting lever.

If the transverse metacentre lies above the centre of gravity,

the righting moment created tends to right the ship and the ship is said
to be stable.

If the transverse metacentre lies below the centre of gravity,

the moment acts in the opposite direction, increasing the angle of heel.
The vessel is then unstable and will not return to the upright.

If the transverse metacentre coincides with the centre of

gravity,
there is no moment acting on the ship which will therefore remain
inclined to same angle. Then the vessel is in neutral equilibrium.

Six degrees of freedom (6DoF) refer to the freedom of movement of a rigid

body in three dimensional space. Specifically, the body is free to move
forward/backward, up/down, left/right combine with three perpendicular
axes known as pitch, yaw and roll.

For a ship,
the movement forward and backward is termed as surge,
the movement up and down is termed as heave
and
the movement left and right is termed as sway.

Surge - Neutral equilibrium (no restoring force)

Sway

- Neutral equilibrium (no restoring force)

Heave - Stable equilibrium (restoring force)

Roll

- Stable or unstable equilibrium

(restoring moment or unbalanced moment)

Pitch

- Stable or unstable equilibrium

(restoring moment or unbalanced moment)

Yaw

- Neutral Equilibrium (no restoring moment)

Heave

W
W0

L
L0

Restoring force = Area of water plane at Waterline(WL) X increase in draft

Pitch
Ml

L
W0

L0
GZ

ht
Weig

ncy
a
y
o
u
B

Restoring moment=Weight X GZ
GZ= GMl X sin()

Roll
Mt

W0
W

G
B0

L
GZ

L0
B1

cy
n
a
y
Buo

t
Weigh

Restoring moment=Weight X GZ
GZ= GMt X sin()

 Free Surface Effect

Centre of Gravity of Ship effect of addition of mass
effect of movement of
mass
effect of suspended
mass
Resistance of Ship
Oscillation Motion during - heave
- roll
- pitch
Load Diagram - shear force diagram
- bending moment diagram