2017-01-24

Lecture Note of Naval Architectural Calculation

Ship Stability
Ch. 1 Introduction to Ship Stability

Spring 2016

Myung-Il Roh

Department of Naval Architecture and Ocean Engineering

Seoul National University

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Contents

 Ch. 1 Introduction to Ship Stability

 Ch. 2 Review of Fluid Mechanics
 Ch. 3 Transverse Stability Due to Cargo Movement
 Ch. 4 Initial Transverse Stability
 Ch. 5 Initial Longitudinal Stability
 Ch. 6 Free Surface Effect
 Ch. 7 Inclining Test
 Ch. 8 Curves of Stability and Stability Criteria
 Ch. 9 Numerical Integration Method in Naval Architecture
 Ch. 10 Hydrostatic Values and Curves
 Ch. 11 Static Equilibrium State after Flooding Due to Damage
 Ch. 12 Deterministic Damage Stability
 Ch. 13 Probabilistic Damage Stability

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Ch. 1 Introduction to Ship Stability

1. Generals
2. Static Equilibrium
3. Restoring Moment and Restoring Arm
4. Ship Stability
5. Examples for Ship Stability

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1. Generals

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How does a ship float? (1/3)

 The force that enables a ship to float  “Buoyant Force”

 It is directed upward.
 It has a magnitude equal to the weight of the fluid which is displaced
by the ship.

Ship

Ship
Water tank
Water

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How does a ship float? (2/3)

 Archimedes’ Principle
 The magnitude of the buoyant force acting on a floating body in the
fluid is equal to the weight of the fluid which is displaced by the
floating body.
 The direction of the buoyant force is opposite to the gravitational
force.
Buoyant force of a floating body
= the weight of the fluid which is displaced by the floating body (“Displacement”)
 Archimedes’ Principle
 Equilibrium State (“Floating Condition”)
 Buoyant force of the floating body W  = -W = -gV
= Weight of the floating body
G
Displacement = Weight
G: Center of gravity
B: Center of buoyancy B
W: Weight, : Displacement
: Density of fluid
V: Submerged volume of the floating body
(Displacement volume, ) 
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How does a ship float? (3/3)

 Displacement() = Buoyant Force = Weight(W)

  L  B  T  CB   T: Draft
CB: Block coefficient
: Density of sea water
 W  LWT  DWT LWT: Lightweight
DWT: Deadweight

 Weight = Ship weight (Lightweight) + Cargo weight(Deadweight)

Ship

Ship
Water

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What is “Stability”? FG

G
B
Capsizing
℄ B1

FB
FG FG
Inclining
W L W1 L1
(Heeling)
G
G

B B B1
Restoring

FB
℄ ℄ FB
Stability = Stable + Ability

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What is a “Hull form”?

 Hull form
 Outer shape of the hull that is streamlined in order to satisfy requirements of a
ship owner such as a deadweight, ship speed, and so on
 Like a skin of human
 Hull form design
 Design task that designs the hull form

Hull form of the VLCC(Very Large Crude oil Carrier)

Wireframe model Surface model

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What is a “Compartment”?

 Compartment
 Space to load cargos in the ship
 It is divided by a bulkhead which is a diaphragm or peritoneum of human.
 Compartment design (General arrangement design)
 Compartment modeling + Ship calculation
 Compartment modeling
 Design task that divides the interior parts of a hull form into a number of
compartments
 Ship calculation (Naval architecture calculation)
 Design task that evaluates whether the ship satisfies the required cargo
capacity by a ship owner and, at the same time, the international regulations
related to stability, such as MARPOL and SOLAS, or not

Compartment of the VLCC 10

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What is a “Hull structure”?

 Hull structure
 Frame of a ship comprising of a number of hull structural parts such as plates,
stiffeners, brackets, and so on
 Like a skeleton of human
 Hull structural design
 Design task that determines the specifications of the hull structural parts such
as the size, material, and so on

Hull structure of the VLCC

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Principal Characteristics (1/2)

Loa

W.L. W.L.

B.L. B.L.

A.P. Lbp F.P.

Lwl
 LOA (Length Over All) [m]: Maximum Length of Ship

 LBP (Length Between Perpendiculars (A.P. ~ F.P.)) [m]

 A.P.: After perpendicular (normally, center line of the rudder stock)
 F.P.: Inter-section line between designed draft and fore side of the stem, which is
perpendicular to the baseline

 Lf (Freeboard Length) [m]: Basis of freeboard assignment, damage stability calculation

 96% of Lwl at 0.85D or Lbp at 0.85D, whichever is greater

 Rule Length (Scantling Length) [m]: Basis of structural design and equipment selection
 Intermediate one among (0.96 Lwl at Ts, 0.97 Lwl at Ts, Lbp at Ts)
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Definitions for the Length of a Ship

Structures above
main deck
Main deck

(Main) Hull

Wetted line Molded line

Length overall(LOA)

Length on waterline(LWL)

Stem tstem
Design waterline

Length between perpendiculars(LBP)

AP FP

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Principal Characteristics (2/2)

 B (Breadth) [m]: Maximum breadth of the ship, measured

amidships
- Bmolded: excluding shell plate thickness
- Bextreme: including shell plate thickness
Air Draft

 D (Depth) [m]: Distance from the baseline to the deck side

line
- Dmolded: excluding keel plate thickness
- Dextreme: including keel plate thickness

 Td (Designed Draft) [m]: Main operating draft

- In general, basis of ship’s deadweight and speed/power
Depth

performance
Draft

 Ts (Scantling Draft) [m]: Basis of structural design

B.L. B.L.
Breadth

 Air Draft [m]: Distance (height above waterline only or including operating draft) restricted by the port
facilities, navigating route, etc.
- Air draft from baseline to the top of the mast
- Air draft from waterline to the top of the mast
- Air draft from waterline to the top of hatch cover
- …

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Definitions for the Breadth and Depth of a Ship

1/2 Molded breadth(B,mld)
Deck plating

Camber
Deck beam

Freeboard

Scantling waterline
Molded depth(D,mld)

Scantling draft
Centerline

Baseline Dead rise

L
C
Keel
Sheer after Sheer forward

Depth

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2. Static Equilibrium

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Center Plane
Before defining the coordinate system of a ship, we first introduce three planes,
which are all standing perpendicular to each other.

Generally, a ship is symmetrical about starboard and port.

The first plane is the vertical longitudinal plane of symmetry, or center plane.

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Base Plane

The second plane is the horizontal plane, containing the bottom of the ship,
which is called base plane.

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Midship Section Plane

The third plane is the vertical transverse plane through the midship, which is
called midship section plane.

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Centerline in
(a) Elevation view, (b) Plan view, and (c) Section view
Centerline:
Intersection curve between
center plane and hull form

Centerline
Elevation view

Plan view
(a) ℄
(c)
Section view
℄
℄: Centerline
(b)

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Baseline in
(a) Elevation view, (b) Plan view, and (c) Section view
Baseline:
Intersection curve between
base plane and hull form

Elevation view

Plan view (a) BL ℄ BL

(c)
Section view

Baseline
(b)

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System of Coordinates
zb
zn
yb
O
n-frame: Inertial frame xn yn zn or x y z
E yn xb Point E: Origin of the inertial frame(n-frame)
b-frame: Body fixed frame xb yb zb or x’ y’ z’
Point O: Origin of the body fixed frame(b-frame)
xn
1) Body fixed coordinate system
The right handed coordinate system with the axis called xb(or x’), yb(or y’), and zb(or z’) is fixed
to the object. This coordinate system is called body fixed coordinate system or body fixed
reference frame (b-frame).

2) Space fixed coordinate system

The right handed coordinate system with the axis called xn(or x), yn(or y) and zn(or z) is fixed to
the space. This coordinate system is called space fixed coordinate system or space fixed
reference frame or inertial frame (n-frame).

In general, a change in the position and orientation of the object is described with respect to
the inertial frame. Moreover Newton’s 2nd law is only valid for the inertial frame.
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System of Coordinates for a Ship

Body fixed coordinate system (b-frame): Body fixed frame xb yb zb or x’ y’ z’

Space fixed coordinate system (n-frame): Inertial frame xn yn zn or x y z

Stem, Bow
zb zn
zb SLWL
yb xb yn
xn
yb BL

AP LBP xb FP

AP: aft perpendicular : midship

FP: fore perpendicular
LBP: length between perpendiculars.
Stern BL: baseline
(a) SLWL: summer load waterline (b)

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Center of Buoyancy (B)

K: keel
LCB : longitudinal center of buoyancy LCG : longitudinal center of gravity
VCB : vertical center of buoyancy VCG : vertical center of gravity
and Center of Mass (G) TCB : transverse center of buoyancy TCG : transverse center of gravity

z z
Elevation view Section view
y x x y

G LCG VCG B G
B LCB VCB
K
Plan view y L
C
z
TCG
B G z x G
TCB
LCB LCG
B
K
L
C

※ In the case that the shape of a ship is asymmetrical

with respect to the centerline.
Center of buoyancy (B)
It is the point at which all the vertically upward forces of support (buoyant force) can be considered to act.
It is equal to the center of volume of the submerged volume of the ship. Also, It is equal to the first moment
of the submerged volume of the ship about particular axis divided by the total buoyant force (displacement).
Center of mass or Center of gravity (G)
It is the point at which all the vertically downward forces of weight of the ship (gravitational force) can be
considered to act.
It is equal to the first moment of the weight of the ship about particular axis divided by the total weight of
the ship.
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Static
Equilibrium (1/3)
Static Equilibrium

① Newton’s 2nd law

FG
ma  F
  FG
G

m: mass of ship G: Center of mass

a: acceleration of ship FG: Gravitational force of ship

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Static Equilibrium (2/3)

Static Equilibrium

① Newton’s 2nd law

FG
ma  F
  FG  FB
G for the ship to be in static equilibrium
0  F , ( a  0)
 FG  FB
B

FB

B: Center of buoyancy at upright

position(center of volume of
the submerged volume of the
ship)
FB: Buoyant force acting on ship

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Static Equilibrium (3/3)

Static Equilibrium

① Newton’s 2nd law

FG
ma  F
  FG  FB
G for the ship to be in static equilibrium
0  F , ( a  0)

Static Equilibrium  FG  FB
B
② Euler equation
I   
FB for the ship to be in static equilibrium
0   , (   0)

When the buoyant force (FB) lies on the same

: Moment
I: Mass moment of inertia
line of action as the gravitational force (FG),
: Angular velocity total summation of the moment becomes 0.

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What is “Stability”? FG

G
B
Capsizing
℄ B1

FB
FG FG
Inclining
W L W1 L1
(Heeling)
G
G

B B B1
Restoring

FB
℄ ℄ FB
Stability = Stable + Ability

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Stability of a Floating Object

 You have a torque on this object Static Equilibrium
relative to any point that you choose. It
does not matter where you pick a point. ① Newton’s 2nd law
ma  F
 The torque will only be zero when the
buoyant force and the gravitational   FG  FB
force are on one line. Then the torque for the ship to be in static equilibrium
becomes zero. 0  F , ( a  0)

Rotate  FG  FB

② Euler equation
I   
for the ship to be in static equilibrium
0   , (   0)

When the buoyant force (FB) lies on the same

line of action as the gravitational force (FG),
total summation of the moment becomes 0.

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Stability of a Ship
 You have a torque on this object Static Equilibrium
relative to any point that you choose. It
does not matter where you pick a point. ① Newton’s 2nd law
ma  F
 The torque will only be zero when the
buoyant force and the gravitational   FG  FB
force are on one line. Then the torque for the ship to be in static equilibrium
becomes zero. 0  F , ( a  0)

Rotate  FG  FB

FG FG ② Euler equation

G G
I   
for the ship to be in static equilibrium
B
B 0   , (   0)

When the buoyant force (FB) lies on the same

FB FB line of action as the gravitational force (FG),
(a) (b) total summation of the moment becomes 0.
Static Equilibrium
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Interaction of Weight and Buoyancy of

a Floating Body (1/2)
Restoring
Torque Moment
(Heeling r
Moment)
e FG FG
W L W1 L1
G
G

B B B1

FB ℄ FB
℄
(a) (b)
Euler equation: I       0

Interaction of weight and buoyancy resulting in intermediate state

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Interaction of Weight and Buoyancy of

a Floating Body (2/2)

Static Equilibrium
Heeling
Moment
e
FG FG
W L W1 L1
G
G

B B B1

FB ℄
℄ FB
(a) (b)
Euler equation: I       0

Interaction of weight and buoyancy resulting in static equilibrium

state
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Stability of a Floating Body (1/2)

Restoring Moment
Inclined

B
FB B FG
FG FB G
G

(a) (b)

Floating body in stable state

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Stability of a Floating Body (2/2)

Overturning Moment
Inclined

G
FG FG
G

B
FB B

FB

(a) (b)

Floating body in unstable state

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Transverse, Longitudinal, and Yaw Moment

Question) If the force F is applied on the point of rectangle object, what is the moment?

z Fz
k P F
y z
i j
Fy
x
Fx
rP ( xP , yP , zP )
O
y

M  rP  F x

i j k  Transverse moment Longitudinal moment Yaw moment

 
  xP yP zP   i ( yP  Fz  zP  Fy )  j(  xP  Fz  zP  Fx )  k ( xP  Fy  yP  Fx )
 Fx Fy Fz  Mx My Mz

The x-component of the moment, i.e., the bracket term of unit vector i,
indicates the transverse moment, which is the moment caused by the force F
acting on the point P about x axis. Whereas the y-component, the term of unit
vector j, indicates the longitudinal moment about y axis, and the z-component,
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Equations for Static Equilibrium (1/3)

Suppose there is a floating ship. The force equilibrium states that the sum of total forces is
zero.

F  F G,z  FB , z  0
, where
FG.z and FB.z are the z component of the gravitational force vector and the buoyant force vector,
respectively, and all other components of the vectors are zero.

Also the moment equilibrium must be satisfied, this means, the resultant moment should
be also zero.

τ  M G  MB  0
where MG is the moment due to the gravitational force and MB is the moment due to the buoyant
force.

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Equations for Static Equilibrium (2/3)

τ  M G  MB  0
where MG is the moment due to the gravitational force and MB is the moment due to the buoyant
force.

From the calculation of a moment we know that MG and MB can be written as follows:
M G  rG  FG
 i j k 
 
  xG yG zG 
 FG , x FG , y FG , z 
 
 i ( yG  FG , z  zG  FG , y )  j( xG  FG , z  zG  FG , x )  k ( xG  FG , y  yG  FG , x )
M B  rB  FB
 i j k 
 
  xB yB zB 
 FB , x FB , y FB , z 
 
 i ( yB  FB , z  z B  FB , y )  j( xB  FB , z  z B  FB , x )  k ( xB  FB , y  yB  FB , x )

M G  i ( yG  FG , z  zG  FG , y )  j(  xG  FG , z ) and M B  i ( y B  FB , z  z B  FB , y )  j(  xB  FB , z )

M G  i ( yG  FG , z )  j(  xG  FG , z ) and M B  i ( y B  FB , z )  j(  xB  FB , z )
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Equations for Static Equilibrium (3/3)

τ  M G  MB  0
where MG is the moment due to the gravitational force and MB is the moment due to the buoyant
force.

M G  i ( yG  FG , z )  j( xG  FG , z ) and M B  i ( yB  FB , z )  j( xB  FB , z )

τ  M G  M B  i ( yG  FG , z  yB  FB , z )  j( xG  FG , z  xB  FB , z )  0

yG  FG , z  y B  FB , z  0 and  xG  FG , z  xB  FB , z  0

Substituting FG , z   FB , z (force equilibrium)

yG  yB  0 xG  xB  0
 yG  yB  xG  xB

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3. Restoring Moment and Restoring

Arm

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Restoring Moment Acting on an Inclined Ship

Restoring
Heeling Moment
Moment r
e FG
FG
G Z
G
W L W1 L1

B B B1

FB FB

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Restoring Arm (GZ, Righting Arm)

• The value of the restoring moment
Heeling Restoring
Moment
is found by multiplying the
Moment
e r buoyant force of the ship
(displacement), , by the
FG perpendicular distance from G to
G Z the line of action of .
• It is customary to label as Z
the point of intersection of the line
B B1
of action of and the parallel line
to the waterline through G to it.
• This distance GZ is known as the
FB ‘restoring arm’ or ‘righting arm’.
• Transverse Restoring Moment
 restoring  FB  GZ
G: Center of mass K: Keel
B: Center of buoyancy at upright position
B1: Changed center of buoyancy
FG: Weight of ship FB: Buoyant force acting on ship
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• Restoring Moment

Metacenter (M)  restoring  FB  GZ

M
Definition of M (Metacenter)
e • The intersection point of the vertical
FG line through the center of buoyancy
at previous position (B) with the
G Z vertical line through the center of
buoyancy at new position (B1) after
inclination
• The term meta was selected as a prefix for center
because its Greek meaning implies movement. The
B B1 metacenter therefore is a moving center.

• GM  Metacentric height

• From the figure, GZ can be obtained

FB with assumption that M does not
change within a small angle of
r inclination (about 7 to 10), as below.
Z: The intersection point of the line of buoyant force through
B1 with the transverse line through G

GZ  GM  sin 

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Restoring Moment at Large Angle of Inclination (1/3)

M
GZ  GM  sin 
e For a small angle of inclination
FG
(about 7 to 10)

G //
Z
• The use of metacentric height (GM)
//
as the restoring arm is not valid for
a ship at a large angle of inclination.
B B1

To determine the restoring

FB arm ”GZ”, it is necessary to know
the positions of the center of mass
G: Center of mass of a ship
FG: Gravitational force of a ship
r (G) and the new position of the
B: Center of buoyancy in the previous state (before inclination) center of buoyancy (B1).
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined
Z: The intersection point of a vertical line through the new position of
the center of buoyancy(B1) with the transversely parallel line to a
waterline through the center of mass(G)

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Restoring Moment at Large Angle of Inclination (2/3)

M: The intersection point of the vertical line through the center

of buoyancy at previous position (Bi-1) with the vertical line
through the center of buoyancy at present position (Bi) after
inclination

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Restoring Moment at Large Angle of Inclination (3/3)

M: The intersection point of the vertical line through the center

of buoyancy at previous position (Bi-1) with the vertical line
through the center of buoyancy at present position (Bi) after
inclination

GZ  GM 35  sin 35
C35
C30

=35

G Z

FB ,35
FB ,30

L35
L30
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Stability of a Ship According to

Relative Position between “G”, “B”, and “M” at Small Angle of Inclination

• Righting (Restoring) Moment: Moment to return the ship to the upright floating position
• Stable / Neutral / Unstable Condition: Relative height of G with respect to M is
one measure of stability.

FG
• Stable Condition ( G < M ) • Neutral Condition ( G = M ) • Unstable Condition ( G > M )
FG Z
G
FG M G, Z, M M

G Z

B B1 B B1 FG B B1
FG
FG G M
K M K K G
M
FB G Z
B
FB B
FB B

FB FB FB
G: Center of mass K: Keel
B: Center of buoyancy at upright position B1: Changed center of buoyancy
FG: Weight of ship FB: Buoyant force acting on ship
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

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Importance of Transverse Stability

FG FGFG FG FG F
G
G G

e e

B
B2 B B1
B1

FB0 F FF
B1 FB BF
0BB
12
2

The ship is inclined further from it. The ship is inclined further from it.
The ship is in static equilibrium state. Because of the limit of the breadth, “B” can not
move further. the ship will capsize.
As the ship is inclined, the position of the center of buoyancy “B” is changed.
Also the position of the center of mass “G” relative to inertial frame is changed.

One of the most important factors of stability is the breadth.

So, we usually consider that transverse stability is more important than longitudinal
stability. - Overview of Ship Stability 47
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4. Ship Stability

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Summary of Static Stability of a Ship (1/3)

e  When an object on the deck moves to

the right side of a ship, the total center of
mass of the ship moves to the point G1, off
the centerline.
 Because the buoyant force and the
FG1 FG1 gravitational force are not on one line, the
G G1 forces induces a moment to incline the
ship.
* We have a moment on this object
relative to any point that we choose.
B It does not matter where we pick a
point.
FB

G: Center of mass of a ship

G1: New position of center of mass after the object on the deck moves
to the right side
FG: Gravitational force of a ship
B: Center of buoyancy at initial position
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined
Z: The intersection of a line of buoyant force(FB) through the new position
of the center of buoyancy (B1) with the transversely parallel line to the
waterline through the center of mass of a ship(G) 49
Naval Architectural Calculation, Spring 2016, Myung-Il Roh

Summary of Static Stability of a Ship (2/3)

e

FG FFG1
G1
GG G1G
1

BB B1

 The total moment will only be zero

FB FF when the buoyant force and the
BB
gravitational force are on one line. If the
moment becomes zero, the ship is in static
r
equilibrium state.
G: Center of mass of a ship
G1: New position of center of mass after the object on the deck moves
to the right side
FG: Gravitational force of a ship
B: Center of buoyancy at initial position
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined
Z: The intersection of a line of buoyant force(FB) through the new position
of the center of buoyancy (B1) with the transversely parallel line to the
waterline through the center of mass of a ship(G) 50
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Summary of Static Stability of a Ship (3/3)

 When the object on the deck returns to the
e initial position in the centerline, the center of
mass of the ship returns to the initial point G.
 Then, because the buoyant force and the
gravitational force are not on one line, the
forces induces a restoring moment to
FG return the ship to the initial position.
G Z
G1 ※ Naval architects refer to the restoring
moment as “righting moment”.
 The moment arm of the buoyant force
B B1 and gravitational force about G is
expressed by GZ, where Z is defined as the
intersection point of the line of buoyant
force(FB) through the new position of the
FB center of buoyancy(B1) with the
transversely parallel line to the waterline
through the center of mass of the ship (G).
r
G: Center of mass of a ship
G1: New position of center of mass after the object on the deck moves • Transverse Righting Moment
to the right side
FG: Gravitational force of a ship
B: Center of buoyancy at initial position
 righting  FB  GZ
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined  By the restoring moment, the ship
Z: The intersection of a line of buoyant force(FB) through the new position
of the center of buoyancy (B1) with the transversely parallel line to the returns to the initial position.
waterline through the center of mass of a ship(G) 51
Naval Architectural Calculation, Spring 2016, Myung-Il Roh

Evaluation of Stability
: Merchant Ship Stability Criteria – IMO Regulations for Intact Stability
(IMO Res.A-749(18) ch.3.1)
 IMO recommendation on intact stability for passenger and cargo ships.

Righting arm  = const. Area A: Area under the righting arm curve
(GZ) (: displacement)
between the heel angle of 0 and 30
Area B: Area under the righting arm curve
between the heel angle of 30 and min(40, f )
※ f : Heel angle at which openings in the hull
GM m: Heel angle of maximum righting arm

57.3
※ After receiving approval of
A B calculation of IMO regulation
Angle of heel from Owner and Classification
( [])
0 10 20 30 40 50 60 70 80 Society, ship construction can
m f proceed.
IMO Regulations for Intact Stability
(a) Area A ≥ 0.055 m-rad
(b) Area A + B ≥ 0.09 m-rad The work and energy
(c) Area B ≥ 0.030 m-rad considerations (dynamic stability)
(d) GZ ≥ 0.20 m at an angle of heel equal to or greater than 30
(e) GZmax should occur at an angle of heel preferably exceeding
30 but not less than 25. Static considerations
(f) The initial metacentric height GMo should not be less than 0.15 m.

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5. Examples for Ship Stability

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[Example] Equilibrium Position and Orientation of a Box-shaped Ship

Question 1) The center of mass is moved to 0.3 [m] in the direction of the starboard side.
A box-shaped ship of 10 meter length, 5 meter breadth and 3 meter height
weighs 205 [kN].
The center of mass is moved 0.3 [m] to the left side of the center of the deck.
When the ship is in static equilibrium state, determine the angle of heel ()
of the ship.
Given: Length (L): 10m, Breadth (B): 5m, Depth (D): 3m, Weight (W): 205kN,
Location of the Center of Gravity: 0.3m to the left side of the center of the deck
Find: Angle of Heel(ϕ)
Assumption)
(1) Gravitational acceleration = 10 [m/s2], Density of sea water = 1.025 [ton/m3]
(2) When the ship will be in the static equilibrium finally, the deck will not be immersed and the
bottom will not emerge.

FG  205 kN

0.3m

5m
3m
0.4m
Baseline

10m :Location of the center of

gravity of the ship
AP
Naval Architectural Calculation, Spring 2016, Myung-Il Roh
FP 54

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Solution)
FG  205 kN

(1) Static Equilibrium (1/3) 0.3m

5m
3m
0.4m Baseline

When the ship is floating in sea water, the requirement 10m

A FP
for ship to be in static equilibrium state is derived from : Location of the center of mass of the ship
P

Newton’s 2nd law and Euler equation as follows.

(1-1) Newton’s 2nd Law: Force Equilibrium

The resultant force should be zero to be in static equilibrium.

 n
F  n FG , z  n FB , z  0
, where
nF
G.z : zn-coordinate of the gravitational force
nF
B.z : zn-coordinate of the buoyant force

(1-2) Euler Equation: Moment Equilibrium

The resultant moment should be zero to be in static equilibrium.

 n
τ  n MG  n M B  0
, where
nM : the moment due to the gravitational force
G
nM : the moment due to the buoyant force.
B

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Solution)
FG  205 kN

(1) Static Equilibrium (2/3) 0.3m

5m
3m
0.4m Baseline

10m

The first step is to satisfy the Newton- :

AP FP
Location of the center of mass of the ship

Euler equation which requires that the

sum of total forces and moments acting z z'
on the ship is zero. FG
As described earlier, in order to satisfy a
stable equilibrium, the buoyant force and yG G
gravitational force should act on the
same vertical line, therefore, the moment x,x' O,E
arm of the buoyant force and ф˚ y
gravitational force must be same.
B y'
yB
K
yG  yB
FB

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Solution)
FG  205 kN

(1) Static Equilibrium (3/3) 0.3m

5m
3m

yG  yB
0.4m Baseline

10m

AP FP
: Location of the center of mass of the ship

z z'
 yG   cos  sin    yG   yB   cos  sin    yB  FG
 z     sin  cos    z     
 G   G  zB    sin  cos    z B 
yG G
By representing yG and yB with yG , zG , yB , and zB ,
we can get x,x' O,E
ф˚ y
yG  cos   zG  sin   yB  cos   z B  sin  yB B1 y'
K
FB
In this equation, we suppose that y'G
and z'G are already given, and y'B and z'B
can be geometrically calculated.

Body fixed coordinate system(b-frame): Body fixed frame x’ y’ z’

Space fixed coordinate system(n-frame): Inertial frame x y z

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yG  y B
Solution)
(2-1) Changed Center of Buoyancy, B1, with Respect to the Body Fixed Frame

z z'
The centroid of A with respect to the FG
body fixed frame:
yG G
M  M 
 yC_A , zC _ A    A, z , A, y  x,x' O,E
 AA AA  ф˚ y

, where B1 y'
yB
AA : the area of A A K
MA,z’ : 1st moment of area of A about z’ axis
FB
MA,y’ : 1st moment of area of A about y’ axis.

To obtain the centroid of A, the followings are required.

- The area of A
- 1st moment of area of A about z’ axis
- 1st moment of area of A about y’ axis

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yG  y B
Solution)
(2-2) Center of Buoyancy and Center of Gravity with Respect to the Body Fixed Frame (1/2)

The centroid of A with respect

1) Center of buoyancy, B1, with respect to the body to the body fixed frame:
fixed frame  M  M A, y  
 y , zC _ A    A, z , 
To calculate the centroid of A using the geometrical
C_A
 AA AA 

relations, we use the areas, A1, A2, and A3.

2a

R
2b
S0
A3
ф˚ A2
R0
  
t A A1 A2 A3
S A
A1
Q
P

To describe the values of A1, A2, and A3 using the geometrical parameters (a, t,
and ), y’ and z’ coordinate of the points P, Q, R, R0, S, S0 with respect to
the body fixed frame is used, which are given as follows.
P  yP , z P     a,  t  , Q  yQ , zQ    a,  t 
R ( yR , z R )  ( a, a  tan  ), R0 ( yR0 , z R0 )  ( a, 0)
S ( yS , zS )  (  a,  a  tan  ), S 0 ( yS 0 , zS 0 )  (  a, 0)

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Naval Architectural Calculation, Spring 2016, Myung-Il Roh

yG  y B
Solution)
(2-2) Center of Buoyancy and Center of Gravity with Respect to the Body Fixed Frame (2/2)

2a

R
2b
S0
A3
ф˚ A2
R0
  
A A1 A2 A3
t
S A
A1
Q
P 1
Area: a  a  tan 
2
z 2 1
a  tan  Centroid:  yC , zC   a, a tan 
C  yC , zC  3 3
A2 1/ 3  a  tan 
y Moment of area about z’ axis:
a
2 / 3 a 1 2 1
Area  yC  a  a  tan   a  a 3 tan 
2 3 3
Moment of area about y’ axis:
1 1 1
Area  zC  a  a  tan   a  tan   a 3 tan 2 
2 3 6 60
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yG  y B
Solution)
(2-3) Center of Buoyancy and Center of Gravity with Respect to the Body Fixed Frame (1/2)

1) Center of buoyancy, B1, with respect to the body The centroid of A with respect
fixed frame to the body fixed frame:
 M  M A, y  
    y C_A , zC _ A    A, z , 
 AA AA 
A A1 A2 A3 2a

The table blow summarizes the results of the area, centroid with
respect to the body fixed frame and 1st moment of area with 2b
R

respect to the body fixed frame of A1, A2, A3, and A. S0 A2

ф˚
A3 R0
Area Centroid Moment of area Moment of area
t
 AA  ( yC , zC ) about z'-axis about y'-axis
S A
A1

( yC  A) ( zC  A) P
Q

A1 2a  t  t 0 a  t 2
 0,  
 2
A2 1  2a a  tan   a3  tan  a3   tan  
2

 a  a  tan   , 
2  3 3  3 6
A3 1  2a a  tan   a3  tan  a3   tan  
2

 a  a  tan   ,   
2  3 3  3 6
- 2a3  tan  a3   tan  
2
A 2a  t
a  t 2 
(=A1+A2-A3) 3 3

The center of buoyancy, B1, with respect to the body fixed frame is
 M A, z  M A, y '   a 2  tan  t a 2   tan   
2

 B B 
y  , z   ,    ,   
 AA AA   3t 2 6t 
 
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Naval Architectural Calculation, Spring 2016, Myung-Il Roh

yG  y B
Solution)
(2-3) Center of Buoyancy and Center of Gravity with Respect to the Body Fixed Frame (2/2)
 a 2  tan  t a   tan   
2 2

2) Center of gravity, G, with respect to the body  yB , zB   

3t
, 
2 6t


 
fixed frame
FG
z’
The center of gravity, G, with respect to z
2a
the body fixed frame is given by G
geometrical relations as shown in the
figure, which is 2b d

 y 'G , z 'G    d , 2b  t  xn, xb O,E ф˚

y’
t
B B1

K
FB

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Solution) FG
(3) Comparison between the Figure Describing the Ship Inclined zn zb
and the Figure Describing the Water Plane Inclined (1/2) 2a
G
Let us calculate the center of buoyancy, B1, and 2b d
the center of gravity, G, using the Fig. (b). yn
 The center of buoyancy, B1, and the center of gravity, G, xn,xb O,E ф˚
yb
with respect to the body fixed frame t
B B1
 a 2  tan  t a   tan   
2 2

 yB , zB    ,  

K
FB
3t 2 6t
 

 y 'G , z 'G    d , 2b  t  (b)

Next, we use the condition that the moment arm of the

buoyant force and gravitational force must be same and
substitute the coordinates of the center of gravity and
buoyancy with respect to the body fixed frame into the
following equation.

yG  cos   zG  sin   y B  cos   z B  sin 

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Solution)
(3) Comparison between the Figure Describing the Ship Inclined
and the Figure Describing the Water Plane Inclined (2/2)

yG  cos   zG  sin   y B  cos   z B  sin 

 a 2  tan  t a   tan   
2 2

 yB , zB    ,  

3t 2 6t
 
 y 'G , z 'G    d , 2b  t 

d  cos   (2b  t )  sin  

3t 2 2

 2a 2  a 2   tan    sin 
6t
Substituting a=2.5m, b=1.5m, t=0.4m, d=0.3m into this equation
and rearranging
 15.025 15.625
 tan   
2
2.6  sin   0.3  cos   sin   
 3 6 
tan   0.159 [rad]   9.019 [deg]

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[Example] Equilibrium Position and Orientation of a Box-shaped Ship

Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.

A box-shaped ship of 10 meter length, 5 meter breadth and 3

meter height weighs 205 [kN].
The center of mass is moved to 2 [m] in the direction of the forward
perpendicular. When the ship is in static equilibrium state, determine
the equilibrium position and orientation of the ship.
Assumption)
(1) Gravitational acceleration = 10 [m/s2], Density of sea water = 1.025 [ton/m3]
(2) When the ship will be in the static equilibrium finally, the deck will not be immersed
and the bottom will emerge.

FG  205 kN
Starboard

2m
Port
5m
3m
0.4m
Baseline

10m
:Location of the center of
AP FP mass of the ship 65
Naval Architectural Calculation, Spring 2016, Myung-Il Roh

Solution)
FG  205 kN
Starboard

3m
2m
Port
5m zn Force Equilibrium
F  F
0.4m

 FB  0
Baseline

10m
: Locationof the center of
G
AP FP mass of the ship

FG  250
FG  205 kN
FB     g  V
zb 1 
 1.025 10    a  b  5 
2 
 25.625  a  b
xb


F  F G  FB
 250  25.625  a  b
b
a yn , yb 0
xn
FB O a b  8

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Solution)
z FG z
z
z
x

x x
O, E
y, y

b
Side view x a y , y
(Profile view)
FB O, E

Instead of rotating the ship, we can consider the

waterline rotated with an angle of while keeping the
ship constant.
z
FG z

x  FB O, E
y, y
a

x
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Naval Architectural Calculation, Spring 2016, Myung-Il Roh

Solution)
FG  205 kN

Moment Equilibrium
Starboard

2m
Port zn
M  M
5m
3m
0.4m
Baseline G  MB  0
10m
: Locationof the center of

The centers of buoyancy B and gravity G

AP FP mass of the ship

FG should be in the same vertical line.

xG  xB
zb
xG  3cos   3sin 
n
xG
xb 3cos  3sin 


n
xB b
a yn , yb
xn
FB O

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Solution) zn

FG

Moment Equilibrium
zb
n
xG
xb 3cos  3sin 

xn


a
n
xB
yn , yb
b M  M G  MB  0
FB O

The centers of buoyancy B and gravity G

zn zb should be in the same vertical line.
n
xG  n xB
n
xG  3cos   3sin 
a b
n
xB  cos   sin 
3 3

 n
xB a b
3cos   3sin   cos   sin 
a/3 3 3
b/3 b
a a
3
cos 
b
 sin 
3

FB O
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Naval Architectural Calculation, Spring 2016, Myung-Il Roh

Solution)
a b
3cos   3sin   cos   sin 
3 3 dividing the both side of equation by cos 
a b
3  3 tan     tan 
3 3
b
b a b b tan  
33    a
a 3 3 a
multiplying 3a to the both side of equation
9a  9b  a 2  b 2

9  a  b    a  b  a  b 

From the force equilibrium if a  b ab2 2 Unstable

a b  8
if a  b a 8 Stable
From the moment equilibrium
9  a  b    a  b  a  b  b 1

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Solution)
Why is the ship unstable, when ab2 2? Horizontal displacement of center of mass
zn
 xG
3 2 sin 
3 2
FG

3 2  4.242
xb

zb
3 2


FB
a2 2 yn , yb b2 2
xn
O

 xB  wedge  wedge
  1   xB   xb
 xb total  total
1
 wedge  2  2   tan( )  2 tan( )
2 2 tan( ) 4
total 
2 2 2 2 2
 4,  xb  2( ) 
4
 xB 
4

3  xB  0.66
Naval Architectural Calculation, Spring 2016, Myung-Il Roh 2 3 3 71

Solution)
Why is the ship unstable, when ab2 2? Horizontal displacement of center of mass
zn
 xG
3 2 sin 
3 2 
3 2  4.242
xb FG

zb



a2 2 yn , yb b2 2
FB
xn
O

 xB  wedge  wedge
  1   xB   xb
 xb total  total
Unstable 1
 wedge  2  2   tan( )  2 tan( )
2 2 tan( ) 4
total 
2 2 2 2 2
 4,  xb  2( ) 
4
 xB 
4

3  xB  0.66
Naval Architectural Calculation, Spring 2016, Myung-Il Roh 2 3 3 72

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[Example] Heel Angle Caused by Movement

• Given: KB, KG, IT, Heeling moment Mh
• Find: Angle of heel φ
• GZ of wall sided ship

of Passengers in Ferry (1/2)  1 

GZ   GM  BM tan 2   sin 
 2 

Question) Emergency circumstance happens in Ferry with displacement (mass) 102.5 ton.
Heeling moment of 8 ton·m 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, IT=200m4.
Solution) If it is in static equilibrium at an angle of heel 

Righting moment in wall sided ship (Mr) = Heeling moment (Mh)

 1  8ton  m
  GM  BM tan 2   sin  =
 2 
① Calculation of BM
  102.5 ton     /1.025  100 m3
I 200
BM  T   2m
 100
② Calculation of GM
GM  KB  BM  KG
 0.6  2  2.4  0.2 m
8
 0.2  tan   sin   102.5
2
Nonlinear equation
about  ?
예제5.2

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Naval Architectural Calculation, Spring 2016, Myung-Il Roh

[Example] Heel Angle Caused by Movement

• Given: KB, KG, IT, Heeling moment Mh
• Find: Angle of heel φ
• GZ of wall sided ship

of Passengers in Ferry (2/2)  1 

GZ   GM  BM tan 2   sin 
 2 

Question) Emergency circumstance happens in Ferry with displacement (mass) 102.5 ton.
Heeling moment of 8 ton·m 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, IT=200m4.
Solution) If it is in static equilibrium at an angle of heel 

Righting moment in wall sided ship (Mr) = Heeling moment (Mh)

 1  8 ton  m
  GM  BM tan 2   sin  =
 2 
 0.2  tan   sin   0.078
2
Righting
Because of nonlinear equation, solve arm

it by numerical method.
0.0858
Result of calculation is about =16.0˚.
LHS RHS
0.0778
φ
(Righting arm) (Heeling arm) Heeling
0.0703 arm
15˚ 0.0703 0.0780

16˚ 0.0778 0.0780

17˚ 0.0858 0.0780 15 17

In static
equilibrium
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 2017-01-24

[Example] Heel Angle Caused by Movement of Cargo

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) and moving distance
• Find : angle of heel φ z

y

d=20.0 m

G 200 ton
h=10.0 m
5.0m 4.0m B
Base
Line

L
C
예제5.3

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Naval Architectural Calculation, Spring 2016, Myung-Il Roh

[Example] Change of Center Caused by Movement of Cargo

Question) As below cases partial weight w of the ship is shifted. What is the
shift distance of center of mass of the ship?

Case 1) Vertical shift of the partial weight Case 2) Horizontal shift of the partial weight

h
G1 G G1

G
Base Base
Line Line

L
C L
C

예제5.5

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 2017-01-24

[Example] Calculation of Deadweight of Barge

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
20m
is located in 2 m from the baseline. 40m C
A cargo is supposed to be loaded in
5m
center of the deck. Find the maximum
loadable weight that keeps the
5m
stability of ship. =1.0ton/m3 Base
Line

Hint) GM should be positive and deck L

C

should not submerged.

Problem to calculate the maximum load for the

stability.

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Naval Architectural Calculation, Spring 2016, Myung-Il Roh

[Example] Calculation of Position of Ship

when Cargo is Moved by Crane

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. 200
27.0 m
A lifting height of cargo is 27.0 m from ton
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?
Base
Line
L
C
Hint) Use the Moment to Heel One Degree
and the heeling moment caused by the
movement of the cargo.
Moment to heel one degree  FB  GM  sin1
Problem to calculate the equilibrium angle of the
ship when external force are applied.
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[Example] Calculation of Center of Buoyancy of Ship with

Constant Section
Example) A ship is inclined about x-axis through origin O with an angle of -30.
Calculate center of buoyancy with respect to the water plane fixed frame.
• Given: Breadth(B) 20m, Depth(D) 20m, Draft(T) 10m, Angle of Heel() -30˚
• Find: Center of buoyancy(yB, zB)
G: Center of mass K:Keel
B: Center of buoyancy B1 : Changed center of buoyancy

Section view S z
z,z‘ 20
S R
z‘
20 20

20 R
O O
y,y‘ -30˚ y
B 10
B
P B1
y‘
K
P K Q
Q

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Naval Architectural Calculation, Spring 2016, Myung-Il Roh

[Example] Calculation of Center of Buoyancy of Ship with

Various Station Shapes
A ship with three varied section shape is given. When this ship is inclined about x
axis with an angle of -30, calculate y and z coordinates of the center of buoyancy
(with respect to the water plane fixed frame).
• Given: Length(L) 50m, Breadth(B) 20m, Depth(D) 20m, Draft(T) 10m, Angle of Heel() -30˚
• Find: Center of buoyancy(y∇,c, z∇, c) after heeling
20

z,z'
O,O' y,y' 20
20 20
x,x' 1
1 10
0 0
20
20 20 20
10

20
20
10

CL 80
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