1. CAUSES OF THE SIX DEGREES OF FREEDOM.

a. Pitching - Swaying along the lateal !-a"i#.

- Motion a$o%t the &e##el'# tan#&e#e a"i#.
- To ha&e a con#tant ti( )ti( $eing the *i++eence o+ the +owa*
an* a+te *a+t#,- #ta$ility in the (otion o+ .itch (%#t $e ac/%ie*.
- Go&ening #ta$ility 0 1ongit%*inal #ta$ility
$. Hea&ing - The yawing along the &etical 2-a"i#.
- The &etical $o*ily (otion o+ the &e##el.
- To 3ee. the &e##el on the #%+ace at a elati&ely con#tant (ean
*a+t- #ta$ility in hea&e i# nece##ay.
- Go&ening #ta$ility 0 Po#itional (otion #ta$ility
c. S%ge - Rolling along the longit%*inal X-a"i#.
- 1ongit%*inal $o*ily (otion.
- Thee i# a *e#ie +o a &e##el to (aintain a con#tant #.ee*- thi#
wo%l* e/%ie that the &e##el ha&e #ta$ility along the #%ge a"i#.
- Go&ening #ta$ility 0 Sta$ility in (otion ahea* 4 a#ten
*. Rolling - Motion a$o%t the &e##el'# longit%*inal a"i#.
- One o+ the (o#t %n*e#ia$le chaactei#tic o+ #hi.#. Setting %.
#te##e# in the #t%ct%e- ca%#ing *i#co(+ot to $oth .a##enge#
an* cew.
- Geneate# i#3 o+ cago #hi+ting an* incea#ing the co#t o+
o.eation.
- Rolling i# #o(eti(e# a *iect ca%#e o+ #.ee* e*%ction $%t (oe
o+ten a change in co%#e- which in t%n- (ay e#%lt in #.ee*
e*%ction.
- It i# a concen to 3ee. the &e##el +o( ca.#i5ing- #ta$ility in olling
(otion (%#t $e #%++icient.
- Go&ening #ta$ility 0 Tan#&e#e #ta$ility
e. !awing- (otion a$o%t the &e##el'# &etical a"i#.
- Rotation o+ a #hi. a$o%t a &etical a"i# a..o"i(ately tho%gh it#
cente o+ ga&ity.
- Thi# i# %n*e#ia$le $eca%#e it# coection e/%ie# the %#e o+ a
%**e with incea#e in e#i#tance to .o.%l#ion an* $eca%#e it
.o*%ce# yaw-heel.
- It i# *e#ia$le +o a &e##el to $e a$le to #tay on co%#e an* not
#wing wil*ly +o( it. Thi# can $e con#t%e* to (ean that the &e##el
i# #ta$le in yaw (otion o hea*ing.
- Go&ening #ta$ility 0 Diectional #ta$ility
+. Sway - 6o*ily tan#+e o+ the #hi. in a lateal *iection *%e to o$ital
(otion o+ the wate in a wa&e.
- 1ateal- #i*e to #i*e- $o*ily (otion.
- It i# i(.otant to (ini(i5e a &e##el'# #i*eway# o lateal (otion.
Thi# e/%ie# a high *egee o+ #ta$ility in #way.
- Go&ening #ta$ility 0 1ateal (otion #ta$ility
7. COMPUTATIO8 OF RO11I8G PERIOD.
- Fo #hi.# o+ o*inay +o( at (o*eate angle# o+ oll- the a"i# i# not +a +o( the
cente o+ ga&ity9 an*- whee the #i(.li+ication a##i#t# in the #ol%tion o+ a
.o$le(- the a"i# o+ oll i# a##%(e* to .a## tho%gh G.
- Un*e thi# a##%(.tion#- the e/%ation o+ (otion o+ the #hi. i#:
I * ; < M = > - e/%ation no. ? whee:
*t I = (a## (o(ent o+ inetia o+ the #hi.
a$o%t a long'l a"i# tho%gh the
cente o+ ga&ity
M = i# the ighting (o(ent
; = angle o+ inclination o+ the #hi. +o(
the &etical
I = @ 3 - e/%ation no. 7 whee:
g 3 = a*i%# o+ gyation o+ (a## o+ a #hi.
a$o%t a long'l a"i# tho%gh G
- Fo #(all angle# o+ inclination:
M = @G2 = @GM #in; = @GM; - e/%ation no. A
- S%$#tit%ting the#e &al%e#- we ai&e:
* ; < g GM ; = > - e/%ation no. B
*t 3
- E/%ation no. ? i# the e/%ation +o #i(.le ha(onic (otion ha&ing the .eio*:
T; = 7C3 - e/%ation no. D
EgGM
- Thee+oe the olling .eio* o+ a #hi. i#:
T; = ?.?>F3 - e/%ation no. D
EGM
- Fo in*%ce* olling )#allying,- olling .eio* i#:
Peio* = ?.?>F3
EGM
7. DRAG THE SIX DEGREES OF FREEDOM.
HEAVE
YAW
SWAY
PITCH
SURGE
ROLL