2 - J.

,_

'

11'Sfl1'f1q1:1LL~~1 ~.ti. UVl

'

10

tlii'tM

1 "au11:1u

'

2530

IJrlY

The Effect of Internal Flow on Marine Risers

Somchai

Chucheepsakul

Dept. of Civil Engineering

King.Mongkut's Institute of Technology Thonburi

Abstract

The effect of internal flow on marine risers is presented.

The differential equation of. motion for a marine riser with flowing
fluid

is developed and two additional terms are shown to occur.

The first term combined with the effective tension, thus reducing
the riser stiffness, and the second one produced the Coriolis
damping.

The methods of analysis are presented using a series

solution and finite elements.

The results indicated that the

effect could be significant with low effective tension and high

fluid velocity

"
~

..,

INTRODUCTION
The dynamic behavior and stability of pipe conveying fluid has
been studies extensively for more than a quarter of century.

The

vibration of both straight and curved tubes have been investigated by

several authors l1-6l.
in Refs.

17, SI.

Review of the related literature can be found

The effect of internal flow on marine risers has

received relatively little attention.

Luu

191

Until recently,

Paidoussis and

have studied the dynamics and stability of a cantilevered pipe

conveying fluid, which might be used in oceaning mining.

al

110!

Irani and et

have investigated the dynamic response of marine riser with

internal flow and concluded that the effect could be significant.

The purpose of this study is to bring into attention and to
elaborate on the effect of internal flow on marine risers.

The

differential equation of motion is developed by equilibrium of fluid/

riser pipe element, or alternatively by energy approach.

For most of

the typical riser problem, the solution can be found in Ref. 111

I.

For this problem, a closed-form solution cannot be found, therefore,

two approximate methods based on a series solution and finite element
method are proposed.

Although the methods presented here are quite

well-known, however, they are conveniently applied.

'The method of

series solution applied to similar problems has been used by Mote and
Naguleswaran

1121

and Kirk et al j13I.

method is found in Ref.

1141

Application of finite element

and correction is pointed out in Refs.

I1 s, 16 I.
Numerical examples are given for a typical riser problem.
For the case where no internal flow exists, two methods yields the very
good results.

For the case with internal flow, the finite element has

been employed in order to give the reliable results.

Equilibrium of a Fluid,/);{iser Pipe Element
The riser with internal flow

syst~m

considered in this analysis

shown in Fig. 1.

In the present investigation, only two-dimentional

case is studied.

It is assumed that static equilibrium is nearly in

the vertical position and vibration from equilibrium position is small.

The system consists of a pipe of length, L, flexural rigidity EI. and

mass per unit length m, conveying a fluid of mass density pi with a
constant velocity v.

A large tension is applied at the top t9 avoid

compression buckling at the bottom.

In deriving the differential

equation of motion of a riser. the transverse deflection x(z,t) is

measured along the z-axis which is ass1.Dlled to be the centerline of
W\disturbed riser pipe.

Fluid and riser pipe elements of differential

segmant dx with forces and moments acting on elements are shown in Fig.2.
Consider only the element or fluid inside, there are pressureforce F
per W\it length acted

on

fluid by the riser walls, axially pressure

force P.A. and the transverse loading exerted by the fluid on the pipe
1

j21 PiAi Cat + v az) x

per unit length.

By neglecting the effect of shear stress due to fluid friction

acting along the length of .the pipe, s\.Ullfllation of forces in the
x-direction gives

'
- - - - Riser pipe
L

x
Fig.1

A physical model of marine riser conveying fluid

+de

P\.A~ +CJ (I>A~) di

(b)
(a)

Riser element

Fluid element

Fig.2

Forces and moments acting on fluid and riser elements

(1)

For the riser pipe element, the internal forces consist of

axial force T, shear force V, and bending

moment M.

external forces per unit length are the inertia force

pressure force F.

The

02 x

mW- and

Similarly,.summation of forces in the x-direction

gives

a2 x - oz
ov +

-F - m~

o [T...
62:'

ddxz J

(2)

Summation of moments at the center of pipe element gives

oM

v - oz

( 3)

From elementary beam theory the moment-curvature relation is

M

EI

a2

azr

(4 )

Combining Eqs. (1) and (2), and using Eqs. (3) and (4) yields
2

- a
oz2

a x
EI B"zr

( 5)

Including the effect of external fluid pressure

c:?x

:z [

PeAe

~~]

and added mass inertia force m - - , Eq. (5) becomes

aat2

a
+;;uZ

[r

T-P.A.+PA
l.

e e

l.

l ;;ox] -(m+m
J
uZ

a x
+p.A,)a:rt
l.

l.

( 6)

or
0

2
[
1
)
B?'
EI i5"zr

( 7)

where the effective tension T is defined as

"
T =T-P.A.+PA

11
ee

{8)

in which T is the true riser tension and P., P are the internal and
i
e
external pressures and A~, A are the internal and external cross
J.
e
sectional areas of the pipe. The total mass mtot is defined as
=

m+ m' + p .A .

( 9)

J.

l.

where m is an added mass term written as

a

ma

C p A

a e e

where C -is the added mass coefficient.

a

( 10 )

The second and third terms

in Eq. ( 7) can be combined_, which gives the differential equation of

motion of riser conveying fluid,

( 11 )

where T

is the combined tension which corrected for pressure

differences and internal velocity.

T

Furthermore, the combined tension

also depends on the wet weight W of the riser,

( 12 )

in which T

8 is the combined bottom tension defined as

~

TB

T8 -P.A. + P A 1 1
e e

.A .v

( 1 3)

and the wet weight of the riser w is

w = g(p -p)A + g(pi -p)Ai

s
s
where

( 14 )

are the densities of steel and sea water and A

is the

steel area.
The boundary conditions for the pinned ends riser are
x(O, t)

3 x

azt'

x (L, t)

( 0)

t )

3 x

Fr

(L, t)

( 15 )

Hamilton's Principle
The differential equation of motion can also be derived from
Hamilton's princi~le

111

in which the total kinetic and potential

energy of the system are considered.

As the fluid element flows along the pipe with velocity v
along the z-axis, the velocity component in the x-axis due to flowing
fluid. is (

:~

+ v :: ) .

Therefore, the total kinetic energy of the riser pipe and

fluid is
( 16)

in which the total mass mtot is defined in Eq. (9).

The potential energy of the riser pipe can be expressed as

11

21 f L EI ( ai
0 z~
0

'

12dz + 21 JL T,.. ( aa: 12dz - fL fxdz

J

( 1 7)

The first term on the right of Eq. (17) is bending strain

energy, the second term is strain energy due to tension, and the last
term is the potential energy of the external force.

For free vibration

problem the last term may be disregarded.

Hamilton's principle stated that
t2

t,

(K - 11 ) dt =

Substituting Eqs. (16) and (17) into Eq.

6

( 18)

(18)

gives

{2
t1
( 19)

If the first variation of Eq. (19) is performed, one obtains

the differential equation of motion which is identical to Eq. (7).

Equation of Motion of a String

~or

a very long and flexible riser, the effect of bending term

can be neglected.

:z[Tc

Thus Eq. (11) reduces to

=~J-

2 PiAiv

::~z

- mtot

~::

Substituting of Eq. (12) into Eq. (20).yields.

( 20)

( 21 )

This is the lateral equation of motion of the string.

APPROXIMATE METHODS OF ANALYSIS

Due to the mixed derivative term in Eq.

(21),

solution of this equation is difficult to obtain.

.an exact

Therefore. the

approximate solutions are proposed instead.

It is the author's

intention to present two methods of

rather than a

so~ution

so that the numerical results can be compared.

singl~

one.

These two methods are

well-known and suitable for the riser problem; the first one is series
solution and the second' one is finite element mentod.

Detail procedures

of these analysis are given below.

Series.Solution
Let the solution of Eq.
X (z, t )

~
"

(21 )

be on this form

. 1Tz
( )
Sl.nJy- qj t

(22)

j=1

Substitution of x(z, t) and its derivatives into Eq.

l j

l[l (TB +

Wz )

f. )

. .J L
1lz - W(j1l)
( 11 2] sin
. r cos J.11Lz} q j

(21)

gives

(t)

(23)

Equation

is multiplied throughout by sin m~z and integrated

(23)

over the length L of the riser.

By using the integrals given in Appendix.

the result is

~V

[TB [mL V J2 f

+ w[

+[~ w[ t'!-J2

E (m, j) -

11

l: 2 P;A, v ( ~)

]2

~~]

~ w["]

F (m, j) q-:

F (m,

j)J qi
<?4 l

10

Rearranging Eq. (24) in the matrix form yields

..

[M)

{q } +
m

{q

[C]

} + ( K]

q } =
m

(25)

{ 0}

The entries of (M], [CJ and [KJ are given as

mtot
M .
m, J

m, j

( 26)

j
( 2 7)

2p.A. v (
l.

l.

(~

>

L.fl )F Cm, j )
WLJ

[TB +2

m# j

j
( 28)

jfl 2
w ( L) E (m, j) - w (

fl ) F (m. j),

m :I j

where coefficients E(m,j) and F(m,j) are given in Appendix.

Finite Element Method
Fy the finite element method, the riser is discretized into

finite number of beam elements.

elements of length L.

The riser length L is divided into N

The displacement x is approximated by a cubic

polynomial of z, which provides continuity of the displacements and

slopes at nodes.

m -:/:. .j

c m, j

Let the lcx::al degrees of freedom be

x (0)
x'co)

{qe}

( 29}

x ()
x'(l.)

'

'

if

11

Thus, the displacement in the element is approximated by

=

{q }

[N]

(30)

where (NJ is the shape function matrix [17].

The kinetic and potential energy for the entire riser structure
expressed in Eqs. (16] and [17] are obtained by adding the contributions
of all the finite elements, that is
N

t
e=1

r 31

11

t
11
e=1 e

( 32)

[~2]

Introducing Eqs. (31] and

>

into Eq. [18] and after carrying

out the variation procedure, one obtains the equations of motion for
free vibration
(M]{

q}

+ (C] {q} +'[K-]{q}""

{O}

(33)

[m J, [C] = ~
['c 1. [K] = t
[K ] and {q}, {q}
and
e= 1
e
e=1
e
e
{q} are global nodal accelerations, nodal velocities and nodal displa

where [M]

= ~e= 1

displacements respectively.
The element mass matrix [m ]:. element damping matrix [c 1 and
e
e
element stiffness [k ] are expressed as
e

[m ]

[c

I.

(34)

(35)

-f

I.

[k ]

mtot [N 1 [NJ dz

II

..

(EI [N ] [N ]

+ Tc

T
[N' J (N'] ) dz

where prime denotes the derivatives with respect to z.

term is neglected, then Eq. ( 36) reduces to

(36)

If the bending

12

(k ]

l.Tc

( 3 7}

(N' ]T [N'] dz

Matrices form of [m J and [k ] can be found in standard text

e
e
book such as Ref. 1171. While matrix form of [c ] is lessfamilar and
e

given here

p.A. v
[c

30

61.

30

-61.

-61.

61.

-l. 2

-61.

61.

l. 2

-61.

-30

61.

( 38}

Matrix (c ] is skew symmetric and known as the Gyroscopic

e

l1sl.

The element matrices [m ]. [c ] and

e
e
[k J can be evaluated by Gaussian quadrature integration and then
e
assembled to the global system.

matrix or Coriolis matrix

Eigenvalue Analysis
If subscript min of Eq. (25) is disregarded, then the equations
of motion has the same form as Eq. (33).

Introducing the two dimensional

state vector

q (t)
{y(t}}

{
l

q (t)

(39)

Thus, Eq. (32) can be written in the form

{y} -

(H]

{y}

{O}

(40)

where

- (HJ

( 41 )

13

in which [I] is a unit matrix.

The eigenvalue problem Eq. (40) can be solved by letting
{y}

(42)

where w is a complex eigenvalue and {0} is eigenvectors.

Substituting Eq. (42) into Eq. (40) yields

Jw[I)- [HJ!{}

{0 }

(43)

Equation (43) is solved by a reduction to upper.

form and utilization of the QR algorithm l19j.
of freedom of Eq.

(33)

Hessenberg

If the number of degrees

is n, therefore (HJ is a square matrix of order

2n which gives 2n eigenvalues occurring in pairs of complex conjugates.

The motion characteristics depend on the nature of eigenvalues which
generally contain real and

=A.

imag~nary

+iB

parts,
r

= 1,

( 44)

2, , 2n

Three basic cases of the solutions are classified as follows

1.

If A.

=0

i.e. eigenvalues are pure imaginary.

This is

the case of pure harmonic

oscillation about the equilibrium point. the
.
/

motion is said to be stable.

2.

If A. < 0
r

negative real parts.

i.e. eigenvalues possess complex conjugates with

This case the solution approaches equilibrium

point as time increases, the motion is said to be asymptotic stable.

3.

If Ar > 0

i.e. eigenvalues possess positive real parts .

This case the solution increases exponentially with time. the motion
is unstable.
NUMER !CAL RESULTS

The basic data given in Table 1 is used to calculate the natural

frequencies of the riser by the procedure described above.

To simplify

the problem, an unbuoyed riser of uniform section is considered in the

14

analysis.

Introducing a dimensionless parameter a,

a

(45)

wnich is the ratio of effective bottom tension to riser weight.

The

value of a is equal to 0.1 for a given data in Table 1.

Table

.
.

Example of data used in the analysis

411

43290.6

Top tension

476197.63

Water Depth

300.00

rt\

Bottom tension

Outside diameter

0.26

Inside diameter

0.20

Density of steel

7850.00

kg/m

Density of sea water

1025.00

kg/m

Density of fluid

998.00

kg/m

Steel mass in air

170.16

kg/m

Riser wet weight

1443.02

N/m

Total riser mass

255. 94

kg/m
2
m

0.02168
6
200 x 10

Cross-sectional area
Elastic modulus

!cN/m

3
3

Added mass coefficient

In case where there is no internal flow, the third term in

Eq. (21 ) is dropped out, then the closed form solution can be found
and given in Ref.

(IJ

I20 I.
=

The natural frequency w . is written as

[ ~~ J

= 1.

(46)

2, ..

in which mtot is the total, mass .of riser, T t and T 8 are the effective
riser top and bottom tension respectively. Numerical results from the
series solution with 20 terms, the finite element method with 20
elements, and Eq.. (46) are compared and given in Table 2.

For the

first ten modes, the results are in very good agreement.

Therefore.

either one of these two methods can be used for the analysis.

15

Tables 3, 4 and 5 give the numerical results of the natural

frequencies for the first four modes for various values of a.

Then

the bottom tension is very low, the effect of internal flow could be
significant as can be seen from Table 3.

For the first mode, as flow

velocity increases the natural frequencies will decrease and then

change to the negative values at higher velocities in the range of
10 m/s to 30 m/s.

That means there is no vibration arises, since the

riser is displaced from its equilibrium position and asymptotically

approaches its position as time increase.

For the second mode, the

riser loses stability when velocity is higher than 20 m/s.

For the

third and fourth modes, the riser is quite stable for the range of
flow considered.
As the values of a increase, the effect of internal flow
decrease as can be seen from Tables 4 and 5.

There are the possibi-

lities that static divergence or buckling can occur at the very high
velocity.

However, that range of velocity is out of practical

interest.
Table 2

Comparison of numerical results of the first ten natural

frequencies.

FEM

Eq. (4. 2)

Mode

series

0.28911

0.28905

0. 29395

0.58524

0.58511

0. 58790

0.88018

0.87992

0.88185

1 .1 7480

1. 1 7433

1 . 1 7580

1 .46943

1 .46859

1 .46975

1. 76437

1. 76280

1. 76370

2.06006

2.05706

2.05765

2 .35745

2. 35146

2.3516

9-

2.65802

2.64612

2.64555

2. 96449

2.94120

2. 93950

10

'

Table 3

11.11

I-

0. 1080 x 10

Im
-5
-5

w2

Real

(m/sec)

First four natural frequencies for

Im

Real

0 .4 324

-0.4161 x10

0.3594

- 0. 1080 x 1 0

0.1360

0. 1192 x 10

Real

0.2051

- 0. 1240 x 10

0. 1 392

0. 1 788 x 10

-5
-5

w4

w3
Im
-6
-5

Real

0. 6591

-0.2217x10

0.5810

- 0. 304 7 x 10

0. 3598

- 0. 8941 x 1 0

0. 2046

0.1490 x10

0. 1 789

- 0. 2831 x 1 0

0. 1399

-0.1389x10

10

- 0. 2801 x 10

20

i-1.3877

0.

25

i-2.1115

o.

0. 5 743

0.

::.. 0. 6631 x 10.

26

-2.2533

0.

0. 711 7

0.

0.5194x10

27

-2.3943

0.

0. 8499

0.

0. 9537 x 10

28

- 2. 5344

0.

0. 98836

0.

- 0. 0205

0.

- 0 .4 917x10

29

2. 6737

0.

1 . 1 266

0.

- 0. 1 955

0.

- 0. 7749 x 10

30

- 2. 8123

0.

1 . 2642

0.

-0.3254

o.

0. 365 8 x 1 0

- 0. 1341 x 1 0

-5

-5
6
5
6

Im
-5
-5
-7
-6
-6
-5
-6
-6

.5

0.8858
0.8050
0.5863
0.4339
0 .4020
0.3660
0.3239
0. 2796
0.2414

O'\

....

..........

.,

...

,.

.,,

First four natural trequencies for

Table 4

(m/sec)

Im

Real
-6

10

0.3874x10

20

0. 2764 x 10

25

- 0. 5364 x 10

26

0. 2980 x 10

27

- 0. 8345 x 10

28

0. 1788x1 0

29
30

-6

-5
-6
-6

0. 261 9

- 0. 1 523 x 1 0

0.2567

0.6706x10

0.2375

0.2026x10

0.2139

-0.6959x10

0.2044

- 0. 5960 x 10

-5
-6
-5
-5
-6

-5
0.1039x10

0.1444

0. 9239 x 10

0.2032

0.

0 .44 70 x 10

0 .4 839

0.

-0.2012 x10

,,

-5

-.J

-6
-6
-5

(1)4

(1)3

Real

Im

Real

0. 1 883

-6

....

0.05

.(1.12

(1)1

- 0. 2222 x 10

w-

.~

0.5335

- 0. 6975 x 10

0.5234

0.3949x10

-6

0 .4 868

0.3675 x10

0.4427

0. 3619x1 0

0.4258

- 0. 5960 x 10

0.3998

- 0. 35 76 x_10

0.3521

- 0.2682x10

.o. 2756

0. 34 72 x 10

0 .2299

o.r73o

-6
-5
-5
-7
-6
.5
-5

x10-

Im

Im

Real

0. 8035

- 0. 1 306 x 1 0

0.7885

-0.5849x10

-5

';o

-6
-5

0. 734 3

-0.2235 x10

0.6699

- 0. 71 52 x 1 o-

0. 6466

, 0 . 1 0 99 x 1 0 -

0.6143

0. 2339x10

0. 5683.

0.1401 x10

0.5132

.
-5
- 0. 3435 x 1 0

0.4674

0.1237x10

6
5

-6
-5

-5

.,

1 . 0 730
1 . 0531
0.9812
0.8978
0. 8698
0. 8345
0. 7914
0. 7449
0.7015

....

ll
'!

Table 5

First four natural frequencies for

(I)

v
(m/sec)

Real

- 0. 5879 x 10

10

0. 1371 x 1 0

(1)2

Im
-7
-5

= 0.1

Real

w3

0. 2890

0. 3823 x 10

0 .2853

0. 24 74 x 10

-6
-5

Im

Real

0.5851

0. 7424 x 1 0

0.5777

0.1427x10

0.5539

0.1967x10

0. 5046

0.2727x10

0.4552

0.2146x10

0.4382

0. 8717x10

0.4135

- 0. 1304 x 10

0. 3691

-0.4023x10

o. 2818

- 0. 1892 x 10

0.2226

0.2012 x10

-6
-5

w4

Im

Im

Real

0.8799

0.2341x10

0.8689

-0.2287x 10

0.8333

,;0.1401x10- 5

-5

1. 1 743

-5

1. 160

20

0. 2414 x 10

30

0.3129x10

35

-0.4172x10

36

0. 8345 x 10

37

0.1848x10

. 38

- 0. 745Q x 10

-5

-5
-6
-6
-5
-6

0.2730

- 0. 101 3 x 1 0

0. 24 78

- 0. 201 9 x 1 0

0. 2223

- 0. 9239 x 10

0.2134

-0.1460 x10

0.2000

0.149x10

0. 1 704

0. 5066 x 10

-6
-5
-6
-5

-6
.
-6
-5

39

0. 1381

0.

0.4642x10

40

0.4 702

o.

. -5
- 0. 24 74 x 10

-5
-5
-5
-6
-7
-6
-5
-6

-5

0. 7598

0. 1606 x 10

0.6863

-0.6408x 10

0.6616

-0. 7749 x 10

0.6278

-0.2604 x 10

0. 5782

0. 1 382 x 1 0

0.5124

-0.4917 x 10

0.4553

.-6
-0. 2831 x 10

1.0146

-6

0. 91 78

-6

0.8868

-5

0. 84 74

-5
-6

0.7977

I
I

o. 7412

0.6871

'i .

1 . 11 23

I
I

....

00

...

...

19

CONCLUSIONS
The effect of internal flow on marine risers has been
investigated.

The differential equation of motion can be obtained

from the equilibrium of fluid/riser element or from Hamilton's

principle. Due to the flowing fluid, two additional terms are produced.

ll!k

One is apparently included in the effective tension, thus reducing the

stiffness of the riser system, the other one is called Coriolis

damping.

At present an analytical solution to the differential

equation cannot be found, therefore two approximate methods are

presented, namely series solution and finite element method.
Numerical results have been given for a typical riser system.
The major effects of flow velocity. are to reduce the natural frequencies
and to contribute to the damping.

For deep water risers, and for

flexible risers the tension can be very .low and with high internal flow
velocities, the effect may be significant.

APPENDIX
INTEGRALS
The integrals used in deriving Eq. (23) are given below.
L

I.
.

L.

f L sin

mtlz
jflz d
sin T
z
L

. mflz
L sin
-y;- cos jflz d z

-r-

m I- j

m= j
(4 8)

m+j
[1-(-1)]= F Cm, j)
2 .2
m -J

. m I-

L2

j\

sin

j
(4 7)

mL

mz
sin j z d z
L

-r-

(4 9)

L
1I

2 [ 1 - ( -1 )m+j]
(m+j)2

E{m. j),

m I- j

20

REFERENCES

1.

Housner, G.W., "Vibrations of a Pipe Line Containing Flowing

Fluid", Journal of Applied Mechanics, Vol. 19, Trans. ASME, 1952,
pp. 205-209.

2.

Gregory, R.W., and Paidoussis, M.P., "Unstable Oscillation of

Tubular Cantilevers Conveying Fluid, Part 1: Theory", Proceedings
of the Royal Society, London, Series A, Vol. 293, 1966, pp. 512-

527.
3.

Chen, S.S., "Out-of-plane Vibration and Stability of Curved Tubes

Conveying Fluid", Journal of Applied Mechanics, Vol. 40, No. 2,
June 1973, pp. 362-368.

4.

Hill, J.L., and Davis, C.G., "The Effect of Initial Forces on the
Hydroelastic Vibration and Stability of Planar Curved Tubes",
Journal of Applied Mechanics, ASME, Vol. 41, No. 2, June 1974,
pp. 355-359.

5.

Paidoussis, M.P., and Issid, N.T., "Dynamic Stability of Pipes

Conveying Fluid", Journal of Sound and Vibration, Vol. 33, 1974,
pp. 267-294.

6.

Doll, R.W.,and Mote, C.D., "On the Dynamic Analysis of Curved and
Twisted Cylinders Transporting Fluids", Journal of Pressure Vessel
Technology, ASME, Vol. 98, No. 2, May 1976, pp. 143-150.

7.

Blevins, R.D., Flow Indiced Vibrations, Van Nostrand Reinhold

Company, New. York, 1977.

8.

Paidoussis, M.P., "Flow-Induced Vibrations in Nuclear Reactors and

Heat Exchangers:

Practical Experiences and State of Knowl9fge in

Practical Experiences with Flow-Induced Vibration", Naudasc~er,

E., and Rockwell, D., eds.,Springer-Verlag, Berlin, 1980, pp. 1-81.
9.

Paidoussis, M.P., and Luu, T.P., "Dynamics of a Pipe Aspirating

Fluid Such as Might be Used in Ocean Mining", Journal of Energy
Resources Technology, ASME, Vol. 107, June 1985, pp. 250-255.

'

22
19.

Martin, R.S., Peters, G., and Wilkinsom, J.H., "The QR Algorithm

for Real Hessenberg Matrices", Handbook for Automatic Computation,
Vol. II-Linear Algebra, 1970, pp. 219-231.

20.

Engineering Procedure Guide Marine Engineering, Marine Riser

Systems, Edited by Moe, G., Conoco, Inc., June 1986.

.
21

10.

Irani, M.B., Modi, V.J., and Welt, F., "Riser Dynamics With
Interndl Flow and Nutation Damping", Proceeding

~f

the Sixth

International Offshore Mechanics and Arctic Engineering Symposium,

Tx., 1987, Vol. 3, pp. 119-125.
11.

Chakrabarti, S.K., and Frampton, R.E., "Review of Riser Analysis

Techniques", Applied Ocean Researches, Vol. 4, No. 2, 1982., pp.

73-90.
12.

Mote, C.D., and Naguleswaran, S., "Theoretical and Experimental

Band Saw Vibrations", Journal of Engineering for Industry, ASME,
May 1966, pp. 151-156.

13.

Kirk, C.L., Etok, E.U., and Cooper, M.T., "Dynamic and Static
Analysis of a Marine Riser", Progress in Engineering Sciences,
Vol. 1, Dynamic Analysis of Offshore Structures, Edited by Kirk,
C.L., C.M.L. Publications, Southampton, U.K., 1982.

14.

Kohli, A.K., and Nakra, B.C., "Vibration Analysis of Straight and

Curved Tubes Conveying Fluid by means of Straight Beam Finites
Elements", Letters to the Editor, Journal of Sound and Vivration,
Vol. 93, No. 2, 1984, pp. 307-311.

15.

Pramila, A., Comment on "Vibration Analysis of Straight and Curved

Tubes Conveying Fluid by means of Straight Beam Finite Elements",
Letters to the Editor, Journal of Sound and Vibration, Vol. 99,
No. 2, 1985, pp. 293-294.

16.

To, C.W.S., and Healy, J.W., Further Comment on "Vibration Analysis

of Straight and Curved Tubes Conveying Fluid by means of Straight
Beam Finite Elements", Letters to the Editor, Journal of Sound and
Vibration, Vol. 105, No. 3, 1986, pp. 513-514.

17.

Cook, R.D., Concepts and Applications of Finite Element Analysis,

2nd Edition, Wiley, 1981.

18.

Meirovitch, L., Computational Methods in Structural Dynamics,

Sijthoff & Noordhoff:

The Netherlands, 1980.