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20 - Marine Hydrodynamics, Spring 2005

Lecture 21

2.20 - Marine Hydrodynamics

Lecture 21

6.4 Superposition of Linear Plane Progressive Waves

1. Oblique Plane Waves

v
k
kz
z
kx
v
Vp k = (k x , k z )

(Looking up the y-axis from

below the surface)

Consider wave propagation at an angle to the x-axis

kx



 
=A cos(kx cos + kz sin t) = A cos (kx x + kz z t)
gA cosh k (y + h)
= sin (kx cos + kz sin t)
cosh kh 
=gk tanh kh; kx = k cos , kz = k sin , k = kx + kz

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2. Standing Waves

+ Same A, k, , no phase shift

=A cos (kx t) + A cos (kx t) = 2A cos kx cos t

2gA cosh k (y + h)
= cos kx sin t
cosh kh

90o at all times

y
t = 0, T, 2T,

amplitude
2A

node
T 3T
t= , ,L T 3T 5T
2 2 antinode t= , , L
4 4 4

n n
= sin kx = 0 at x = 0, =
x x k 2



Therefore, = 0. To obtain a standing wave, it is necessary to have perfect
x

x
reection at the wall at x = 0.
AR
Dene the reection coecient as R ( 1).
AI

A I = AR
x AR
R= =1
AI

3. Oblique Standing Waves

I =A cos (kx cos + kz sin t)

R =A cos (kx cos ( ) + kz sin ( ) t)

z
R
R
I
x R = I

I

Note: same A, R = 1.

x k x z k zt

 
 
T = I + R = 2A cos (kx cos ) cos (kz sin t)
 
 

standing wave in x propagating wave in z

and

2 2
x = ; VPx = 0; z = ; VPz =
k cos k sin k sin
Check:

sin (kx cos ) = 0 on x = 0
x x

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4. Partial Reection

I R

 
I =AI cos (kx t) = AI Re ei kxt
 
R =AR cos (kx + t + ) = AI Re R ei kx t

R: Complex reection coecient

AR
R = |R| ei , |R| =
AI


T =I + R = AI Re ei kxt 1 + Re ikx
 
|T | =AI 1 + |R| + 2 |R| cos (2kx + )

free surface
| T | wave envelope
AI
2
1+ | R |2
x

node
antinode
At node,
|T | = |T | = AI (1 |R|) at cos (2kx + ) = 1 or 2kx + = (2n + 1)
At antinode,
|T | = |T | = AI (1 + |R|) at cos (2kx + ) = 1 or 2kx + = 2n

2kL = 2 so L =
2

|T | |T |
|R | = = |R (k)|
|T | + |T |

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5. Wave Group
2 waves, same amplitude A and direction, but and k very close to each other.

VP1

= Aei k1 x1 t

= Aei k2 x2 t
VP2
, = , (k , ) and VP1 VP2

  
T = + =  Aei k1 x1 t 1 + ei kxt with k = k k and =

Vg
2
g =
k
2A
VP1 VP2

2 2
T= Tg =

2
= 1 2
k1

|T | = 2 |A| when kx t = 2n
xg = Vg t, kVg t() t = 0 then Vg =
k
|T | = 0 when kx t = (2n + 1)

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In the limit,

d 
k, 0, Vg = ,
dk k1 k2 k

and since

= gk tanh kh
  1  2kh

Vg = 1+
k2
 
sinh 2kh
 

Vp n

(a) deep water kh >> 1




Vg
n = VVgp =





(b) shallow water kh << 1
VP
Vg Vp

n= Vg
= 1 (no dispersion)


Vp



(c) intermediate depth



Appear Disappear


<n<1

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6.5 Wave Energy - Energy Associated with Wave Motion.
For a single plane progressive wave:

Energy per unit surface area of wave

Potential energy PE Kinetic energy KE
 
PE without wave = gydy = gh KEwave = dy (u + v )
h h

PE with wave gydy = g ( h ) Deep water = = gA to leading order
 

h KE const in x,t

PEwave = g = gA cos (kx t) Finite depth =

Average energy over one period or one wavelength
PEwave = gA KEwave = gA at any h

Total wave energy in deep water:

 
E = PE + KE = gA cos (kx t) +
Average wave energy E (over 1 period or 1 wavelength) for any water depth:
E = gA [ + ] = gA = Es ,

PE KE

Es Specic Energy: total average wave energy per unit surface area.
Linear waves: PE = KE = 12 Es Vp
(equipartition).
x
Nonlinear waves: KE > PE.
Vp
E
Es PE = Es cos2 (kx t)
1
PE = 12 E

KE = 12 E =
x

Recall: cos x = + cos 2x

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6.6 Energy Propagation - Group Velocity

S
Vp

E = E s per area V

Consider a xed control volume V to the right of screen S. Conservation of energy:

dW dE
= = J-
dt

 dt

 

rate of work done on S rate of change of energy in V energy ux left to right

where

  
d
J- = pu dy with p = + gy and u =
dt x
h

   kh


J- = gA 1+ kh
= E (nVp ) = EVg
 
  

k  

E n
Vp
 

Vg

e.g. A = 3m, T = 10 sec J- = 400KW /m

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6.7 Equation of Energy Conservation

x
1 2
x
E = E (x ), = (x )
1 2

h = h(x)

J- J- t = Ex


J-

J- = J- + x +
x 

E J-
+ = 0, but J- = Vg E
t x
E

+ Vg E = 0
t x

1. = 0, Vg E = constant in x for any h(x).

t
2. Vg = constant (i.e., constant depth, k << k)
 

+ Vg E = 0, so E = E (x Vg t) or A = A (x Vg t)
t x

i.e., wave packet moves at Vg .

6.8 Steady Ship Waves, Wave Resistance

D
U
Vp = U
2A

E = 21 gA2
E = 0 ahead of ship

(
= Vg E = ( 12 U ) 12 gA2 )
L

x=0

C.V.

Ship wave resistance drag Dw

Rate of work done = rate of energy increase
d

Dw U + J- = EL = EU
dt

 
deep water

1
Dw = (EU EU 2 ) = E = gA Dw A
force / length U energy / area

Amplitude of generated waves

The amplitude A depends on U and the ship geometry. Let
eective length.
L
- +-
l
To approximate the wave amplitude A superimpose a bow wave (b ) and a stern wave
(s ).
b = a cos (kx) and s = a cos (k (x +
))
T = b + s


A = |T | = 2a sin k
 envelope amplitude

g

Dw = gA = ga sin k
Dw = ga sin U2

Wavelength of generated waves To obtain the wave length, observe that the phase
speed of the waves must equal U . For deep water, we therefore have

deep g U
Vp = U = U water = U , or = 2
k k g

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 Summary Steady ship waves in deep water.

U = ship speed

g g U
Vp = = U ; so k = and = 2
k U g
L =ship length,
L
   
g
1 1
Dw =ga sin ga sin
= ga sin
U2 =
2F rL 2FrL

1
Fl = 0.56

max at:
Dw
ga 2 U hull 0.56 gl 0.56 gL U hull
L

U
Fl = , where l L
0 gl
1 Increasing U

Small speed U
Short waves
Significant wave cancellation
Dw ~ small

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