Modeling of ship motions in waves concentrates in most applications on the response amplitude operator (RAO). This mathematically not demanding method of analysis is very attractive, but loses some essential information in certain situations. The objective of present contribution is to establish and investigate preliminary foundations for a seakeeping model as optimal for under keel clearance (UKC) estimation. A special attention was devoted to transients of motions, stationary harmonic motions, coupling between degrees of freedom, and the wave force transfer functions – all in the aspect of shallow water environment.
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