| This Dissertation presents the concepts and ideas used in obtaining efficient computer algorithms for nonlinear, three-dimensional, finite-segment model of a cable or chain. These ideas include the use of absolute coordinates, Lagrange's form of d'Alembert's principle, that is Kane's equation and body connection arrays. The mechanical systems considered are connected to each other by ball-and-socket joints. The shape length and mass of each link may be arbitrary. Also the number of links is arbitrary. The viscous forces of the water may be arbitrarily applied to each link.; The model of cable is used to develop a computer code which containing algorithms to form the kinematics, force systems and governing dynamical equations, and the integration is accomplished by a Runge-Kutta subroutine. The output includes of the time history of each variable, the position, velocity angular velocity and acceleration of the mass-center of each link, and the unknown forces and moments.; Two example problems are presented which describes the motion of a steel sphere through water by a partially submerged cable suspended from a rotating surface crane. Although the example present only part of the function the program has, their inclusion in the dissertation is proposed primarily to represent the capability of the model. |
