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amplitude analysis boundary condition boundary element breaking waves calculated capsize component computed contact transformations corresponding crest front steepness cylinder deep water diffraction dimensionless directional waves drift forces dynamic effects Engineering equilibrium floating structure fluid free surface given Green's function hawser tension Hopf bifurcation horizontal hydrodynamic incident wave integral equation interaction Kjeldsen limit cycle linear load low frequency measured method multi-directional waves Myrhaug near-breaking nonlinear Norwegian Norwegian Sea offshore structures parameter values perturbation planar wavemakers Poisson brackets pressure Proc quadratic transfer function response restoring force rudder SBM tanker seabed seastate second order second-order shallow water ship condition shown in Fig solution stability Stokes stream function sum frequency surge tanker ESSO OSAKA theory transfer function velocity potential vessel viscous Walsh function water wave wave drift damping wave elevation wave exciting force wave forces wave height wave spectrum wave steepness wavemaker Waverider