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added mass amplitude analysis angle applied ASME axial buoy buoyancy cable calculated Campos Basin catenary components computed Conference On Offshore configuration connector Copyright O 1999 cylinder damping deck diameter direction discrete disk displacement distribution domain drag coefficient drag forces droplets dynamic effect equation experimental fatigue floating flow fluid FPSO free surface free surface effects GEOSTAR height horizontal hull hydrodynamic in-line length lift force linear load Marine maximum Mechanics and Arctic method model tests module mooring line mooring system node nonlinear obtained Offshore Mechanics oscillation parameters PETROBRAS pile platform plow polyester prediction pressure reefs relative wave motions response Reynolds number riser semi-submersible ship shown in Figure simulation solution spectrum spheres spray cloud spray density static stiffness surge syntactic foam Table tension tether transfer function turret umbilical cable values velocity velocity potential vertical vessel water depth wave drift wave forces