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added mass amplitude analysis array calculated circular cylinder component crest damping coefficient direction displacement distribution domain drag coefficient drag force drillship dynamic effect element equation estimated flexible riser floating flow fluid force coefficients forces acting foroe forward speed free surface heave horizontal hydrodynamic hydrodynamic forces incident wave integral irregular Kc number lift force linear load low-frequency low-frequency oscillation matrix maximum measured method mooring line motion nonlinear obtained Offshore Mechanics Offshore Structures Offshore Technology Conference oscillation oscillatory parameters pile plate prediction pressure problem ratio Rayleigh distribution regular waves response Reynolds number Sarpkaya seastates second-order semisubmersible ship shown in Figure simulation solution spectra spectrum surge tension transfer function transverse vector velocity potential vertical viscous vortex vortex shedding vortices water depth wave amplitude wave excitation wave force wave frequency wave height wave number wave period wave power