Abstract
In this paper a mathematical model is presented to explain the phenomenon of yawing oscillations of a ship, when sailing in a mean straight course with a constant mean speed. With this model, periodic yawing can be simulated as a result of simultaneous periodic rolling and pitching, emphatically without the input of any rudder action. Additionally, the study throws a new light on the old question of whether the Cardan suspension of the compass bowl should be with the outer gimbal axes fore and aft or athwartships.
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