Abstract
An algorithm is presented for modeling the dynamics of towed and tethered cable systems with e xed and varying lengths (specie cally, tethers, towing, reel-in/pay-out cone gurations ). The systems may have one or many open branches, but they must be towed or tethered from a single point. The modeling uses e nite-segment (rigidlink/lumped-parameter ) elements. Cable length changes (reel-in/pay-out ) are modeled by having a link near the towing (or anchoring )vessel change length. Thephysical properties of the cable may change from link to link. The towed bodies may have control surfaces. Effects of e uid drag, lift, and buoyancy are included. Added mass forces and moments are included for the towed bodies but not for the cable itself. An illustrative application is presented for a system with three different pay-out rates. Nomenclature aJ;aK = acceleration of J; K eijk = permutation symbol,
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