The force of gravity applied to the center of gravity and directed downward. Hydrostatic and
hydrodynamic forces of water pressure applied to each point of the hull are located in the water and
directed along the normal to the surface. Damping forces apply to each point of submerged body.
These forces are proportional to relative tangential velocity of water particles. Total force and torque
acting on the floating object can be expressed as follows (subscript p indicates the pressure forces and
d the damping forces)