On The Motion of Floating Bodies

11. Simple Harmonic Motions

B y FRITZ J O H N

Introduction
In this paper we are concerned with the infinitesimal motion of a heavy
liquid of constant depth in the presence of an obstacle. In the rest position
the liquid is assumed to occupy a region R of xyz-space bounded by the bottom
surface y = -h, the immersed surface SI of the obstacle, and a portion S , of
the rz-plane, which corresponds to the free surface. The results derived here
will be valid for bounded obstacles. Similar results can be derived for two-
dimensional motions in the presence of cylindrical obstacles extending to infinity.
An infinitesimal motion of the liquid can be described by the velocity

FIGURE
1

potent,ial +(x, y, z, t ) , which is a solution of Laplace's equation defined in the

fixed region R and which satisfies certain linear boundary conditions. We shall
restrict ourselves here to the case where the motion is simple harmonic in the
time and of frequency k. CP can then be written in the form
(1.1) = me ( e P W ( x ,y, 2)).
Here W(z, y, z ) is a complex valued function defined in a region R which consists
of the points with -h 5 y 5 0 which lie outside a bounded surface Sr . W
satisfies the potential equation
(1.2a) w,,+ w,,+ IV,, =0
in R, and the boundary conditions
(1.2b) w,= 0 for y = -h
(I.2c) W , = (kZ/g)W= X W for y = 0.
45
46 FRITZ JOHN

Any function TV satisfying these conditions outside a bounded region will be

called a “wave function.” If the motion of the obstacle is prescribed, the
normal derivative V’, of W on XI will be known from the kinematic boundary
conditions. If the obstacle is a freely floating body the boundary values of
W’ mill be connected with the quantities determining the motion of the body
by dynamic conditions. We shall be concerned here with the problem of de-
termining the motion of the liquid from the prescribed conditions on Sr and
suitable condit,ions at infinity.
The choice of the proper conditions at infinity depends on the manner in
which the physical conditions are conceived. We imagine that originally, say
for t < 0, no obstacle is present, and that the liquid fills the whole space -h <
y < 0, and is endowed with a simple harmonic motion of frequency k. This
motion might e.g. be a linear combination of plane progressive waves, given by
(I.3a) ip. = &e (exp (ic(x cos 0 + z sin 0) - i k t ] cosh c(y + h))
where c is a root of the equation
(I.3b) c sinh ch = X cosh ch.

I n any case this original motion can be described by a wave function TV’, which
is regular throughout -h < y < 0. At a subsequent time we think of the
obstacle as having been introduced into the liquid and either subjected to a
forced simple harmonic motion of frequency k or left freely floating. Then for
t > 0 :I non-periodic disturbed motion will develop. For t --+athis disturbed
motion can be expected to approach again a simple harmonic motion of fre-
quency k, which will be described by the wave function W. Thus the wave
function IV should consist of two components: W = W’ +
W”. Here I V should
be a wtwe function, which is regular everywhere and corresponds to the original
unperturbed motion. W” is regular for - h < y < 0 outside the obstacle
surface Sr , and corresponds to the motion due t o scattering of W’ on the
obstacle and t o the motion of the obstacle. It is plausible that TV”, which is
“caused” by the presence of the obstacle, will a t large distances behave like a
wave progressing radially outwards from the obstacle. This behavior of W“
finds its mathematical expression in a radiation conditzon of the type of the
Sommerfeld condition. We are thus led to the problem of determining a wave
function TV from boundary conditions on SI and from the condition that W - JV
shall satisfy a radiation condition a t infinity, where W’ is a prescribed every-
where regular wave function.
The decomposition of a wave function W into a n everywhere regular com-
ponent and one satisfying a radiation condition, which was suggested by a
physical argument, turns out to be very natural from a formal mathematical
point of view, if one makes use of the Green’s function belonging t o our boundary
conditions. Such a Green’s function C is a wave function defined for all (5,y, z )
with -1% < y < 0, with the exception of one point (5, 7, {). Near that ex-
ceptional point i t is assumed to behave like the reciprocal distance from that
 ON THE MOTION OF FLOATING BODIES. I1 47

point. Among the various functions G with these properties there is one, called
y. that at large distances behaves like an outgoing progressive cylindrical wave.
One can construct an explicit expression for this function y, and finds that y
can be represented for z # 0 by a series of t,he form

with certain constants C, . Here T = [ ( L - [)' + (z - .?'1I){ The c, denote

roots of the equation (1.3b). cn is real positive, and cI , c2 , . . are pure imaginary
and increasing in absolute value with ?a. From known asymptotic formulae
for the Hankel functions Hi'' it fol!ows that for large r
cosh c,,(y
y = 2aiCoH~"(c,,r) + h ) cosh c0(q + h)
(I.5a)
+ O ( e q f - I cI I 7-]h1'*)
or also

( T .5 11)

Thus the velocity potential corresponding to y behaves at large distances like

sin (cot- - kt - 7r/4),i.e. like a radially outgoing progressive wave.
Let now W be a wave function regular for -h 5 y 5 0 outside the bounded
surface S, . Let C, be the circular cylinder
2 + 2' = r', -h 5.y s 0.
We assume r to be so large that C, contains the obstacle surface S , in its interior.
e)
Then Green's formula yields for any point (5, I], in the region bounded by
C, , S r , and t,he planes y = 0 and y = - h
(I.6a) If'(&7, el = IY'(E, 7, c) + rv'k 7, 3!
where

(T.Gc) 14"' = + $$ (Wy" - yWn)dS.

SI

Here IY" is regular for - h 5 7 5 0 outside AS,. W' is regular for -12 5 7 5 0
inside C', . As W and W", and hence also W' are independent of T, it follows
t,hat TV is regular throughout -h 6 q 5 0. Besides from (1.4) y is symmetric
in (2,y?z ) and (E, 7, l). Thus y as a function of ([, q, {) and consequently also
1V' and H"' satisfy the boundary condit,ions (I.2a, b, c) characteristic for wave
48 FRITZ JOHN

functions. Moreover t.he asymptotic formula (I.5h) for y permits us t o conclude

that
(1.7a) W ” ( p cos 8, 7, psin 8) = exp ( i c o p ] p - ’ / 2 f ( 0 )cosh co(q + h) + O(p-”’)
for large p , where f(0) is an entire analytic function of 8. Thus W” behaves a t
large distances like a radially outgoing progressive wave. (1.7a) implies that
W“ sat.isfiesthe radiation condition

(I.7b)

Thus Green’s formula furnishes a decomposition of an arbitrary wave

function JV into a wave function which is everywhere regular and one which
satisfies the radiation condition (I.7b). I t can he shown that the decomposition
into two components of this type is possible in only one may.
More detailed information on the components IY’ and Wl‘ can be obtained
from the properties of the Green’s function. Substituting for y in (I.Gh) its
expansion (1.4) one finds that W” can be expanded into a series of the form

c + 1,)
m

( I .8a) W’Y.5 7 , 3
! = a&, l ) cash C A T
*=O

outside any vertical cylinder containing S, in its interior. Expansions of this

type for two-dimensional wave motion have been used by A. Weinstein [19].
Here, as indicated by (1.5a), the first term predominates at large distances:
IV’ = a,(& {) cosh co(q + h ) + 0 (exp { - 1 c1 ! P J P - ~ ’ ~ ) .

+
We call ao(E,t) cosh co(q h ) the “secondary wave component” of TY, and the
remaining terms in (I.8a), whose contribution dies out exponentially at infinity,
the (‘local” wave component. By (I.7a) the secondary wave component is of
the order of magnitude of p - l ” .
The “primary” wave component W’can also be analyzed further, by sub-
stituting for y in formula (I.Gb) its expansion (1.4). I t can be shown, that in case
(I.9a) W = o (exp ( 1 c, 1 plp-’”)

only the first term in the expansion makes any contribution, and consequently
hhat TI” is of the form
(I.9b) W’ = A ( & JF) cosh cO(q + h).
I n particular an everywhere regular wave function satisfying (I.9a) must be
of the form (I.9b). W’ is a t least of the order of magnitude P-’’~. If i t is pre-
cisely of this order, i t can be represented as a linear combination of plane waves.
After this analysis of the behavior of wave functions a t infinity, we return
t o the consideration of wave motions associated with given boundary conditions
on S , . The decomposition formula ( M a ) for given W’ and with W“ expressed
 ON THE MOTION OF FLOATING BODIES. I1 49

by bhe integral (1.6~)furnishes a means of reducing the determination of IV to

the solution of an integral equation. In the simplest case, where the motion
of the obstacle is prescribed, and hence W, is known on SI , we get an integral
equation for the values of W on S, by 1et.ting the point ( f , g, {) in (1.6) move
into the surface Sr . Due to the singularity of 7%the integral for W” will jump
by the amount +W(t,8, 0,and we obtain the integral equation

The solution of this integral equation gives values of W on S, , from which the
values of II‘ in points outside SI can be determined by the formula

(I.lOb) ms,t, l) = Fl7’(f, 7, l) + & \j (Wrm - rW.1 dS.

sx

Following this scheme for constructing the solution of our problem we have to
establish first that the Fredholm integral equation (I.lOa) has a solution, and
then that the function W represented by (I.lOb) outside S, really has the given
normal derivative W , on Sr , at least for a suitably chosen solution W of (1.10a).
(There is no difficulty in showing that the function W ( f , q, [) given by (I.lOb)
is a wave function with primary component W’.) It turns out that for estab-
lishing these two facts one needs a proof of the uniqueness of the solution of
the original problem. Thus the first question taken up will be to show that a
wave function JV vanishes identically if its primary component W’ vanishes
and its normal derivative W , vanishes on S, . The proof given here is valid
only if n-e make a certain geometrical assumption on the obstacle surface Sr ,
namely that the vertical line through any point of SI must not meet the free
surface. This condition is satisfied in the case where the obstacle surface is
a convex surface, which is open upwards, or if the obstacle is a flat plate or
iidock” on the surface. The uniqueness proof given here will apply to obstacles
of this type, and even to some cases of docks extending to infinity. The proof
given here fails, if the geometrical restriction on Sr mentioned is not satisfied.
Thus the author has been unable to prove the uniqueness of the motion for
obstacles which are completely submerged, and also for cases in which the
bottom surface is not strictly horizontal throughout. There appears to be no
physical reason why in those cases the primary wave motion together with the
motion of the obstacle should not determine the motion of the liquid uniquely.
Indeed uniqueness of the wave motion for certain types of submerged obstacles
or non-horizontal bottom surfaces has been established with other methods by
Ursell [17], [17a], Kreisel [13], and Stoker [16].
One would expect an analogous uniqueness theorem to hold for motion of
the liquid in the presence of a freely floating rigid body, namely that the motion
is completely determined by the primary component FV’ alone. This is proved
here only for “sufficiently” large frequencies k of the primary waves.
50 FRITZ JOHN

Once the uniqueness of the solutions has been established one can attempt
to construct the solution by solving integral equations. I n the case where W,,
is prescribed on S , we have t o solve the integral equation (LlOa). This would
present no essential difficulties in the case of a completely submerged obstacle,
which is however just the case for which uniqueness of the solution of the original
problem and equivalence of the original problem with the integral equation is
not proved here. In the case where Sr intersects the free surface tmo complica-
tions arise. One is that for certain values of the frequency k the integral equa-
tion has eigenfunctions. The other difficulty is the presence of a strong singu-
larity of the kernel in the points of the curve of intersection of obstacle surface
and free surface. The first difficulty can be overcome by showing the orthog-
onality of the inhomogeneous term in the equation to the eigenfunctions of the
adjoint equation. The singular character of the kernel, however, is more
troublesome, and makes it difficult to establish the validity of the ordinary
Fredholm theory for the integral equation under con5ideration. This second
difficulty can be overcome without too much effort in the case where the ob-
stacle surface X I is orthogonal t o the free surface. Accordingly, the proof for
the existence of a wave function Jc’ for given normal derivative on SI and given
primary component W’, is carried through here only for the case where Sr
consists of the lower half of a regular convex body, which is symmetric to the
xz-plane.
Existence for rather general cases of two-dimensional motion has been
proved by Kreisel [13] with the help of conformal mappings of the region filled
by the liquid on a parallel strip. A different approach would be to discover a
varia-tiona.1problem to which the determination of a wave function for given
aJV/an on Xr and given W’ could be reduced. This might facilitate the existence
proof for more general surfaces Sr , and also permit construction of simple
approximate expressions for the solution.

1. Wave Functions
The motion of the liquid under consideration is described by the velocity
potential @(x, y, x, t ) , which satisfies Laplace’s equation
(1.1) @xz + + CPZZ = 0-
The liquid is assumed to be bounded by a fixed bottom surface S , , a free surface,
and the immersed surface of a fised or moving body. I n the “linearized” theory
of motion CP is considered to be defined in a fixed region R, which is bounded
by the surface S, , the ‘(average” free surface S , , and the “average” immersed
surface Sr .’
’In accordance with the first part of this paper [lo, page 221, it would be more precise to
denote i,he potential function defined in the fixed region R by e W , to distinguish it from the
original a, which is defined in a variable region. As no confusion can arise here, the linearized
version being the only one used, we omit the superscript and the e.
 OK THE MOTIO?! OF FLOtZTING BODIES. I1 51

We shall be concerned with a liquid of uniform depth h in the rest position.

Then, in a suitably chosen coordinate system, S , falls into the plane y = 0,
SB into the plane y = -h. We have the boundary conditions
(1.24 +v =0 on Ss
(1.2b) a,, = -gar on SF .
On the average immersed obstacle surface Sr we have the kinematic condition
(1.2c) a),, = v
where 1' is the normal velocity of the body surface. If the obstacle is fixed or
has a pre3cribed motion, the normal derivative of CP on S r will be known. For
a freely floating body dynamic conditions will have to be taken into account
as well. anti the full system of conditions on Sr is more complicated. For the
time being we shall not be concerned with the exact assumptions on S, and the
boundary conditions holding there, escept that Sr will be assumed to be a
bounded surface.
In this paper we restrict ourselves to the consideration of motions which
are simple harmonic in the time with frequency k. In this case
(1.3) CP = a(z, y, z) cos kt + b(x, y, z) sin kt = ae ( W e - i k ' )
where
(1.4) IT'(x, y, 4 = a b , y, 2) + wz, y, 2).

TY is a comples-valued solution of the potential equation

(1%) IV,, + W g u+ WZz= 0 in R
which satisfies the boundary conditions
(1.5h) w,= 0 on S,

(1.5r) TV, = XiV on Sp

where X denotes the positire constant
(1.G) x = kZ/g.

R is assumed to be tt region hounded by a portion X, of the plane y = 0, a

portion S, of the plane y = - h , and a bounded surface S , . There is a constant
T~ , such that all points (x,y, z ) with

-h 5 7J 5 0, T = (2+ 2 y > To
belong t o R. (The occurrence of bounded obstacles extending from the surface
to the bottom or of uneven bottoms for r < ro will have to be excluded only in
Sections 6 and 7.)
Any function Ti' will be called a wave function, if it satisfies (1.5a, b, c), and
52 FRITZ JOHN

is of class C" in the interior points of R and of class C' in the closure of R, with
the possible exception of the points Sr . Then W is necessarily analytic in the
interior of R and on SB and S p , as W can be continued analytically across Sp
and S, from conditions (1.5b, c). Indeed, using (1.5b), W can be continued as
a potential function across y = -h by the equation
(1.7a) W(X,y, 2) = -W(z, - 2h - y, 2).
Similarly, using (1.5c), W , - XW can be continued across y = 0 as an odd
function of y. This leads for W to the functional equation

(1.7b)
W ( z ,y, z) = W(s, -y, z) + 2keXy r,ex"W(x,9, z) dq

which continues W as a potential function across the free surface. W is thus

a potential function in a region containing the bottom surface and average free
surface in its interior, and hence is analytic on those surfaces.

2. Energy Integrals
A complete system of conditions determining a wave function would have
to include specifications on the behavior of the wave function at infinity. From
the mathematical point of view there appears to be a certain arbitrariness in
the conditions to be imposed, except that they should lead to the uniqueness
and existence of the wave functions. A central role in the derivation of condi-
tions that determine the solution uniquely, is played by the integrals corre-
sponding to kinetic and potential energy.
For any wave function defined in R the average kinetic energy of the liquid
contained in a bounded suhdomain R' of R during one period of time is

R'

where p is the constant density of the liquid, and

R'

is the Dirichlet integral of W over R'.

The elevation of the free surface above its average position is in the linearized
theory given by y = -at/g. This yields for the average potential energy of
the waves concentrated in a portion S: of S , during one period of time the
expression

P =-
2?r
1 11 2n/k
dt
2a
dx dz = f Hsr,(W)
 ON THE MOTION O F FLOATING BODIES. I1 53

where

(2.4)

) have on S p
Because of the free surface condition ( 1 . 5 ~ we
x 1 w l2 = IV,W.
We define for any surface S
(2 5) Hs(TV) = W,$ dS
S

which agrees with (2.4) for S = Sk . Green's identity yields for a bounded
region R' with boundary S that
DR'(W> = Hs(W)
if n denotes the normal pointing out of R'. Let in particular R' be the sub-
region of R lying inside a vertical cylinder C, so that R' is bounded by C, SI ,

-y=-h
/
__c--- --------- -.

FIGURE2

and the portions Sk and SL of S, and Se that lie inside C. Then

\

The average flux of energy during one period of time through a surface S
is given by

(2.?)

where the flux is counted as positive in the direction of the normal n of S.*
2See part I [lo], page 20.
54 FRITZ JOHN

F , vanishes necessarily, if S denotes the total boundary of a region, in which

W is regular, as 2i gm (WnF) = WnF - W,W, and W and W are potential
funct,ions. Because of (1.5b1 c) there is no flux of energy through SB or S p .
Hence denoting again by R‘ the region bounded by the cylinder C and the sur-
faces S: , SL , Sr , we have

(2.8)
0 = Pc + F,, =
Pk g m ( H c ( W )
-
2
+ HsI(W)).
This relation could also be concluded directIy from (2.6), as the left hand side
of that equation is real.
Equation (2.8) shows that F c , the average flux of energy through C , is
independent of the special cylinder C. The condition for energy to be carried
to infinity, is that

This is a nonlinear condition, and hence the wave functions carrying energy to
infinity d o not form a linear space. A linear space composed of arave functions
carrying energy to infinity can be obtained by imposing a condition of the
type of the Sommerfeld radiation condition. This is the mathematical condition
that corresponds to the intuitive notion of waves originating at the obstacle
surface S,[ and going out to infinity. For a bounded obstacle and in a liquid
of uniform depth one would expect that a wave originating at the obstacle would
a t great distances have the character of a wave progressing radially outwards
with constant speed. In Cylindrical coordinates r, 8, y, where r = (xz z2)ll2, +
e = arc tan ( z / x ) , the condition is ordinarily given the form

with a fixed positive constant c. The velocity of propagation is ~ C / C . ~ For our

purposes a weaker form of the condition (2.9) is sufficient, namely that

(2.10)

where C , denotes the cylinder

(2+ 22)1/2 = u, --h 5 y 6 0.
It is clear that (2.9) implies (2.10). The functions W satisfying condition (2.10)
(with the same c) form a linear space, as is easily verified. For any function W
3See Rellich [15]. In the case of spherical instead of cylindrical waves the factor ~ 1 / in
2 (2.9)

has to be replaced by T , and one gets the condition in the form given by A. Sommerfeld. Sce,
e.g., Frank-Mises [5],11, page 804, and Baker-Copson [2], page 25.
 ON THE MOTION OF FLOATING BODIES. I1 55

satisfying the radiation condition (2.10) the flux of energy to infinity is non-
negat,ive. For the flux through the vertical cylinder C is

C c
(2.11)

Hence
lim inf F C , 2 0
7-m

and thus F , 2 0, as F c is independent of C.

3. The Green’s Function

A Green’s function G(z, y, z, 4, v, {), for t,he case of waves in a liquid of
constant dppth h is a wave function of 2, y, z, which is regular except a t the one
point (t, 7, r),
where it behaves like the fuadamental solution of the potential
equation. Thus we assume
( I ) that G is defined and regular analytic for
-it 5 y 5 0, -h < 7 < 0, (4 Y, 4 # (f, 7, r>
and that in that region
(3. la) G,, + G,, + G,, = 0
(2) that
(3.lb) G, = 0 for -g= -h

(3) that
(3.1~) G, = XG for y =0
(4) t.hat
(3.ld)
G - 31 is regular near (n., y, z) = ((, 7, r)
where
R = [(z - t)* (y - + +
(2 - ~ ) ” ” ”

The function G is not uniquely determined by the conditions stated, as

one could still add to G any wave function that has no singular points a t all.
If, takes suitable conditions a t infinity to arrive a t a complete characterization
of the Green’s function.
56 FRITZ JOHN

It is shown in Appendix I that there do exist functions which satisfy all

the conditions (3.1). An explicit expression for one such function, which will
, x, $, q, [) is given there. This special Green’s function has
be called ~ ( z y,
cylindrical symmetry, i.e. it depends only on y, q, and r = [(z- 0’ (z - i-)2]1’2.+
J t is also symmetric in P, y, x and E, q, c. For T # 0 the function y permits an
expansion into “cylindricd’l” wave functions of the form
m

(3.2a) Y = EYk.
k-0

Here
(3.2b) Y k = 2Ti k Hi”(Ck?‘)
c cash C k ( y f h) cash Ck(q + h).
The constants ck are chosen so that each yk separately is a wave function for
r # 0. The ck are the roots of the equation
(3.2~) ck sinh Ckh = 1 cash ckh.

Let co he the positive real root of this equation, cl , cz , the roots on the
+ +

positive imaginary axis in order of increasing absolute value. (Every root is

of the form f ck .) The coefficients Ckhave values given by

(3.2d)

Xow for real positive large T

(3.3a)
exp { i(r - ~ / 4 })
(3.311) H:’(r) =
(7rr/2jir
+o(~-~/~).
As clr, c2r, * . are on the positive imaginary axis, it. follows that for r ---f 00

(3.4a) y = y o + O(exp { - I c1 1 r ) r - l / * )
uniformly in y, q . Substituting for yo its asymptotic expansion from (3.3b)
we find that for r --+a

(3.41))
+ o(r+’) uniformly in y, 7.
The last relation expresses that y for large r behaves like a cylindrical wave
progressing outwards with the velocity k / c , .
Both asymptotic formulae (3.4a, b) can be differentiated with respect to r
without increasing the order of magnitude of the error term, as formulae corre-
sponding to (3.3a, b) hold for the derivative of HA’). In this way it is seen that

(3.5)
 ON THE MOTION OF FLOATIXG BODIES. IT 57
JYc introduce polar coordinates
(3.6n) f = P cos +, { = P sin 0, x = u cos el z = u sin e
so that
r = [p2 + 0’ - 2pa cos (e - 4)]*”.
Then for large u and bounded p
(3 .Gb) r =u -p cos (e - 4) + O(L/U),
(3.6~) au = 1 + o(;).
If C denotes the circular cylinder of radius u about the y-axis, and n its exterior
normal, it follows from (3.5) that

9
dn
- ic,? = 0(~-3/7 uniformly in 6,e, y, q , p
(3.7)
for bounded p , y, 7.
Thus y 3s a function of (2,gl z ) satisfies the Sommerfeld radiation condition.’

4. Representation of General Wave Functions

by Means of the Green’s Function
Let It’ he a wave function in t,he unbounded region R. Let W be of class
C” in the interior points of R and of class C’ in the closure of R, including the
obstacle surface S, . Denote by C. the cylinder of radius u about the y-axis.
For u > uo the cylinder C, is assumed t o contain SI in its interior. Let for
u > u,, the subregion of R lying inside C, , outside Sr , and between the planes
y = -h and y = 0 be denoted by R, . Let y denote the Green’s function
defined in the previous section. Then for a point (t, q, [) interior to R,

(1.1) 1T“t1q, {) = -
1
[/ (Wr, - r1iTn)dS + & [[(Wr, - yWn) d S ,
C. SI

\\here the vnriahles of integration are x, y, Z, and n denotes the normal pointing
outmarda t o infinity. In (4.1) the wave function IfT appears decomposed into
two components:
(4.2) w = TV’ + W”,
‘It nil1 twcome apparent later that y is the only Green’s function satisfying the Sonimerfcld
radiation condition, even in the weak form (2.10); fur if G is any Green’s function satisfying
(2.]0), wc would have in G - y an everywhere regular wave function satisfying (2.10). Then
C; - -/ = 0, a; will be shown on page 59.
58 FRITZ JOHN

where

SI

For 7~ and 7 between --h and 0 y is singular only for (2,y, x ) = (& q, .t); therefore
it follows that W’(5, p , {) is a regular analytic function of t , 7, { for (t,q, {) inside
the cylinder C , and - 1 2 6 11 I0. Similarly If”’ is regular analytic for (t, q, {)
outside the surface S, and -12 5 q S 0, i.e. in the region R. As y is symmetric
in (z, y , z ) and ( f , 7, l ) ,y considered as a function of ( f , 7, {) is a wave function,
and the same holds for yn . It follows that the waue junction W has been de-
composed into two wave junctions, one regular itiszde C, , aiad the other onc regular
outside S, .
The functions W and Ti‘” are independent of u. It follows then from (4.2)
that the function W‘ is independent of u, as long as C, contains the point
(E, q, {). As JV’ is regular inside C, , it follows that W’(& q, {) is a wave function
defined and regular for all (E, 7, {) with - - / A 5 7 5 0. Such a function will be
called an everywhere regular wave function.
We can show that, unless 711 increases exponentially at infinity of too high
an order, W’ can depend on y only through the factor cosh co(q h ) . \Ye call +
a wave function TY limited, if
(4*5) Iim [J~‘(u COB e, y, u sin e) exp { - [ c , I u ] u - ” ~ ] = 0
C-m

uniformly for - h 5 y 6 0, 0 6 0 5 2r, where c, again denotes the smallest

imaginary root of (3.2~). By (1.7a, b) TY can be continued across y = 0 and
y = -h, and will then satisfy (4.5) uniformly for -2h 5 y S +h, 0 6 8 5 2n.
Then any derivative of W a t a point (5,yz) with -la 5 y S 0 can be expressed
by Poisson’s formula as an integral of TV over a sphere of radius h about the
point (z, y, 2 ) . It follows that (4.5) will also be satisfied by any derivative of
W , and in particular by the normal derivative of It’ on the cylinder C , of radius
u about the y-axis. Using (3.4a) we find that

(4.6) lim
L7-m
l/\ -C
.
(Wr, yWn) dX - /[ (Wr;
C.9
- dS
r”1Vn)
1 = 0.

Here both integrals are actually independent of u, as both y and yo are wave
functions. It folIows that the relation obtained from (4.6) by omitting the
limit sign, is also correct. Thus under the assumption (4.5)

(4.7)
 ON THE MOTION OF FL0.4TIYG BODIES. 11 59

Formulae (3.2b) show that yo depends on 7 through the factor cosh co(q h) +
only. The same holds then for the function W’ represented by (4.7). Conse-
quently the everywhere regular component W’ of TV must be of the form
(4.Sa) JL”(t,t, P )
-4(t, t>Gosh co(tl
= h). +
As 18’ is an everywhere regular wave function, A ( [ , c) must be a solution of
the equation
(4.8b) Att All + +
co2 A = 0
which is regular for all f , l. A wave of the form (4.8a) will be called a simple
wave of order 0. (A simple wave function of order n will be defined analogously
as n wave function of the form W = a(%,z ) cosh c,,(y h).) +
If IT’ itself is a wave function, which is everywhere regular, i.e. defined for
all (x,y, z) with -11 5 y S 0, we can omit the integral over SIin the integral
representation (4.1). Then W = W’, and we obtain the folloving theorem:
E’sery uace junction that i s everywhere regular and limited i s a simple wave
jimclion of the form
(4.9) WE, t, r> = A ( ( , r> cash C”($ + h)
where ,4 satisfies (4.8b).5
Condition (4.5) is essential for the correctness of the theorem. Indeed an
everyn-here regular wave function does not have to be of the form (4.9), if it
increases sufficiently strongly exponentially at infinity, as the example
177 = Jo(c,r) cosh c,(y + h)
shows.
An cveryvhere regular wave function cannot satisfy the Sommerfeld radia-
tion condition. We have indeed:
If It; is a n eilcryzohere regular waee function, jor which
(4.10)
co

then 11- E 0.‘

Proof: For an everywhere regular wave function IV the energy flux Fc
through any cylinder C vanishes, according to (2.8). Then according to (2.11)
and (4.10)

(4.11)
c.

6The analogous theorem for one less dimension (i.e. for wave functions not depending on 2 )
has been proved by Weinstein [191.
6This implies that W and W , cannot both vanish very strongly at infinity. For simple
wave functions of the form (4.9) the theorem is proved by Rellich [lS],provided the radiation
condition (4.10) is replaced by the stronger form (2.0) of the condition.
60 FRITZ JOHN

As co is a positive constant, this implies that

lirn
c-m
11 I W , 1' dS = lim
U-+ m
11[ W I2dS = 0.

Now the everywhere regular wave function W permits the representation (4.3),
where by (3.4b), (3.7) the integrals

c. CO

stay bounded for u 4 a. By Schwarz's inequality it follows then t h a t

W = lim W
r-m
= lim - -
u+m 4~ ss
C#
(Wy,, - -yWJ dS = 0

and hence that V' vanishes identically.?

We proceed t o the discussion of the component W" of the general wave
function JV. It was seen that W" is regular in R. Let R' be the set of all
points of R that do not lie on a vertical line through a point of the closed surface
S, . Then for a point ([, q, {) of R' the horizontal distances T from all points

1 Surf ace
Free

RI
!
31I
1
FIGURE
3

(x,y, x ) of S, have a positive lower bound. For such a point (5, q, {) the series
expansion (3.2a) will converge uniformly for all (x,y, z ) on S, , and the same
holds for the corresponding expansion for yn . It follows that for (& q, {) in R'

(4.12) ~ Y E7), s> = 2 j-1<wr: - Yk'wn)dS.

1 "

SI

As each y k depends on 7 only through the combination cosh ci(7 + h), we find
for W" an expansion of the form
?This theorem also completes the proof that y is the only Green's function satisfying the
Sommerfeld radiation condition, see page 57.
 ON THE MOTION OF FLOATING BODIES. 11 61

c d f 7 l)cash + h)
m
(4.13) W’Yf, ?I, s) =
k-0
CLrl

valid for (El q, s‘> in R’.’ Each yk and yt is a wave function of f , q, r, therefore
each term in (4.12) or (4.13) must be a wave function. Thus

(4.14)

It follows from (3.4) that in the expansion (4.13) all terms with the ex-
ception of the first one vanish exponentially at infinity. More precisely

W Y t , rl, 0 = // (Wr: -
SI
TOW,,) dS + O(exp t - I c1 I PI P-”’)
(4.15)
= a&, S> cash c,(q + h) + O(exp { - I cl I P I P-’”)

where again p = [f’ +

f]”’. Here a, is a solution of (4.8b).
The general limited wave function 1Y satisfying (1.5)is thus in R’ composed
oj “simple” wave junctions:

v(ti 7, = *4(ti l) cash cO(r] + h) + a0(t7 cash CO(7 f

(4.16)
+5 k-1
r) cash C k ( 9 + h>.
The first two terms represent what is called here simple waves of order 0. All
the other terms vanish exponentially at infinity. The first term, which is identical
with the everywhere regular wave component W’, will be called the primary
wave component, the second term the secondary wave component W, and the
remaining terms which die out exponentially at infinity form what will be
called local waves WLt for k = 1, 2, 3, - .* . According to (3.7) y satisfies the
strong radiation condition

for P ---)OD

uniformly in 4, 0, y, 11, u for bounded u, y, 7. The same condition is satisfied

by the function T,, , which is obtained from y by differentiat.ionwith respect to
the arguments .T, y, z. I t follows from (4.4) that W” ( f , q, {) satisfies the
same radiation condition
a1i7”
(4.17) - - ic0W” = o(P-~/~) for p -+m uniformly in e, 7.
aP

8The possibility of such an expansion can also be Seen directly from the completeness of the
functions cosh ck(v + h). See Weinstein [19].
62 FRITZ JOHN

Hence: every wave function TV is composed of an everywhere regular wave

1Y' and a wave W ' satisfying the Sommerfeld radiation condition.'
The decomposition of TV into an everywhere regular wave and one satisfying
the Sornmerfeld condition is necessarily unique. For otherwise there would
exist an everywhere regular wave function satisfying a Sommerfeld condition
contrary to the theorem proved above. As indicated in the introduction me
take the point of view that this decomposition corresponds intuitively t o a
decomposition of W into a primary wave W',which is the wave that would be
there in the absence of the obstacle, and the wave IY" radiating outwards from
the obstacle, which is looked a t as due to the presence of the obstacle, which
either generates waves by its motion or scatters primary waves.
The radiating component IV" consists of the secondary wave LVL' and the
.
local waves W;', W;', - .. The local waves die out exponentially a t infinity,
together with their derivatives. They all satisfy the radiation condition trivially,
as they and their normal derivative vanish separately of sufficiently high order.
They also make no contribution to the flux of energy F , through a cylinder C,
a t least for limited waves. Indeed it is clear for a wave W satisfying (4.5) that
for large p

C P

can be approximated by F,,(lV' +

IVL'). As, however, Fc,(lV) and
F,,(TV' +
if-;') are independent of p, we must have actually

F,(lV) = F,(W' + IVi')

for all cylinders C .
The behavior of the secondary wave component

(4.18)
SI

a t infinity can be put more into evidence by substituting for yo its asymptotic
expres$on (3.4b). If we use the formulae
T = - COS ( e - 4) + 0(1/~>
_ar _- -x, cos C$ - z, sin C$
an
+ O(l/p)
valid for large p in the notation of (3.6a), we find that

gThi.r theorem applies also to unlimited wave functions.

 OX THE MOTION OF FLOATING BODIES. I1 63

where
J(4) = 2 d 0 s.SI
exp -g cos ( 0 - +)} [c,W(y, sinh c,(y + h)
(4,191))
- i(zncos 4 + z, sin 4) cosh c0(v + h))
- W,,Posh CO(Y + h,)]dS.
The niasimum order of ma.gnitutIe of the secondary waves is given by
(-1.20) w;’= o ( p - ” * ) .
5. Simple Waves of Order 0
It has been seen that, every limited wave function behaves a t infinity up to
t e r m of exponential order like a simple wave of order 0, i.e. like a function of
the form
(5.1) W = a ( [ , S) cosh c ( q + h)
where n ( f .); is a solution of the differential equation
(5.2) ali + arr + c: a = 0.
AIoreover, an everywhere regular limited wave function is exactly of the form
(5.1), nith an a((, {) that is everywhere regular. A few of the general properties
of the solutions of (5.2) will be derived here.
The study of the solutions of (5.2) can be based conveniently either on the
use of n proper Green’s function, as was done in the last section for the more
general wave functions, or on series expansions obtained by separating variables
in polar coordinates. Both methods will be applied here.
The Green’s function for (5.2) is essentially the component yo of the 3-
dimensional Green’s function y used previously. Put
(5.3) dx,2, 4, r> = Hf)(CoT)
where again r = [(x - [)’ + ( z - {)’I.’’ Then the behavior of g for small r is
descrilad hy the relation
g = , r ) c0r
(2i’ ~ ) . J ~ ( c ,log + a regular function
(5.4)
= (2i’T) fog r + O(T”log T) .
For large T

(5.5)
64 FRITZ JOHN

Let a be a solution of (5.2) in a ring-shaped area q bounded by a curve

sr from the inside and a curve s on the outside, a(z, q ) being of class C" in the
interior points of q and of class C' in the closure of q. Then by Green's formula
for an interior point (E, q ) of q
(5.6) 46, r> = A(E, r> + d E , s-)
where

(5.7a)

i c

(5.7b)

Thus the arbitrary solution a([, j-) of (5.2) regular in the ring q has been
decomposed into a solution A ( & r),
which is regular inside the outer curve s
r),
and a solution uo (E, which is regular outside the inner curve sI . Introducing

FIGURE
4

polar coordinates u, 9 for J, y and pl cp for (E, C), we find from (5.5) and the
corresponding differentiat.ed relation that ao(& l) satisfies the Sommerfeld
condition

-8%_ co a, = O ( P - ~ " ) uniformly in cp.

aP
Let now sI and s be two circles about the origin, of radius Lr and L re-
spectively. -4solution a(,$,c) of (5.2) in the circular ring q bounded by s1 and
s can be expanded into a uniformly and absolutely convergent Fourier series of
4 on every circle about the origin in q, as a(,$,l) is necessarily an analytic function
in q. Let for LI < p < L
+m

(5-9) r)
a ( ~ , = a(p cos 4, p sin 6) = C
n--m
Zn(co+)ei"+.
 ON THE MOTION O F FLOATING BODIES. I1 65

Then Z,(x) is necessarily a Bessel function of order n. We can .write

(5.10) zm(x) = anJn(z) + AHY’(~).

In the special case that a(& () is regular in the full circle of radius L about
the origin, each coefficient
+I

u(p cos 4, p
2R J
-T
sin $)e-++

is continuous for p = 0. As Jn(z)is the only Bessel function continuous a t the

origin, it follows that in this case Zn(cop)= anJn(cOp).
If on the other hand a([, () is regular everywhere outside the circle of radius
L, and satisfies the Sommerfeld condition (5.8), then each Fourier coefficient
(5.11) satisfies the Sommerfeld condition

and it follows that Z,(c,p) = PnH2)(cop).

Applying these special results to the components A and a, of a we have
the following theorem:
r)
Every solution a(,$, of (5.2), which is of class C” in the circular ring Lr <
p < L can be expanded i n the fomn

Here the first series converges uniformly and absohtely towards a solution A of
(5.2) for p < L, the second series converges unij’ormly and absolutely towards a
solutiorz a, of (5.2) in every closed bounded region with p > LI .
We are particularly interested in the case where L = w l i.e. where a(& 1)
is regular everywhere outside the circle of radius L, about the origin. In this
case formula (5.12) gives the decomposition of a(& () into a “primary” com-
ponent

(5.134

defined for all 4, p and a “secondary” component

4-m

(5.13b) aoG, t>= C P..Z!l)(Cop)e“*

-W

defined for p > LI . The flux of energy through a cylinder of radius p for the
corresponding wave function

W ( t , qr t) = a(,$, f) cash cn(q + h>

66 FRITZ JOHN

. We have indeed
is expressible in terms of the coefficients an /3, )

F \W,F dS = f (lh
2 4m j
= pk cash' co(q + h) d v ) 9m (la,, i i ds)

- -’lc_
Irco c
+m

2 Co n p - m
gm p(anJ:(cOp) + P,H,?”(c~p))(~”J,(cop) +~ ~ , ? ) ( c ~ P ) ) .
Here each term represents the energy flux corresponding to the wave (cu,Jn +
p,Hil)) cosh co(v +
h), and is therefore independent of the radius p . We can
thus replace each term by the expression obtained for p +03 from the asymptotic
formulae for the Bessel functions. This yields

(5.14)

The formula puts into evidence that there always is a positive energy flux to
infinity for a pure secondary wave (a, = 0 ) , and that there is no energy flux
for a pure primary wave (Pn= 0).
A fundamental cylindrical wave function cannot vanish at infinity of order
higher than p-”’ without vanishing identically. More precisely we have the
theorem:
If a(& l ) is a soZution of (5.2) for p > LI , and if
Iimf Ialads=O
P+m .P

for the circles sp of radius p about the origin, then a 3 0.”

The proof of this statement follows from (5.11) and Schwards inequality.
We have indeed

P I z n ( c o p > ~I s / *P
Ia 12 ds

and consequently
lim Z,(cop) = 0.
P*m

As 2, is a Bessel function of the positive real argument cop, it follows that

Z,(cop) = 0. Hence from (5.9) a = 0.
The most general simple wave a(& {) of order which is regular outside a
circle of radius LI is composed of a primary wave A and a secondary wave a, .
These two types of waves have radically different properties, though their
formal expansions (5.13a) and (5.13b) appear to be quite similar. These
expansions break up the waves into “circular” waves about the origin, the
only difference being that these circular waves are of the “standing wave” type
W!his theorem is proved by Rellich [15] for any number of dimensions.
 ON THE MOTION OF FLOATING BODIES. I1 67
in the case of primary waves, and of the "outgoing progressive" type in the
case of the secondary waves. Each term in the two expansions (5.13a, b) is
of the same order of magnitude p-'/' for large p, different terms being essentially
distinguished in their asymptotic behavior by a difference in phase. In spite
of this similarity between the single terms the whole sums will be seen to behave
quite differently for large p, due to the fact that the series representing the
secondary waves always converges uniformly in p, 4 for large p, whereas this
does not have to be the case at all for the primary waves.
The general behavior of a secondary wave a, is most easily obtained from
the representation (5.7b). For large p
r = [p' + u2 - 2pu cos (4 - e y = p - u cos (9 - 6) + O(l/p),

It follows from (5.5)that for large p uniformly in C$

(5.15)
where

Here LI = u is the radius of the circle sI outside of which a, is regular.

From the explicit representation (5.16) it is clear that f(+) is an entire
analytic function of 4 of period 2a. The order of magnitude of f(4) for large
complex 4 can also be estimated from (5.16). One verifies easily that for
+=a+ip
(5.17) f(4) = o (exp + 1 0 )]I
{coue'@' u n i f o d y for real a,B
where u is again the radius of the circle Sr .
It follows from (5.15)and (5.13b)that

Consequently, as

(5.18)
68 FRITZ JOHN

we find that the expansion coefficients pn are connected with the function f(4),
which described the behavior of the wave a t infinity, by the relation

(5.19a)
or

Formula (5.19b) shows how t o find the function f(4) which describes the
strength of the secondary waves a t infinity in different directions, if the ex-
pansion coefficients &, are given. Conversely, given f(4) we can find the p,,
from (5.19a), and t,lien the wave function a, at finite distances from (5.13b).
As f(+) is defined for all complex 4 and of period 2a, we can replace the
+
path of integration in (5.19a) by one going from the point ip to the point 27r ip.
Then for positive P using (5.17)

If we here choose
n - 1
p = -1og-
cog
we obtain the relation

This establishes a connection between the domain of regularity of the secondary

wave function a,(,$, [) and the coefficients Pn of its expansion (5.13b) into
Hanltel functions:
If a. is regular outside the circle of radius L, = r about the origin, then
1
(5.20) Lr >= CO
- lim sup n( I pn
n-m

We proceed t o the discussion of the primary waves A (5, {) which are regular
for all t , r. Formula (5.15) shows that the secondary waves are of the precise
order of magnitude p-'Ia at infinity. By the general theorem of p. 66 primary
waves are at least of that order of magnitude. The following examples show
that a primary wave may be exactly of the order p-'Ia, or may be bounded
without approaching 0 at infinity, or may be unbounded at infinity:
(5.2la) A = JO(C0P) (circular standing wave)

(5.21b) A = exp {ice[) (plane progressing wave)

 ON THE MOTION OF FLOATING BODIES. I1 69
(5.21~) A = I exp (icoS)
(5.21d) A = exp (it) exp {(I - ~20)”~~) .ll

A large class of everywhere regular primary wave functions is obtained by

superposition of plane waves with different directions. For a “sufficiently”
regular function g(0) the expression
2*
(5.22) g(e) exp i i c o p cos (e - 4)) de = A

will represent an everywhere regular wave function. This suggests the question,
whether the “general” everywhere regular solution of (5.2) is representable in
the form (5.22).” If plane waves are to be included among the general solutions,
the functions g admitted would have to be taken from a class of functions larger
than the Riemann or Lebesgue integrable ones, or the integral may have to be
replaced by a Stieltjes integral. An adequate treat’ment of the question, when
an everywhere regular solution is representable by means of plane waves, would
probably encounter serious difficulties. Only partial answers will be given here.
An everywhere regular solution A(& {) of (5.2) certainly permits the repre-
sentation (5.13a) as a series of standing circular waves. Thus such a primary
wave is completely described by the sequence of coefficients a,(- OJ < n < a). +
If here I a, 1’ converges, the a“ are, by the well known theorem of Fischer
and Riesz, the Fourier coefficients of a function g@), which is square-integrable
in the sense of Lebesgue;

(The Fourier series here represents g in the square mean.) It follows from
(5.23) and (5.13a) that

Thus the condition

(5.24) c Id
t m

“The last two examples were suggested to me, respectively, by E. Hopf and B. Friedman.
”A “formal” representationof that type is given by Whittaker [ZO]. See also Whittaker-
Watson, Modern Analysis, page 397 ff.
70 FRITZ JOHN

assures that A is representable in the form

(5.25)

with a sqyare int.egrable function g.

Condition (5.24) implies that A is necessarily bounded at infinity, as by
Schwarz's inequality applied to (5.13a)

Conversely, however, the convergence of the series (5.24) cannot be concluded

from the boundedness of A , as the example of the plane waves

shows. We have, however, the following theorem:

If A(,$, {) i s a n everywhere regular solution of (5.2),for which

IpI A l2 d.9

is uniformly bounded f o r all circles of radius p nbout the origin, then the expansion
coeficients an of A satisfy (5.24), and consequently A is representable in the form
(5.25) with a square integrable junction g.
Proof: By assumption there exists a constant M , such that for all positive p

(5 26)

Substituting here the expansion (5.13a) for A , it follows that

P cI
+m

n=-m
an I' J , ( C ~ P<) ~M .
In particular
CN

p C I a, 1'
n=-N
~ , , ( c ~<
p )M~ for positive p.

Letting here (for fixed N ) p -+a and using the asymptotic behavior of J , , we
find

If p tends to infinity through integral multiples of r / c o , it follows that

 O N THE MOTION OF FLOATING BODIES. I1 71
As this inequality holds for all N , we have shown that I a, 1’ converges, and
hence proved the theorem.
Thus the everywhere regular primary wgves satisfying (5.26) can be de-
termined by a function g(4) of period 2t. This function g(4) for primary waves
is analogous to the function f(4) associated with a secondary wave. In both
cases the periodic function associated with a solution is formed from the Fourier
series whose coefficients are the expansion coefficients of the wave in terms of
circular waves. However, in the case of primary waves the function g(4) does
not have to be anaIytic Iike the functionf, and also its existence has only to be
established for primary wave functions satisfying the special condition (5.26)
a t infinity.
Formula (5.25) offers one interpretation for the function g(4) associated
with an everywhere regular wave function -4(& c).
According to that formula
A is composed of plane waves, where the plane wave progressing in the direction
with inclination e has the complex amplitude g ( 0 - n/2). If g is regular enough,
it can be connected more directly with the behavior of A a t infinity. If e.g.
g(+) is continuous and of bounded variation, the “method of stationary
can be applied to the integral (5.25) for large p , and one finds

Thus at a faraway point in the direction with inclination (b the wave appears to be
a combination of just two plane progressive waves, traveling respectively towards
and away from the origin, and having amplitudes g(+ - t / 2 ) / 2 [ t / 2 cop]”2
and g(4 + n / 2 ) / 2 [ n / 2 cop]”2. This behavior is somewhat analogous to the
behavior of secondary waves at large distances, as given by formula (5.15). The
main difference is that a secondary wave has no apparent plane wave component
traveling towards the origin.

6. Uniqueness Theorems
Lemma I :
Let W([, 9, r) be a wave function of class C” inside the region R and of
class C’ on the boundary of R, which shall consist of the bottom surface
S,(q = -h), the average free surface S,(q = 0), and the bounded obstacle
surface S , . Let W satisfy the Sommerfeld radiation condition

6.1) lim
IT--
// j IY, - ic,W [* dS = 0
CI

%ee, e.g., Lanib [14, p a p 395.

72 FRITZ JOHN

for cylinders C, of radius u about the q-axis. Let in addition the flux of energy
to infinity vanish:
(6.2)

Then the simple wave component of order 0 of W vanishes identically, i.e.

for ([, 2) outside A , where A is the vertical projection of Sr onto the [c-plane.
The proof of this lemma follows immediately from the energy considerations
of Section 2. Using identity (2.11) we can immediately conclude from the
assumpt,ions (6.1) and (6.2) that

If s, denotes the circle about the origin in the ST-plane, then from (6.3)

C.
Hence
(6.5)

Now the fundamental properties (1.5a, b, c), which define “wave functions” have
as a consequence that the expression a([, p) defined by (6.3) satisfies the equation
(6.6) aEf + arr + c’, a = 0
outside the projection A of SI on the El-plane. However, on p. 6G it was
proved that a solution of (6.6) t.hat satisfies (6.5) must vanish identically. This
proves the lemma.
Lemma I I :
Let U’ and R satisfy all the assumptions of the preceding lemma. Let now,
however, the boundary of R consist of the full plane q = -11, a portion S , of
the [{-plane, and a surface Sr intersected by every parallel t o the q-axis in at
most one point. Thus R will consist of vertical segments with one endpoint
on q = -h and the other endpoint either on q = 0 or on Sr . Then
 ON THE MOTION OF FI,O.iTING BODIES. I1 73
Proof: The assumptions made imply (6.4). Then also by Schwarr's inequality

lim Hc,(W)
0-*
= lim
a-9 ss W,,v
CO
dS = 0.

I t follows from (2.6) that

(6.8) lim [DR,(W) - H s , , ( W ) ) = Hs,(TV).
0-m

Here R' is assumed to be the subset of R lying inside a vertical cylinder C, ,

bounded by C, S, , and the portions S: , S A of S p , S, , which lie inside C. By
virtue of our assumptions on SI the region R consists of a portion R" "below
S1" and a portion R"' "below S& ." For ( f , 0, {) on S: relation (6.3) holds.
Integrating this relation by parts, we find

Kom for the positive root co of the equation co sinh c,h = X cosh cok, one has

sinh' co(y + 11) dq = sinh2c,,h- h

Thus the absence of the simple wave component of order 0 leads to the inequality
O
.,

valid for every (5, P) outside -4. Here (6.10) holds for all points on S p . In-
tegrating (6.10) over S: we find

S'F R"'

or
(6.11) 2Hs,p(1v) 6 DR".(?V) 5 D,.(IV).
Hence
&(W) - H,..(rn) 2 HW,(W).
Here the right hand side is a monotonically increasing function of the radius
u of the cylinder C , , and the left hand side by (6.8) has the limit Hs,(W). It
74 FRITZ JOHN

follows that HS,* has a limit for u -+ 00, which can be denoted by Hs,, and that

SF

Thus (6.7) must hold, unless H s F vanishes, and hence 1V vanishes identically.
In the remainder of this paper we shall always assume t’hat the domain of
existence of the wave function W is of the type specified in Lemma 11, in which
for every point (& 0, 1) of the average free surface SF also the whole vertical
segment from q = -h to q = 0 belongs to R, and (E, -h, {) is a point of the
bottom surface S B . This special character of R is used in the derivation of
(6.11).
If W or W, vanishes identically on S, , we have H S r ( W ) = 0, and in partic-
ular the energy flux to infinity will vanish. If It’ also satisfies (6.1) then by
Lemma I1 W vanishes identically. R e have thus proved the following funda-
mental uniqueness theorem:
If a wave function W satisjies the Sommerfcld radiation condition

(6.13)

and i f i n addition either W or W , vanishes identically on the obstacle surface S, ,

then IV vanishes everywhere.I4
It has been shown in Section 4 that every wave function T.V can be de-
composed in a unique manner into an everywhere regular wave function and w’
a wave function W“, which satisfies the Sommerfeld radiation condition. W’
is called the “primary” part of the wave. Two waves with the same primary
wave component differ by a wave satisfying (6.13). We thus arrive at the
following theorem, which is an immediate consequence of the fundamental
uniqueness theorem:
A wave function i s uniquely determined by its primary component and by
its values or the values of its normal dericatiuc on the obstacle surface.
As has been mentioned before, prescribing the primary component of it’
and prescribing W , on SI amounts t o prescribing the wave as it would be in
the absence of the obstacle, and also giving the motion of the obstacle. I n
particular, it follows for a fixed obstacle (W, = 0) that the wave is uniquely
determined by its primary part.
The uniqueness theorems proved are adequate for harmonic waves in the
presence of a floating body with prescribed harmonic motion. They do not
show, however, that for a freelyjoating body the motion of the liquid is uniquely
determined by the primary wave component. Indeed, in the case of the freely
“It secms worth noticing that in the proof of this theorem no use has been made of the
Green’s function or of the complete expansion of W into simple wave functions.
 ON THE MOTION O F FLOATING BODIES. I1 75

floating hody the quantity W , on the average immersed surface X, is not given,
but has to be determined together with 1Y from the dynamical conditions.
What is needed here would be a generaliaabion of the fundamental uniqueness
theorem, which states that the liquid in the presence of a freely floating body
is a t rest if the radiation condition (6.13) holds.
We have not succeeded in proving this generalization for the most general
conditions. However, the following theorem will be proved:
The motion of the liquid in the presenee of a freely jfoatzng r i g i d obstale zs
uniquely determined by the primary wave, provided the frequency k of t72e motion is
sujiciently Earge. (It is assumed again that no point of the immersed surface of
the obstacle lies below a point of the free surface.)
Proof: It is sufficient to prove that no motion is possible in the absence of the
primary wave. In that case the wave function W satisfies the Sommerfeld
radiation condition. If C denotes a cylinder containing the obstacle in its
interior, the flux of energy through C during one period of time must vanish.
For otherwise the mechanical system consisting of the floating body and the
liquid inside C would in the course of time gain or lose an indefinite amount of
energy, which in the absence of external forces is imp~ssible.'~Then by Lemma
I1 the inequality

(6.14) Hs,(W) = SJ rv,w as >

Sl
0

holds. This expression is necessarily real because of the vanishing flux of energy.
Remembering formula (1.3) which connects IY with the real velocity potential
a, we can write (6.14) in the form

(G.15)
SI

Here antis expressible in terms of the acceleration components of the body

motion by the kinematical condition"
ant= x,,pr+ y,,prr+ z,,P'" + e:,qr + e;frqr+ e::rqrrr
Substituting this expression into (6.15), the resulting integrals with respect to
d S can a11 be evaluated by means of the dynamical equations of motioIi.17 In

*Thestrictly mahhematical proof of this fact is contained in equation (2.4.2) on page 30

of part I of this paper. There the flux of energy at any time is represented as thc tinic deriva-
tive of a function, which in our case would be periodic in the time, Then the total flux during
one period vanishes.
W e e equation (2.2.5), page 21, part I.
1Wquations (2.3.7) and (2.3.10) of part I.
76 FRITE JOHN

this way we find that

0 < / d t X , , // a l p ’ d S + / d t Y , , // GIp” d S +- *.

SI SI

+ g 1Y,,(-IA(Y - Y O )- + Itel) d t + ... .

Iterr’

As here X - X o , Y - Yo, - - - are harmonic functions of frequency k, we have

Consequently

Recalling the definitions of the moments Is, * * - we have here

- I;(e’* + e‘”z> + (I:ze’z - 21tZe‘e‘l’ + 1 ~ z s ~ 1 ~ 2 ) ] .

Both Q, and Qz are integrals with respect to t of quadratic forms in X , Y , , )

... , 0:”. In the case of &, the form is certainly positive definite, as otherwise
 ON THE MOTION OF F L O l T I N G BODIES, 11 77

the integrand would have to vanish identically for all 2, y, z in B. (In the case
of Q2 the form happens to be non-negative, if the equilibrium position of the
body is stable-see page 30, part 1.) Q1 and Q2 represent essentially the
average kinetic and potential energy of the body B. Because of the positive
definite character of Q,we certainly have

-XQi + Q2 <0
for all 9,, Y , , - .. , 0:” that do not all vanish, provided X is large enough.
Thus for large X or large frequency k we have a contradiction to (6.16). This
proves that for sufficiently large frequencies the primary wave determines
completely the motion of the floating body.
The method of proof used here for deriving uniqueness theorems for 3-
dimensional motions of a liquid of constant finite depth h can also be used in a
few other cases with minor modifications.
One possible extension is to the case of infinite depth. Here the role of
+
the functions cosh [co(q h)] is t,aken over by the function e’”. We consider
a region R of tql-space described by the inequalities
-a< q i0 for (t, i9 in SF

-m < 7 5 b&, [) for (t, r) not in S F .

S p is an open subset of the t[-pla.ne, whose complement is a bounded set A .
is the equation of the obstacle surface S, . We assume that TI is of
7 = b ( [ , (j
class C” in the interior of A and vanishes on the boundary of A. W&,q, 5) may
be a potential function defined in R, which is of class C” in the closure of R.
On S F the function may satisfy the free surface condition W , = XW. More-
over, lV may be uniformly bounded in R. Then the following uniqueness
theorem holds:
It,’ vanishes identically in R, if JV sat,isfiesthe radiation condition

(6.17)

for cxlinders C, of radius u about the q-axis, and if

(G. 18)
aw
- -- 0 on SF.
an
For the proof of this statement we observe first that the boundedness of
TY implies that
(G.19) lim W , = 0 uniformly in (t, ().
q+--m

This follows immediately from the explicit expression for the derivative of a
78 FRITZ JOHN

potential function a t the center of a sphere in terms of the values of the function
on the sphere.'* We can then conclude that

(6.20) Brn 11W , w d S

CS
= grn 11W.,%dS
Sr
= 0

by first applying Green's identity to the region bounded by Sr , a finite portion

of C, , and a bottom surface q = const. = c. For c * - 03 the contribution
of the bottom surface tends to zero.
Applying (6.20) and (6.17) to the identity (2.11), we find that

~im
u-m
11 I
c,
W , 12 dS = lim
,
-.a
11I wz I
co
dS = 0.

Therefore

(6.21)

where

and s, is the circle of radius Q about the origin of the EC-plane. Now a@, r) is a
solution of
(6.23) aEe + aft + X'a = 0.
According to the theorem on p. 66 it follows from (6.21) and (6.23) that a(& {)
vanishes identically in S , . Applying integration by parts and Schwarz's in-
equality t,o (6.22) we find that

Integrating this inequality over all (S, {) in S , , we find that

2Hs,(W) IDR(W).
Now from (2.6)
&(W) - H s p ( I Y ) = Hs,(W) = 0.
Consequently Hsp(TY)= 0 and hence II' = 0, which proves the theorem.
Exactly analogous theorems can be proved for the case of two-dimensional
motions, for which the wave function W is independent of the horizontal co-
ordinate z and the obstacle is a cylinder with generators parallel to the z-axis.
Using the appropriate Green's function (see p. 99), one shows again that>the
%ee Courant-Hilbert 141, Volume 11, pages 248 and 249.
 ON THE MOTION OF FLOATING BODIES. I1 79

general wave function can be decomposed into an everywhere regular function

W’ (“primary wave”) and a function W” satisfying the Sommerfeld radiation
condition (“secondary” +
L‘Iocal”waves). The primary wave is here neces-
+
sarily of the type of a plane wave A(z) cosh co(y h) (or A(z)eXvin the case
of infinite depth). The secondary wave can be thought of as consisting of a
component progressing towards the direction opposite to the primary wave
(“reflected wave”), and one progressing in the same direction as the primary
wave and combining with it into the “transmitted” wave. One finds then for
a bounded cylindrical obstacle, no point of which lies under the free surface,
that the wave function is uniquely determined by the primary wave component
TP’ and by the values of the normal derivative of IY on the obstacle surface.
The obstacle may reduce to a flat sheet lying in the surface y = 0 (“dock prob-
lem”). Indeed all considerations stay valid in that case, if it is assumed that
for the wave functions considered, Green’s identity can be applied. This only
requires the assumption that JJ (I W , j 2 +
I W , 1)’ dz dy stays finite near the
edges of the dock. (This assumption would exclude “breaking” of waves a t
the edges.)
The two-dimensional case permits a further generalization to the case of
infinite obstacles. (In three dimensions the presence of an obstacle extending
to infinity would necessitate a revision of the radiation condition to be imposed.)
As an example we derive a uniqueness theorem concerning the motion of the
liquid generated by an incoming plane wave striking a dock, whose edge is not
necessarily parallel to the wave front.
Let the region R in mpspace, which contains the liquid, be given by
-11 < y < 0. The dock may be represented by the half-plane

y=o, x>o.
We have the boundary conditions
(6.214 W,= XW for y = 0, x <0
( G .2111) W, =0 for y = 0, x >0
(G .21c) w,= 0 for y = -h.
A “plane incoming” wave W will be given by a function
(G.24d) 11.‘ = A exp (ico(zcos a + z sin a))cosh c0(y + h)
where we assume that the angle a between the wave front and the edge of the
dock lies between - a / 2 and +n/2. For reasons of symmetry an incoming
wave of the form (6.24d), which is simple harmonic in z, can he expected to
give rise to a total motion of the liquid which is simple harmonic of the same
frequency in z. We shall thus consider wave functions W , which satisfy identi-
cally
(G .24e) W,. + c,’ sin2ollY = 0.
80 FRITZ JOHN

(This includes as n special case the case of normal incidence, a = 0.) We shall
assume that I+‘ is regular for --h 5 y 5 0 with the possible exception of the
edge 2 = y = 0. The singularity a t the edge shall be such that

This condition excludes sources or sinks of energy a t the edge. At infinity, under
the free surface, TY shall be of the foim
(6.248) w = TY’ + FV”
where 1V‘ is an incoming plane wave of the form (6.24d), and CV” satisfies the
“radiation” condition

(6.24h) lim
t4--m
&[ I -IF’:’ cos a + WL’sin a - k,W” 1’ dy = 0.

This condition is typical for the “reflected” plane waves, for which in (6.19d)
+
a is replaced by .x - a. Under the dock a t 2 = m we only make the assump-
tion that. JV is bounded uniformly in y, z for -h 5 y 5 0.18
Proof: Without restriction of generality we assume that A = 0. Then the
radiation condition (6.24h) is satisfied by I.V itself. Because of (6.24e) we can
write
(6.25) FV = u(z, y) exp {icoz sin a) f ~ ( 2y)
, exp { -icox sin a].
The radiation condition (6.24h) then takes the form
”0

(6.26) 0 = lim
e - m -h
I a exp fk,$sin a) - b exp (-ic,,z sin a ) l2 dy
where
a = -ii, cos a + ic,, u sin2a - icou
b = - v, cos a - ic, v sin’ a - icov.
(6.26) holds for all z. Substituting z = 0 and z = n/2c0 sin a,we find that
PO PO

and hence also

lgThe existence of a solution TV for given .4 has been shown by Heins for OL # 0 [91. Solu-
tions for a = 0,h = m have been constructed by Friedrichs and Lewy [6]. All these authors
also consider solutions which become logarithmically infinite at the edge, and hence violate
(6.24f).
 ON THE MOTION OF FLOATING BODIES. I1 81

These last relations, however, state that the two components of II' in (G.25)
separately satisfy the radiation condition (6.24h). It is clear that they also
satisfy individually the other assumptions (6.24a, b, c, f) and are bounded for
+
z 3 00. Thus we can restrict ourselves to the case that W reduces to one of
the components, so that
W , = f i c , sin aW. .
(For a = 0, IV independent of z , this decomposition into two components is un-
necessary.) Then (6.24h) takes the form

I W , cos a! + ic,(l f sin2 a)W 1' dy

+ 2 ~ cos
, a(1 + sin2a)>($mW W J ~dy.
The potential function W is periodic in y for z > 0, because it satisfies
TV, = 0 for y = -h, 0. As W is bounded for -h 5 y _< 0 it follows that W is
bounded uniformly for 5 > e and all y, 2. Then W , tends to zero for 1; --)m
(see the argument on p. 58), and in particular

(6.28) lim
r-m
s_: W,W dy = 0.

Applying Green's identity, and using (6.24e), we get for a negative 4

(6.29)
= 1-1W,@ dy + X lo1 W 12&.
t
(is€) (u-01

I t follows in particular that

$m
-/' W,?
-h
dy = 0.

Then from (6.27)

(6.30) lim
,-.-a
j-1I W , I z d y = lim
=+-a
j o1 W I2dy = 0.
-h

Put

a($, z) = Ik W(z, y, z) cosh c,(y +N dye

82 FRITZ JOHN

From (6.24a, c, e) and the potential equation for W we get

arr + c,'a cos2a = 0 for 2 < 0.
As also, because of (6.30)
lim a = 0,
T'-m

u(2, z) must vanish identically for negative x. Then again, as in the previous
cases,

and

This, however, contradict,s the relation obtained from (6.29) for 5 -+ - m,

when use is made of (6.30). Thus W vanishes identically.
The same method of proof is applicable for liquids of infinite depth and for
docks of finite thickness, as long as the top of the dock is not submerged.

7 . Existence of Waves for Given Primary Waves

and Obstacle Motion
Let W ( x ,y, z) be a wave function, which is of class C" in the interior of R ,
and of class C' in the closure of R, including its boundary. Then for an interior
point (E, 9 , {) of R we can express W in terms of its Cauchy data on Sz and its
primary component W' in the form

Sf

(see (4.1)). By definition of the Green's function, y - 1/R is regular for

--h 5 y 5 0, -h < r] < 0. Thus the integral in (7.1) will have the same d i e
continuity on the surface SI as ordinary potentials of surface distribution, as
long as (,[, 7,[) avoids the boundary q = 0 of Sz . Hence," for (E, q, j-) on Sz
and q # 0,

ZoSee Kellog [12], pages 160 and 168.

 ON THE MOTION OF FLOATING BODIES. I1 83

For given JY and given W,, on X, one can consider (7.2) as a Fredholm integral
equation for the values of 1Y on S, . Having solved this equation one can
expect to get the wave function If’ in R for given data by means of formula
(7.1). There are two difficulties in carrying out this scheme for showing the
existence of a wave function for given primary waves and given obstacle motion.
One is that the homogeneous integral equation corresponding to (7.2) can have
non-trivial solutions, so that a special argument is needed for showing the
existence of solutions of (7.2) and of the original problem. The other difficulty
is that y has a singularity on the boundary curve of Sr , which makes it difficult,
at least in the general case, to justify the validity of the Fredholm theorems for
equation (7.2).
The singularity at the boundary of 8, becomes relatively harmless in the
case where S, is perpendicular to the free surface, and we shall accordingly
restrict ourselves t o that case.21 hiore precisely it will be assumed that Sr ,
s,
together with its mirror image with respect to the zz-plane, forms the boundary
S of a convex body n, where S is everywhere of class C”,22including the points
of the curve of intersection L of S and the zz-plane.
Formula (7.1) suggests the introduction of the two integral operators

(i.3) Tit = -
1
47r
/I
SI
uy, dS, Kv = --
47r
//
SI
yv dS.

Tu and Ki,are defined as functions of (5, q, [) in the interior points of R if u

and u are continuous functions on S, . Here the integration is with respect to
the arguments (I,y, z) over SI , and yn is the derivative of y with respect to
the exterior normal of S, in zyz-space. Tu a.nd Ku are wave functions in R,
which satisfy the Sommerfeld radiation condition, and hence have vanishing
primary components. For a wave function W with primary component TY‘
which is of class C‘ in the closure of R, and for which W = u, W , = v on SI ,
W = W‘ + TU + KV
for (5, 7, j.1 outside S, in R.
It is shown in the Appendix that y for -h <y 0, -h < q 5 0 is of the
form
(7.4) y = 1/R + 1/R‘ + H
where
dH
(7 -5) H = O(logR’),
an =
- o(+).
21-4discussion of the singular nature of a u-ave function on the curve of intersection of a
wall with the free surface has been given by Hadamard [7] and Bouligand [3].
22That is, in the neighborhood of any point of S in a suitable coordinate system, S is repre-
sented by a twice continuously differentiable function.
84 FRITZ JOHN

Here R = [r2 +
(y - 7)2]1/2,R’ = [rZ +
(y t; 77)2]1/2. We can interpret R’ as
the distance of the point (5, 7, p) from the point (2,-y, 2). v shall be defined
on the whole surface S as an even function of y, and is then continuous every-
where on S. Therefore
Kv = - -1/ j i v d S
4r
-/I
- 1
47r
HvdS;
5 SI

The second integral is continuoua and has continuous first derivatives with
respect to [, 7, [ everywhere for --h < 77 5 0. For the first derivatives of H
are of the order of magnitude O(l/E’), hence also of order 0(1/R), as R’ 2 R,
and consequently are integrable over Sr . Thus the behavior of Kv and its
first derivatives near SI is the same as that of the Newtonian potential of a
simple distribution of continuous density v over the closed convex surface S.
I t follows that Kv is a continuous function of (& 7. [) for -IL < q 5 0. For
(5, 7,p) on Sr , Kv goes over into an integral operator K,v. (We denote operators
transforming functions on Sr into functions on S , by the suffix “O”.) More-
over, let, P = (6, q , [) be a point on the exterior normal v at a point Po =
(to, 770 , To) of Sr . Then

uniformly for Po on SI .z3 On S

1

so that this expression is i n t e g ~ a b l e . We

~ ~ can write (7.6) in the form

(7.8)

Here M,v is an integral operator on S, given by

M0v = 1 /[ a ( j1j + j 1j i + H ) P-P.

vdS =
4s // ($7)P = P 1v d S
SI SI

and produces a continuous function of Po on Sr out of a continuous function

v on S, .
23SeeKeHog [12], page 164.
24The validity of (7.7) depends strongly on the assumption that SI is perpendicular to the
free surface y = 0, as otherwise the surface S has an edge at y = 0, along which (7.7) could
not hold.
 ON THE MOTION OF FLOATING BODIES. I1 85

For u that are assumed only t o be continuous one cannot be sure that
Kv has continuous first, derivatives in the closure of the region R. However,
the representation (7.1) can still be justified for tlie wave function W = K v .
For this pi~rposeone can consider a parallel surface Z to the convex surface Sr
and exterior to it. Then for (El 7, {) outside Z (7.1) holds, and yields

Kv =-
1
41
//
z
y,Kv d S -
4n //
z
y
aKv
-%dS.

We can let I: tend to Sr by letting each point move along a normal of Sr . As

the parallel surfaces have common normals, aKv/&z will converge by (7.8)
uniformly towards tlie value (4 - M 0 ) u taken on S, . Thus we get in the limit,
using the notation (7.3),
(7.9) KV = TK,v + K ( 4 - ki,)v.
By the same argument using approximation of S , by parallel surfaces me
can justify the applicability of the energy formulae (2.G), (2.5) t o W = Kv. I t
follows that the uniqueness theorems of Section 6 are applicable to this function,
if Kov are considered to be the values of Kv and (a
- M 0 ) u thc values of the
normal derivative of Kv on S , . In particular we can conclude:
For continuous ZJ on ,SI the two integral equations
(7.10a) Kov = 0
and
(7.10b) %v - M,v =0

arc equivalent.
Indeed, if (7.10a) holds, we have in KV a wave function with vanishing
boundary values on S , and vanishing primary component. Then by the iiniqae-
ness theorem of p. 74 Kv vanishes identically outside S, , and consequently,
using (7.8), we obtain (7.lOb). Conversely, if (7.10b) holds, we have in K O a
funct,ion with vanishing normal derivative, which then has to vanish identically,
and whose boundary values K,v will have to vanish.
Equation (7.10b) is a homogeneous Fredholm equation of the second kind.
It will have a non-trivial solution only if 2 is an Eigen-value of the operator
Mo . This may be called the irregular case. In the regular case either of the
equations (7.10a), (7.10b) implies v 3 0.
As has been mentioned before, Kv is continuous on and inside S, . If
(7.10a) holds, we have in W = Kv a potential function defined in the bounded
region B' inside Sr and below 7 = 0 with the following properties:
(a) W , - XW = 0 for 7 = 0, (5, [) C A , .
(b) W is continuous in the closure of B' and assumes the boundary values
W =0 on S,,
86 FRITZ JOHN

(c) The derivative of TY along an interior normal of Sl approaches uni-

formly the limit v(Po),as a point approaches Po along the normaL2'
The last property guarantees that Kv cannot vanish identically inside 8,
if 0 is a non-trivial solution of (7.10a). It follows that in the irregular case
there exist non-trivial solutions W in B' with the properties (a), (b), (c). One
can expect that non-trivial functions W with the above properties exist only
for special values of A, namely for the critical values of the expression

formed for functions vanishing on Sr . The properties of W in B' are independent

of the depth h., so that the values of X giving rise to the irregular case and the non-

trivial solutions v of the equations (7.10a) are independent of h and depend

only on the shape of the surface ,SI . In particular we can prove that in the
irregular case
(7.11) X 2 g.1.b. I ( W ) 2 l/d
w-0 on 91

where d denotes the maximum depth of immersion of the obstacle (d = maximum

of -y on 8,).
To prove (7.11) we observe that for the potential function W with the
properties a), b), c)

%Thisproperty follows from the fact that the normal derivative of Kv jumps by the amount
u(Po),as the point P passes XI a t PO (see Kellog [12], page 164) and that the exterior normal
derivative of Kv vanishes, as KOvanishes identically outside .
 ON THE MOTION OF FLOATING BODIES. I1 87

and hence
X 2 g.1.b. I(W).
w-n on S I

On the other hand, for a function W which is continuous in the closure of B', of
class C' in the interior points of B', and vanishes on S, , we have

I m€,
0, S) 1 = I 1"
b(E,T)
W,(F, 7, 0 5 (d [ I W&, t, s'> l2 d t y 2
for (t, {) in A .
Integrating over A we find

A B'

Hence
I ( W ) 2 l/d.
This proves (7.11) and shows that the irregular case cannot occur for sufficiently
small X, i.e. for sufficiently large wave lengths.
We proceed to the consideration of the operator

Tu =-
1
47r
// uy, dS.
SI

Substituting for y the expression (7.4) we have, after continuing u as an even

function of y,
(7.11') Tu = 47r ! / u a (3 1
)(EX 47r uH,dS. + /f
9 91

As H , is integrable, it is found that, Tu behaves in the neighborhood of S, like

the potential of a double distribution of moment u on the closed convex surface
S. It follows*"that Tu is a uniformly continuous function of ([, 0, J) in R, and
that for P = (t, q, 5) approaching a point Po = (to, t o, co) of Sr

(7.12)
lim TU = z1 u + Tau
P-Po

uniformly in Po . Here Tauis the integral operator given by

S s1

*Bee Kellog 1121, page 168.

88 FRITZ JOHN

The operators Toand M o are adjoint to each other. This is a consequence

of the symmetry of the Green’s function:
Y(Z, Y, z, E,.% r> = r(5, 77’ r, z, Y, 4 .
Differentiating ~ ( ry,, 2, 5, 9, {) with respect to [, q, r in the direction of the
normal a t (e, 7, {) and interchanging the arguments (z, y , z ) and (E, 77, {), will
have the same result as differentiating with respect to x, y, z in the direction of
the normal at (x, y, 2 ) .
We can now proceed to the solution of the problem of determining a wave
function TV from its primary component W’ and from its normnl derivative
v on S, . WP shall prove the following theorem:
I j W’ i s a n everywhere regular wave junctzon and v a continuous junction on S, ,
then there exists a wave function W in R with primary component W’ and normal
derivative v on R, . W’ and its normal derivative may respectively have the
valucs (Y and p on S, . In the regular case we try to represent W in the form
TB’ + I C U . ~This
~ leads for the normal derivatives on S, to the equatbn
(7.13) 2, = p + $u - Moa.
In the regular case the homogeneous equation (7.10b) has only the trivial solu-
tion. The Fredholm theory, which is applicable here, guarantees that, the
integral equation (7.13) for cr has a continuous soliition.28 With the solution D
of (7.13) we form the wave function
W = 1V’ + Ka.
This function has the primary component W’, as K satisfies the Sommerfeld
condition. Moreover, from what has been shown about the operator K i t
follows that the normal derivative of 1V approaches a limit as the point (E, 77, c)
approaches a point of S, along the normal a t that point. That limit is
B + +a - Mag,
which, according to the integral equation (7.13), reduces to the given function v.
Thus the function W solves the problem. I t has the prescribed primary component
W’ and fhe prescribed normal derivative v on S, . (It i s not proved that W i s of
class C‘ on 8, .)
In the irregular case the situation is more complicated. In this case there
are certainly wave functions that are not representable in the form W’ Ka, +
because there are functions v for which the integral equation (7.13) has no
solution, although it will be shown that every continuous v can occur as normal
derivative of a wave function.
27This corresponds to the method of solving the Neumann problem by the potential of a
simple distribution. See Kellog [12],page 287.
28See,e.g., Courant-Hilbert [4], Volume I, Chapter 111. Fredholm’s theorems are valid
for the integral operator M O, as the operator can be approximated by degenerate operators if
the maximum of its absolute value is taken as norm of a function. The operator also trans-
f o r m continuous functions into continuous functions.
 ON THE MOTION OF FLOATING BODIES. I1 89

In the irregular case the integral equation (7.10b) has a certain number m
of linearly independent continuous solutions V , , * , V , These solutions -- .
satisfy also (7.10a) so that
(7.14) ($ - M,)Vk = 0, K,V, = 0 for k = 1, a m . , m.
Let V : , - - - , VA be any continuous functions. Put

and let
m

Q(p1 j * * * 2 pm) = C ciipijjb

i,k-1
-
In the special case where one chooses V : = Vi , we have

SI

and hence, because of the linear independence of the Vi ,

Q(pl , - -., pm) # 0 unless pl = ..* = p , = 0,
or
(5.15)
m
Minimum I Q(pl , * * - ,p , J 1 > 0.
CIp.I2=1
.-1

If me take the V : sufficiently close to Ti , the coefficients C i k will vary arbi-

trarily little, and the inequality (7.15) must persist. In particular we can then
find functions 1’: of class C” on 8,which vanish on the boundary L of Sl , such
that (7.15) holds for the corresponding form Q. Then also
Q(pl , 9 . . , p,,,) # 0 unless pl = pa = ... = Pm

Substituting for the clk their expression we get

SI

In particular the equations

s1

cannot hold simultaneously unless all pi vanish. We have thus constructed a

system of m functions V : of class C” and vanishing on L, such that no linear
combination of these functions is ort,hogonalto all V k .
90 FRITZ JOHN

We now form the m wave functions

Wk = TV:.
The arguments given here would have been much simpler if we could have
defined the auxiliary functions W , by T?, . However, it is not obvious that
the wave functions Tv, have continuous derivatives on Sr , unless one would
first establish that the Eigen-functions V , are of class C’ in the closure of Sr .
Using (7.11’) we can write l v k in the form

(7.1G)
S SI

Here the first integral is the potential of a double distribution with twice con-
tinuously differentiable moment V: .” It follows that it has uniformly con-
tinuous first derivatives with respect to 6, q, in R. The function H occurring in
the second integral in (7.16) is a potential function of 2, y, z for -h < y < -1.
As F: is of class C” on S, and vanishes on the boundary L of XI, we can continue
VL into the interior of S , as a function of class C” vanishing for y = 0. Applying
Green’s identity we have for q < 0

(7.17) /I
SI
VLH, dS = /I av:
SI
dn
H dS + /. H
A
dY
dS - /// H(AVL)
B’
dx dy dz,

where A is the area in the zz-plane bounded by L, and B’ the region bounded
by A on S, .
For -A, < 1 5 0, -h < 1~ 5 0 the first derivatives of H a.re of the order
O(l/R’) and hence of the order 0(1/R). It follows that H E, H , , H , are integrable
over S, , A , B’, and that differentiation of the integrals occurring on the right
hand side of (7.17) under the integral sign is permitted. Thus the second
integral in (7.16) has continuous first derivatives with respect to 4, 7, { for
-11 < q 5 0. This establishes the continuity of the normal derivatives of the
functions W , .
Let now v: be the normal derivative of W , on XI . The v: are then con-
-
tinuous on S , . Let p , , * . , p , not all vanish. Then the integral equation

(7.18) (k - M,)u = 2 pkv:

k- 1

cannot have a continuous solution u. For this integral equation can by virtue
of (7.8) be written in the form

29SeeKellog [12], page 172.

 OX THE MOTION OF FLOATING BODIES. I1 91

for P,, on S I . From the uniqueness theorem3' it would follow that

In pa.rticular the boundary values on S I would satisfy

K"U = (; + T") 5 p,v; .

k=l

We multiply this equation with V i and integrate over ,';I . As KOis self-adjoint,
and T , adjoint to M , , we find

Si

Csing (7.14) t,his leads t,o

s ,
contrary to the fundamental defining property of the functions V: . Thus
(7.18) has no solution.
Let now again u be the prescribed normal derivat,ive of the wave function
on S , , and a and 0 be the values of the prescribed primary component 6Y' and
of its normal derivative on Sr . K e consider the integral equation

If one succeeds in finding const,ants pk and a frinction u such that (7.19) holds,
the unknown wave function W can be found. Take

Then 11' is continuous in the closure of R, and has on XI continuous normal

derivatives (defined as limits of derivatives on approaching XI along a normal)
given by

and hence coinciding with the given values v. The uniqueness theorem guar-
antees that. the function I.t' found is the only possible one.
Thus all that remains is to solve (7.19). By the second theorem of Fred-
holm3' the int.egra1 equation (7.19) for (r will have a continuous solution, if

(7.20)
Si

aOTheuniqueness theorem has been shown to apply to Ku for continuous 7 ~ .

%ee Courant-Hilbert [4],Volume I, page 99.
92 FRITZ JOHN

for every solution Ui of the adjoint homogeneous equation

(7.21) )U - ToU = 0.
(7.21) has exactly m linearly independent solutions U1, ---
, U, (the same as
the number of solutions of (7.10b)). Equations (7.20) for i = 1, * - * , m can
be considered as a system of m linear equations for the m constants p , , * . ,p , . -
We can certainly find constants p k satisfying (7.20), if the corresponding homo-
geneous system of conditions for the p k

(7.22)

has only the trivial solution. The impossibility of a non-t.rivia1 solution pk of

(7.22) can be shown however. For (7.22) implies that the integral equation
(7.18) for u has a solution, whereas it has been shown before that this equation
cannot have a solution unless all p k vanish. This completes the p o o f of the
existence of a wave function for given primary wave and given normal derivative
on S, also for the irregular case.

Appendix
The Green's Function
The Green's function G(3, y, 2, f , t, {) is a wave function corresponding
to a wave in a liquid of constant depth h issuing from the point (6, q, {). Putting
R = [b - El2 ( y + - 7 1 ) ~+ ( Z - !32)41'2,
G has to have the following properties:
(Al) G,, + G,, + G,, = 0 for -h S y S 0, -h < q < 0,

(A2) G - R- is bounded for (2,y, 2 ) --+ ( f , 71, c),

(A3) C, = 0 for y = -h,

(A4) G, = XG for y = 0.
We introduce the auxiliary function

The path of integration shall be along the positive real axis except for an
 ON THE MOTION OF FLOATING BODIES. I1 93
arc in the lower half-plane, which avoids the positive real root p = c, of the

FIGURE
6

denominator. Then the integral in (A5) is obviously a twice continuously

differentiable function of a, b for I b I < 2h. Using the identity

which is valid for positive b,32 we can combine the two terms in the expression
(A5) for L and obtain

-cosh
p (h - b ) p - X sinh (h - b ) p
(A7) L(a’ b, =
p sinh p h - X cosh p h
Jobs) 4
for 0 < b < 2h.
Put. now
(-48) T b , Y’ 2, €2 ri, = U r , ri Y) - + w, + +
2h ri Y>
!There r stands for [(z - [)z +
(z - {)’]*’’. We shall show that y has all the
properties characteristic of a Green’s function. Using (A5) we have
1 1
= 2 + + (2h + y +
[r2 1)211/2

Thus y - 1/R is regular for - h 5 y 5 0, - h < r) < 0. Conditions (Al),

(A2), (A3) are immediately verified. Making use of the representation (A7)
for L, we have

@lo) y = p(p) J0(pr)dp . for -11 < 1< y 5 0

a2See Watson [l8], page 381.
94 FRITZ JOHN

where
cosh py + Xsinh py
p ( p ) = 2 cosh p(7 + 11) - p
psmh p h - X cash ph
This representation for y permits us to verify the remaining property (A4)
directly.
p ( p ) is a meromorphic function of p. The poles of this function are the
roots of the equation
(All') p sinh ph. - X cosh ph = 0.
All the roots of this equation are given by
jI = fc,, k = 0, 1,2, 'a* ;
-
where co is the positive real root, and c1 , cz , . are the positive pure imaginary
roots in order of increasing absolute value. The function p ( p ) is bounded for
all complex p , if an e-neighborhood of the poles is excluded. Then p ( p ) / p is
represented by its partial fraction*expansion. Combining the contributions of
the terms f c k , we find

(A121 p(p) = 4 c Ck
a)

k-0
--
pz - ck
a cash Ck(Y + I?) cash Ck(q + h),
where
c c2 -
-- k X2--.
- hc; - 1zx" +x
Substituting the expansion (A12) for p ( p ) into (A10) we can integra.te
term by term. We make use of the identity33

which holds for t with 6te (t) > 0, if the principal branch is taken for the Hankel
function, This formula applied for t = -ick gives

--
for k = 1, 2, . . If in formula (A14) t + -ic, , where co is real positive, the
identity is preserved, if the path of integration is modified so as to avoid the pole
p = it of the integrand. This is achieved by taking the path from 0 to 03 along
the positive real axis, except for an arc in the lower half-plane about the point
c, . It is found then that formula (A15) still holds for k = 0, if the path of
integration is chosen in accordance with the convention adopted in defining
L and y.34 We then obtain the expansion
%ee Watson [HIpage , 425, formula (51), and page 78.
arA different choice of the path of integration would result in a change of G by a n everywhere
regular wave function, and hence would affect the behavior of G a t infinity.
 ON THE MOTION OF FLOATING BODIES. I1 95
m

(AW y = 2ni cash C&J + k ) cmh C ~ ( V+ h)

C CJ~:"(C~T)
h=O

for y. This expansion has so far been proved under the restrictive assumption
that
-h < q < y so.
However, as
HF'(it) = o(e-')
for positive real t, and the C , are bounded, the terms in the expansion (A16)
decrease exponentially for all real y, q, T with r > 0. Moreover, the series
obviously represents a potential function. It follows that the series must repre-
sent y, whenever r > 0.
The representation (A16) for y shows that the Green's function is a regular
potential function of x, y, z outside the line x = 5, z = I , which corresponds to
T = 0. We know from the representation (A8) that G is regular even on that
line for
O<Iq-yI<2h, O<j2k+y+qI<%,
and hence for
--h<ySO, -h<v$O, qzy.
For the discussion of the singularities of the kernel of the integral equation, to
which one can reduce the determination of a wave motion, it is necessary to
study the behavior of y more closely, for g and tending simultaneously to zero.
For this purpose we study the continuation of L(a, b) across the line b = 2h.
We have from (A7)
L*(a, h ) - XL(a, h) = 0.
Consequently the potential function + h) - XL(r, y 4- h) is an odd
&(T, y
function of y, or
y + h) - XL(r, y + h) = -L!T,h - y) + XLb, h - y).
L(T,
Hence

Put h + y = b. Then

(A17) L(T,b) = L(r, 2h - b) 4 2X exp (X(b - 2h)} /'

2h-b
p) dp.
eXBL(r,

Let now 0 < b < 4h. Then 12h - b I < 2h. It follows that the terms
L(r, 2h - b) and L(r, 0) occurring on the right-hand side of (A17) are regular,
96 FRITZ JOHN

escept, for the radical occurring in the definition (85) of L(a, b), Thus for
O<b<4h

+ (regular terms).
Here the integral becomes singular for r = 0, b 2 2h. The singularity can be
analyzed by substituting for exp (Xp}, its power series expansion. The integral
of the n-th term will then be a function with bounded n-th partial derivatives
with respect to r, b a t r = 0. Hence
1
L(r, b) =
[T2 + (2h - b)2]m

- 1
[i2+ (211 - b)2]"2 - 2X exp (X(b - 2/41 log ((2h - b)

+ [r2+ (2h - b)2]1/2) + - - - .

The neglected terms, indicated by dots, have bounded first derivatives with
respect to r and b for 0 < b < 4h.
Consider now the case where
(A191 -h < 9 < +h, -11 < y < +h.
Then in the formula (A8) for the Green's function we have
{q - y l < 2A, 0 < 2h + q + T/ < 4h.
Applying respectively the representations (A5) and (AM) for L, we find that
for q and y between -h and +h

+ (terms with bounded first derivatives).

Put R = [r2 + (y - q)2]1'2,R' = [r2 + (y + p)']'/*. For 9 + y 5 0 we find
that
log ( - q - y + [r2 + ( q + y)z]1'2) = 0 (log R')
 ON THE MOTION OF FLOATING BODIES. 11 97

and that the first derivatives of this expression with respect to y, 7, r are O(l/R’).
-4s also (7 +
y) = O(R’),we have for
-h<y$O, -h<.rlSO,

y = 1jR + 1/R‘ + H ,
where
H = O(l0g R’),

H,, H , , H , = O(l/R‘).
For the sake of completeness we add the expressions resulting from y for
X 0 and for h --+a.
-+

The limiting behavior of y for X + 0 is of importance, if one attempts t o

determine wave motions for small X (ie. large wave lengths) by a perturbation
scheme starting with X = 0. For X + 0 we have for the roots ck of the equa-
tion (All’)
co = (X/k)1’2,

ck = i k r / h for k = 1 , 2, .
Then for the coefficients C, in (A13)
1
lim C, = - limC - - for k = 1, 2, *...
A-0 2h ’ A-0 k - h
As for small z

+; log 5 + ;
2i z 2i
HA”(2) =1 c,
where C is Euler’s constant, we find from (A16) that

lim
A-0
( y +-log,I Ah ) = -+-log-
2
h
r
2h

The right hand side in this equation must be a Green’s function for the Neumann
problem
G, = 0 for y = 0, -h
in the region -h < y < 0.35
%That the expression (h23)behaves like l / R for small R follows from the fact that
G f (log A h ) ‘A - 1 / R is a regular potential function for all positive X, and that the uniform
lirnit of potential functions is again a potential function. See Kellog 1121, page 248.
98 FRITZ JOHN

The Green's function for the case of infinite depth can be obtained from
the expression (A9) for y by letting h tend to infinity. One finds in this way

(A241 7 =
1
+ im=
+
exp ((II + !/)PI J O ( P - 1 dP

where the path of integration runs below the root X of the denominator. The
integrand now has only a single pole p = X = co . The c k with k = 1, 2, .
have disappeared. This has an important bearing on the behavior of y a t
infinity. To find out how y behaves for large r me rewrite the integral (A24) in
the form

y =--
R
1
+ +
2xri exp ~ ( 9 ~ > I J , ( w P ~ V Irn exp ~ ( r l + y > p ~ ~ dp
~ ~ l r )

where the symbol PrV indicates bhat the principle value of the integral along
the real axis is to be taken. Then
1
y = - - 2xai exp (X(7
R
+ y)]J,(Xr)

where now the path of integration is along the real axis except for an arc in the
upper half-plane about the point p = A. Here we can deform the path into the
positive imaginary axis, and obtain
1
+
y = - - 2 a i ~exp ( ~ ( y q) )H:"(XT)
R

Now HA1)(it) = O(e-'> for large t. The asymptotic expansion of the integral
for large r can be obtained by expanding the integrand according to powers of
t / r and integrating term by term. One finds in this fashion

y = -
1
R
-2 d exp +
~ ( ~ ( y q))HA1)(~r) +;
1
 ON THE MOTION OF FLOATING BODIES. I1 99

I [2 + X(Y
- -- + + X’(Y + + O(r-7
11) V>’l
xar3
for large T (and bounded y, 7). Thus for infinite depth the terms corresponding
to local waves do not die out exponentially at infinity.
For two-dimensional motion of a liquid of constant depth h the Green’s
function can be defined as a solution G(x, y, I‘, q ) of the potent.ia1 equation
G,, + G,, = 0 for -h < Y < 0, -h < tl < 0, (2, Y) Z B, 71,
for which in addition
G - log R is regular for R = 0,

G, - XG = 0 for y = 0

G, = 0 for y = -h.
Here R = [(z - 4)z +
(y - q)?’”.
Putting I 2 - I: 1 = r, one explicit expression for a Green’s function y is
given by the formula ’
= log [r2 + ( q - y)’I1’’ + log [r’ + (2h + 7 + y)‘]”’ - 2 log h
h p } cosh p ( q + h) cosh p(y + h) cos p r
exp { --
2
(p sin11 p h - X cash p h ) p

which is completely analogous to (A9) except for a convergence generating term

in the integrand. (The path of integration is the same as in Figure 6.) Using
the ident,ities
1 - cosrp - b C
e dfi = log
(T’ b2)”’ +
b ’

valid for positive b, we can draw all the terms in (A25) under the integral sign,
and obtain
cos pr
dp for O < q < y < h

in analogy t o (AlO), where p ( p ) is again defined by (All). Substituting for p

100 FRITZ JOHN

its partial fraction expansion (A12) and integrating term by term, we arrive a t
the series representat,ion3’

(A26) 7 = -2Ti
“ 1
- c k cash C k ( g
k-0 c k
+
h) cash C k ( q +
12) eXp { ‘ k k 1 x - [ 1 1.

All terms except the first one die out exponentially for r -+ ca .
In the limit for infinite depth the expression (A25) for y goes over into

where the path of integration again consists of the positive real axis except for
an arc about p = X in the lower half-plane.

BIBLIOGRAPHY
1. Atkinson, F. V., On Sommerfeld’s “Radiation Condition.” Philosophical Magazine, Series
7 , Volume 40, pp. 641-651, 1949.
2. Baker, B. B., and E. T. Copson, The Matheinatieal Theory of Huygtn’s Principle. The
Clarendon Press, Oxford, 1939.
3. Bouligand, hf., Sur les equations des petits mouvements de surface des jluides parfaits,
Bulletin de la Soci6t6 M a t h h a t i q u e de France, Volume 40,pp. 149-180,1912. Sur
les .singularit& a la paroi dam le problkme des ondes liquides, Bulletin des Sciences
hfathematiques, Volume 50, pp. 89-96, 106-1 12, 1926.
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Nauk, S.S.S.R., Prikladnaya Matematika i Mechanika, Volume 10, pp. 475-480,
1946.
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3‘JFormulaeclosely related to the expressions (A25) or (A26) for the Green’s function for
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Weinstein [lo].
 ON THE MOTION OF FLOATING BODIES. I1 101
16. Stoker, J. J., Surface waves in water of variable depth. Quarterly of Applied Mathematics,
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17. Ursell, F., The efect of a aerticul barrier on surface waves in deep water. Proceedings of the
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