Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J.

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Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Coordinate systems (X,Y,Z), (x,y,z), and (A,B,C) and Euler angles(θ1,θ2,η). Axis A shown slightly offset from z for clarity. Figure Legend:

Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Rotation of (A,B,C) in terms ofφ,θ, andψ Figure Legend:

Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Projection of Euler angular velocities Figure Legend:

Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Coordinate system for derivation of inertial and environmental forcing Figure Legend:

Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Case 1: Free vibration described by three Euler angles Figure Legend:

Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Case 1: Comparison ofωX Figure Legend:

Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Case 1: Comparisons ofωYandωZ Figure Legend:

Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Precession angle of the RNA Figure Legend:

Date of download: 6/3/2016 Copyright © ASME. All rights reserved. From: Floating Offshore Wind Turbine Dynamics: Large-Angle Motions in Euler-Space J. Offshore Mech. Arct. Eng. 2012;134(3): doi: / Gyro moments acting on the RNA Figure Legend: