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This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please note that during the production process errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain. Highlights  New simple analytical expressions of static and dynamic parameters are presented  Regular perturbation method allows to extend the Ocvirk solution up to L/D and ~3/4  Force, friction factor, lubricant flow rate and attitude angle are considered  Damping and stiffness coefficients are predicted as a function of L/D and   The proposed method stands as a powerful tool to use in design and analysis of HJBs