“…where β j is a generalized coordinate, ω j is the circular natural frequency of the j-th sloshing mode (note that j can be an integer for 2D sloshing or an integer pair j = (a, b) for 3D sloshing), and η 1 , η 2 , η 4 , η 5 , and η 6 denote the prescribed surge, sway, roll, pitch, and yaw motions of the sloshing tank, respectively. Equations (8) and (9) show that η 3 , which denotes the heave motion of the tank, does not show up in K j (t), which means a pure heave motion will not induce liquid sloshing. However, in the coupled fluid-vehicle problems, if there is a coupling of heave motion with other DOFs in the vehicle motion equation, the heave motion still has to be considered and a 6-DOF equation of motion needs to be established.…”