a single point mooring apparatus for tanker loading and discharging is disclosed having a submerged base and a submerged rigid yoke connected directly to the base by a triaxial articulation joint for allowing the yoke to move while connected to a vessel in yaw , pitch and roll with respect to the submerged mooring base . the submerged yoke is connected to the vessel with weighted pendants on port and starboard sides of the bow of the vessel , providing a resilient position restoring force to the vessel as the vessel moves in response to wind , wave and currents .