Added mass fluid quasi-momentum. Unsteady forces due to a change of the relative velocity of a body submerged in a fluid can be divided into two parts: the virtual mass effect and the Basset force. The origin of the force is that the fluid will gain kinetic energy at the expense of the work done by an accelerating submerged body. It can be shown that the virtual mass force, for a spherical particle submerged in an inviscid, incompressible fluid is where bold symbols denote vectors, formula_2 is the fluid flow velocity, formula_3 is the spherical particle velocity, formula_4 is the mass density
Rigid body its position and orientation vary with time. In the kinematic sense, these changes are referred to as "translation" and "rotation", respectively. Indeed, the position of a rigid body can be viewed as a hypothetic translation and rotation (roto-translation) of the body starting from a hypothetic reference position (not necessarily coinciding with a position actually taken by the body during its motion). Velocity (also called linear velocity) and angular velocity are measured with respect to a frame of reference. The linear velocity of a rigid body is a vector quantity, equal to the time rate of change of its linear position.