We now turn our attention to the dynamic analysis of floating structures under wave excitation. In particular, our objective is to formulate relationships that enable us to estimate the translational and rotational motions of a freely floating rigid-body as a function of wave properties pertaining to both regular and irregular waves. This will enable the dynamic analysis of structural systems supported by floating pontoons to ascertain their feasibility from a strength and serviceability perspective. We will first introduce the fundamental principles of floating body dynamics in the context of wave forcing, thereby establishing a theoretical foundation to be built upon in later chapters.