Dynamic equations for curved submerged floating tunnel

In virtue of reference Cartesian coordinates, geometrical relations of spatial curved structure are presented in orthogonal curvilinear coordinates. Dynamic equations for helical girder are derived by Hamilton principle. These equations indicate that four generalized displacements are coupled with each other. When spatial structure degenerates into planar curvilinear structure, two generalized displacements in two perpendicular planes are coupled with each other. Dynamic equations for arbitrary curvilinear structure may be obtained by the method used in this paper.