  A stable partitioned algorithm is developed for fluid-structure interaction
(FSI) problems involving viscous incompressible flow and rigid bodies. This
{\em added-mass partitioned} (AMP) algorithm remains stable, without
sub-iterations, for light and even zero mass rigid bodies when added-mass and
viscous added-damping effects are large. The scheme is based on a generalized
Robin interface condition for the fluid pressure that includes terms involving
the linear acceleration and angular acceleration of the rigid body. Added-mass
effects are handled in the Robin condition by inclusion of a boundary integral
term that depends on the pressure. Added-damping effects due to the viscous
shear forces on the body are treated by inclusion of added-damping tensors that
are derived through a linearization of the integrals defining the force and
torque. Added-damping effects may be important at low Reynolds number, or, for
example, in the case of a rotating cylinder or rotating sphere when the
rotational moments of inertia are small. In this first part of a two-part
series, the properties of the AMP scheme are motivated and evaluated through
the development and analysis of some model problems. The analysis shows when
and why the traditional partitioned scheme becomes unstable due to either
added-mass or added-damping effects. The analysis also identifies the proper
form of the added-damping which depends on the discrete time-step and the
grid-spacing normal to the rigid body. The results of the analysis are
confirmed with numerical simulations that also demonstrate a second-order
accurate implementation of the AMP scheme.
