Dynamic modeling of a radially multilayered tether cable for a remotely-operated underwater vehicle (ROV) based on the absolute nodal coordinate formulation (ANCF)

•Accurate modeling of tether cable is requisite as its motion affects ROV's motion.•A tether model which accounts for geometric and material nonlinearities is proposed.•Multilayer modeling is applied for different material properties in each layer.•An efficient and effective method to evaluate the internal forces is presented.•Effectiveness and performance of the model in nonlinear cases are di.