The collision of ships poses a great threat to the piers in navigable waters.The kinetic energy of the moving ship can be consumed not only with the structural deformation,but also with tensile force from the proposed Floating Two-stage Buffer Collision-Prevention System (FTBCPS).The actual anti-collision effect of the current designed FTBCPS can be evaluated by the dynamic simulation.The construction method of 3D model is introduced,and the system initial state is defined.The transformation matrix and the basic kinematics vector are given,and the system basic dynamics equation is then created.The mechanical analysis on each component is carried out,and the detailed process of numerical simulation is also given.The simulation results indicate that collision direction and collision position have a great influence on the system kinematic response.Bridge pier faces the greatest threat when a ship hits the floater on the front beam in a nearly vertical direction,or on the side beam in a larger course angle.The study shows that the current designed FTBCPS can make full use of the fracture tensile property of polyester ropes and keep the tensile force acted on pier within its bearable range at the same time.The collision direction has a significant effect on the dynamic response of the colliding bodies,but no failure appeared in the simulations,which indicates that the current designed FTBCPS can protect bridge piers of all cases for the 5000-t ship with a velocity smaller than 5 m/s in navigable waters.