 Solution

Use incompressibility, negligible viscosity and surface tension, and an initially irrotational flow. Take the undisturbed free surface at $z=0$ and bed at $z=-H$. The velocity potential $\phi$ satisfies Laplace equation and ${\phi }_z(-H)=0$. For a Fourier mode, writeThe linear kinematic boundary condition and linear Bernoulli equation at the free surface are ${\eta }_t={\phi }_z$ and ${\phi }_t+g\eta =0$. Eliminating $A,{\eta }_a$ gives the surface gravity wave dispersion relationThe rightward phase velocity and group velocity areThe phase velocity transports a crest; the group velocity transports a narrow-band envelope and its leading-order energy. For $kH\gg 1$, $\omega \sim \sqrt{gk}$ and $c_g\sim c_p/2\sim \sqrt{g/k}/2$: deep-water surface gravity waves are dispersive. For $kH\ll 1$, $\omega \sim k\sqrt{gH}$ and $c_g\sim c_p\sim \sqrt{gH}$, the nondispersive shallow-water dispersion relation. The boundary velocity controls the excited amplitude; it does not change the linear dispersion relation.