This paper presents a method to predict dynamic responses of floating bodies in the time domain. Because of the frequency-dependence of the radiation wave forces, the memory effect must be taken into account when the responses are evaluated in the time domain. Although the formulations firstly developed by Cummins (1962) have been well-known for this purpose, the effective numerical procedure has not been established yet. This study employs FFT (Fast Fourier Transform) algorithm to evaluate the memory effect function, and the equations of motion of an integro-differential type are solved by Newmark-β method. Numerical examples for a truncated circular cylinder have indicated the effectiveness of the proposed numerical procedure.