To investigate the collision dynamics of a marine rotating machinery integrated with an airbag-raft-limiter system under the influence of heaving motions, a dynamic model of an asymmetric system incorporating a limiter was developed. This model took into account the effect of the ship heaving motion and the limiter gap on the coupled airbag-raft-limiter system. The equations of motion were given dimensionless treatment to facilitate computational analysis. The study examined the influence of rotor speed, heaving amplitude, and limiter gap on the system’s dynamics utilizing nonlinear dynamics analysis techniques including phase diagrams, spectral responses, and energy trajectory diagrams. The findings indicate that an increase in heaving amplitude leads to collisions between the system and the limiter, causing a significant amplitude decrease while triggering a transition of motion from quasi-periodic state to chaotic state. Additionally, the collision alters the energy trajectory of the system, moving from a uniform distribution towards the collision zone.