In this paper, we present an original derivation process of a non-hydrostatic shallow water-type model which aims at approximating the incompressible Euler and Navier-Stokes systems with free surface. The closure relations are obtained by a minimal energy constraint instead of an asymptotic expansion. The model slightly differs from the well-known Green-Naghdi model and is confronted with stationary and analytical solutions of the Euler system corresponding to rotational flows. At the end of the paper, we give time-dependent analytical solutions for the Euler system that are also analytical solutions for the proposed model but that are not solutions of the Green-Naghdi model. We also give and compare analytical solutions of the two non-hydrostatic shallow water models.