Here Comes Ayeka!
Princess Ayeka from the planet Jurai, seeking her long-lost half-brother Yosho, arrives on Earth. However, when she finds Ryoko, who she believes is responsible for Yosho's disappearance, she imprisons her and Tenchi aboard her ship. Luckily, Ayeka's little sister Sasami helps them to escape, and Ryoko uses her own spacecraft, named Ryo-Ohki, to crash Ayeka's ship and strand the princesses on Earth.
Aired 25/10/1992EP 2 - Here Comes Ayeka!
Tenchi Muyo! Ryo-Ohki
Tenchi Masaki was a normal 17-year-old boy until the day he accidentally releases the space pirate, Ryoko from a cave she was sealed in 700 years ago as the people thought she was a demon. In a series of events, four other alien girls show up at the Masaki household as Tenchi learns much of his heritage he never knew about and deal with five alien girls who each have some sort of romantic interest in him.
(Source: Anime News Network)