Monroe L.

Weber-Shirk
School of Civil and
Environmental Engineering
Basic Governing Differential
Equations
CEE 331
September 4, 2013
Overview
Continuity Equation
Navier-Stokes Equation
(a bit of vector notation...)
Examples (all laminar flow)
Flow between stationary parallel horizontal
plates
Flow between inclined parallel plates
Pipe flow (Hagen Poiseuille)
Why Differential Equations?
A droplet of water
Clouds
Wall jet
Hurricane
Conservation of Mass in
Differential Equation Form
o o v x z
ox
oy
oz

o +
c
c
F
H
G
I
K
J
y
y
c
c

o o o
t
y x z
Mass flux into differential volume
Mass flux out of differential volume
Rate of change of mass in
differential volume
v
v
y
y +
c
c
F
H
G
I
K
J
o
o o x z
Continuity Equation

c
c
+
c
c
=
c
c
v
y
v
y t
Mass flux out of differential volume
o

o

o o o v
v
y
y v
y
y
v
y y
y x z +
c
c
+
c
c
+
c
c
c
c
F
H
G
I
K
J
2
Higher order term
out in Rate of mass decrease
c
c
+
c
c
=
v
y t
0
1-d continuity equation
o

o o o o o

o o o v
v
y
y v
y
y x z v x z
t
y x z +
c
c
+
c
c
F
H
G
I
K
J
=
c
c
u, v, w are
velocities in x, y,
and z directions
Continuity Equation
0
t

c
+V =
c
V
c
c
+
c
c
+
c
c
+
c
c
=

t
u
x
v
y
w
z
af af a f
0
3-d continuity equation
If density is constant...
c
c
+
c
c
+
c
c
=
u
x
v
y
w
z
0
Vector notation
0 V = V or in vector notation
True everywhere! (contrast with CV equations!)
divergence
Continuity Illustrated
c
c
+
c
c
+
c
c
=
u
x
v
y
w
z
0
x
y
What must be happening?
0
v
y
c
c
0
u
x
c
c
\
<
>
Shear
Gravity
Pressure
Navier-Stokes Equations
momentum
Derived by Claude-Louis-Marie Navier in 1827
General Equation of Fluid Motion
Based on conservation of ___________ with forces
____________
___________________
___________________
U.S. National Academy of Sciences has made the full
solution of the Navier-Stokes Equations a top priority
If _________ then _____
Navier-Stokes Equation
Inertial forces [N/m
3
], a is Lagrangian acceleration
Pressure gradient (not due to change in elevation)
Shear stress gradient
Navier-Stokes Equations
V =

a F
2
p + = V + V a g V
= a
( )
p V + = g
2
V = V
du
dx
t =
Is acceleration zero when cV/ c t = 0?
t = VV
( )
2
p = V + + V a g V
g is constant
a is a function of t, x, y, z
NO!
0 p V + = g
0 V =
Lagrangian acceleration
Notation: Total Derivative
Eulerian Perspective
u v w
t x y z
c c c c
= + + +
c c c c
V V V V
a
( , , , )
D
t x y z u v w
Dt t x y z
o o o o o c c c c
= + + +
c c c c
( , , , )
D
t x y z u v w
Dt t x y z
c c c c
= + + +
c c c c
V V V V V
t
c
= + V
c
V
a V V
k j i
z y x c
c
+
c
c
+
c
c
= V
() () ()
()
( )
() () ()
() u v w
x y z
c c c
V = + +
c c c
V
( , , , )
D dt dx dy dz
t x y z
Dt t dt x dt y dt z dt
o o o o o c c c c
= + + +
c c c c
Total derivative
(chain rule)
Material or
substantial derivative
Application of Navier-Stokes
Equations
The equations are nonlinear partial
differential equations
No full analytical solution exists
The equations can be solved for several
simple flow conditions
Numerical solutions to Navier-Stokes
equations are increasingly being used to
describe complex flows.
( )
0 p = V + g
Navier-Stokes Equations: A
Simple Case
No acceleration and no velocity gradients
p gy C = +
p V = g
x y z
p p p
g g g
x y z

c c c
= = =
c c c
0 0
p p p
g
x y z

c c c
= = =
c c c
xyz could have any orientation
Let y be vertical upward
g
For constant
( )
2
p = V + + V a g V
Component of g in the x,y,z direction
Infinite Horizontal Plates:
Laminar Flow
( )
2
p = V + + V a g V
( )
2
0 p = V + + V g V
Derive the equation for the laminar, steady, uniform flow
between infinite horizontal parallel plates.
2
2
0
p u
x y

| |
c c
= +
|
c c
\ .
0
p
g
y

c
=
c
0 0 =
2 2 2
2 2 2
0
y
p v v v
g
y x y z

| |
c c c c
= + + +
|
c c c c
\ .
2 2 2
2 2 2
0
z
p w w w
g
z x y z

| |
c c c c
= + + +
|
c c c c
\ .
2 2 2
2 2 2
0
x
p u u u
g
x x y z

| |
c c c c
= + + +
|
c c c c
\ .
y
x
Hydrostatic in y
0 v =
0 w =
x
y
z
Infinite Horizontal Plates:
Laminar Flow
2
2
0
p u
x y

| |
c c
= +
|
c c
\ .
2
2
dp d u
dx dy

| |
=
|
\ .
2
2
dp d u
dy dy
dx dy

(
(
(
(
( (
(
]
]
| |
=
|
\ .
dp du
y A
dx dy

| |
+ =
|
\ .
dp du
y A dy dy
dx dy

(
(
(
(
(
(
]
]
| |
(
+ =
|
(

\ .
2
2
y dp
Ay B u
dx
+ + =
Pressure gradient in x balanced by
shear gradient in y
du
dy
t =
= t
d
dy
t
=
No a so forces must balance!
Now we must find A and B Boundary Conditions
negative
Infinite Horizontal Plates:
Boundary Conditions
No slip condition
u = 0 at y = 0 and y = a
a
B = 0
a dp
dx
Aa
2
2
0 + =
A
a dp
dx
=

2
( )
2
y y a
dp
u
dx

=
2
a dp
y
dx
t
| |
=
|
\ .
y
t
du dp
y A
dy dx

| |
= +
|
\ .
dp
dx
let
be___________
u
2
2
y dp
Ay B u
dx
+ + =
What can we learn about t?
x
Laminar Flow Between Parallel
Plates
2
p = V + V a g V
2
0 p = V + V g V
2
2
0
x
p u
g
x y

| |
c c
= +
|
c c
\ .
2 2 2
2 2 2
0
x
p u u u
g
x x y z

| |
c c c c
= + + +
|
c c c c
\ .
u
No fluid particles
are accelerating
Write the x-component
Flow between Parallel Plates
2
2
0
x
p u
g
x y

| |
c c
= +
|
c c
\ .
2
2
0
x
dp d u
g
dx dy

| |
= +
|
\ .
General equation describing laminar
flow between parallel plates with the
only velocity in the x direction
u is only a function of y

x
g = g i
2
2
x
d u dp
g
dy dx

| |
= +
|
\ .
Flow Between Parallel Plates:
Integration
2
2
x
d u dp
g
dy dx
= +
x
du dp
y g A
dy dx

| |
= + + =
|
\ .
2
2
x
d u dp
dy g dy
dy dx

| |
= +
|
\ .
( (
( (
] ]
x
du dp
dy y g A dy
dy dx

| |
| |
= + +
|
|
\ .
\ .
(
(
(
(
]
]
2
2
x
y dp
u g Ay B
dx

| |
= + + +
|
\ .
u
t
u = U at y = a
Boundary Conditions
2
2
x
y dp
u g Ay B
dx

| |
= + + +
|
\ .
Boundary condition
B + + = 0 0 0
Boundary condition
2
2
x
a dp
U g Aa
dx

| |
= + +
|
\ .
2
x
U a dp
A g
a dx

| |
= +
|
\ .
2
2
x
Uy y ay dp
u g
a dx

| |
= + +
|
\ .
u = 0 at y = 0
Discharge per unit width!
Discharge
2
0
0
2
a
a
x
y y ay dp
q udy U g dy
a dx

| |

| |
= = + +
| |
\ .
\ .
(
(
]
}
3
2 12
x
Ua a dp
q g
dx

| |
= +
|
\ .
2
2
x
y y ay dp
u U g
a dx

| |
= + +
|
\ .
Example: Oil Skimmer
An oil skimmer uses a 5 m wide x 6 m long
moving belt above a fixed platform (u=60) to
skim oil off of rivers (T=10 C). The belt travels
at 3 m/s. The distance between the belt and the
fixed platform is 2 mm. The belt discharges into
an open container on the ship. The fluid is
actually a mixture of oil and water. To simplify
the analysis, assume crude oil dominates. Find
the discharge and the power required to move
the belt.
h
l
= 1x10
-2
Ns/m
2

= 860 kg/m
3

60
x
g
Example: Oil Skimmer
dp
dx
=

cos(60) 0.5
x
g g g = = = g i
m 0.002 = a m/s 3 = U
( )
( )
( )( )
3
2 3
-2 2
(3 m/s)(0.002 m) (0.002 m)
0.5 9.806 m/s 860 kg/m )
2
12 1x10 N s/m
q =

In direction of belt
q = 0.0027 m
2
/s
(per unit width)
Q = 0.0027 m
2
/s (5 m) = 0.0136 m
3
/s
3
2 12
x
Ua a dp
q g
dx

| |
= +
|
\ .
0
dominates
60
x
g
How do we get the power requirement?
___________________________
What is the force acting on the belt?
___________________________
Remember the equation for shear?
_____________ Evaluate at y = a.
Example: Oil Skimmer Power
Requirements
x
du dp
y g A
dy dx

| |
= + +
|
\ .
2
x
U a dp
A g
a dx

| |
= +
|
\ .
2
x
a dp U
y g
dx a

t
| || |
= + +
| |
\ .\ .
Power = Force x Velocity [N m/s]
Shear force (t L W)
t = (du/dy)
Example: Oil Skimmer Power
Requirements
2
x
a dp U
y g
dx a

t
| || |
= + +
| |
\ .\ .
cos 60
2
a U
g
a

t = +
cos 60
x
dp
g g
dx

| |
+ =
|
\ .
( )
( )
( )
( )
2
2
2
3 2
3 m N s
1x10
0.002 m
860 kg N
s m
9.8 m/s 0.5 19.2
2 m 0.002 m m
t


| || |
| |
| |
\ .\ .
= + =
|
\ .
Power LWU t =
( )( )
( )
s
m 3
m 5 m 6
m
N
19.2 Power
2
|
.
|

\
|
=
(shear by belt on fluid)
= 3.46 kW
FV
How could you reduce the power requirement? __________ Decrease t
Potential and kinetic energy
Heating the oil (thermal energy)
Example: Oil Skimmer
Where did the Power Go?
Where did the energy input from the belt
go?
h = 3 m
P Qh =
( ) m 3
s
m
0.0136
m
N
8430
3
3 |
|
.
|

\
|
|
.
|

\
|
= P
W 44 3 = P
Potential energy
Velocity Profiles
-2
-1
0
1
2
3
0 0.0005 0.001 0.0015 0.002
y (m)
u

(
m
/
s
)
oil
water
2
2
x
y y ay dp
u U g
a dx

| |
= + +
|
\ .
Pressure gradients
and gravity have
the same effect.
In the absence of
pressure gradients
and gravity the
velocity profile is
________
linear
Example: No flow
Find the velocity of a vertical belt that is 5
mm from a stationary surface that will result
in no flow of glycerin at 20C (m = 0.62
Ns/m
2
and =1250 kg/m
3
)
Draw the glycerin velocity profile.
What is your solution scheme?


3
2 12
y
Ua a dp
q g
dy

| |
= +
|
\ .
Laminar Flow through Circular
Tubes
Different geometry, same equation
development (see Munson, et al. p 327)
Apply equation of motion to cylindrical
sleeve (use cylindrical coordinates)
Max velocity when r = 0
Laminar Flow through Circular
Tubes: Equations
2 2
4
l x
r R dp
v g
dx

| |
= +
|
\ .
2
max
4
x
R dp
v g
dx

| |
= +
|
\ .
2
8
x
R dp
V g
dx

| |
= +
|
\ .
4
8
x
R dp
Q g
dx
t

| |
= +
|
\ .
Velocity distribution is paraboloid of
revolution therefore _____________
_____________
Q = VA =
average velocity
(V) is 1/2 v
max

VtR
2

R is radius of the tube
Laminar Flow through Circular
Tubes: Diagram
Velocity
Shear (wall on fluid)
2
l
x
dv r dp
g
dr dx

| |
= +
|
\ .
2
l
x
dv r dp
g
dr dx
t
| |
= = +
|
\ .
2
l
gh r
l

t
| |
=
|
\ .
0
4
l
gh d
l

t =
True for Laminar or
Turbulent flow
Shear at the wall
Laminar flow
2 2
4
l x
r R dp
v g
dx

| |
= +
|
\ .
Next slide!
Remember the approximations of no shear, no head loss?
cv energy equation
Relationship between head loss
and pressure gradient for pipes
1 2
1 2
1 2
l
p p
z z h
g g
+ = + +
Constant cross section
2 2
1 1 2 2
1 1 2 2
1 2
2 2
p t l
p V p V
z h z h h
g g g g
o o

+ + + = + + + +
( ) ( )
2 1 2 1 l
gh p p gz gz =
l
h p z
g g
x x x

A A
=
A A A
l
x
h p
g g
x x

A
| |
= +
|
A A
\ .
l
x
h dp
g g
l dx

| |
= +
|
\ .
l is distance between control
surfaces (length of the pipe)
In the energy equation
the z axis is tangent to g
x is tangent to V
x
z
g g
x
A
=
A
x
z
The Hagen-Poiseuille Equation
4
128
l
gh D
Q
l
t

=
2
32
l
gh D
V
l

=
Hagen-Poiseuille Laminar pipe flow equations
4
8
x
R dp
Q g
dx
t

| |
= +
|
\ .
From Navier-Stokes
4
8
l
h R
Q g
l
t

| |
=
|
\ .
l
x
h dp
g g
l dx

| |
= +
|
\ .
Relationship between head loss
and pressure gradient
What happens if you double the
pressure gradient in a horizontal
tube? ____________ flow doubles
V is average velocity
Example: Laminar Flow (Team
work)
Calculate the discharge of 20C
water through a long vertical section of 0.5
mm ID hypodermic tube. The inlet and outlet
pressures are both atmospheric. You may
neglect minor losses.

What is the total shear force?
What assumption did you make? (Check your
assumption!)
Example: Hypodermic Tubing
Flow
Q
D h
L
l
=
t

4
128
Q
N m m
x Ns m
=

9806 0 0005
128 1 10
3
4
3 2
/ .
/
c h
afa f
c h
t
Q x m s =

158 10
8 3
. /
V
Q
d
=
4
2
t
V m s = 00764 . /
Re
Vd

=
( )( )
( )
( )
3
3 2
0.0764 / 0.0005 1000 /
Re
1 10 /
m s m kg m
x Ns m

=
Re 38 =
Q L s =158 . /
l
d h
l
4
0

t =
l
d h rl
F
l
shear
4
2 t
=
2
shear l
F r h t =
= weight!
2 2
1 1 2 2
1 1 2 2
1 2
2 2
p t l
p V p V
z H z H h
g g
o o

+ + + = + + + +
Summary
Navier-Stokes Equations and the Continuity
Equation describe complex flow including
turbulence
The Navier-Stokes Equations can be solved
analytically for several simple flows
Numerical solutions are required to describe
turbulent flows

Glycerin
3
2 12
y
Ua a dp
Q g
dy

| |
= +
|
\ .
3
0
2 12
Ua a g

=
y
dp
g g
dy
+ =
2
6
a g
U

=
( )
( )
( )
2
3
2
0.005 12300 /
0.083 /
6 0.62 /
m N m
U m s
Ns m
= =
R
Vl
kg m m s m
Ns m
= = =

1254 0 083 0 005

062
08
3
2
/ . / .
. /
.
c h
a fa f
y