Revised October 9, 2007 8:48

Copyright 2000 David A. Randall

The Navier-Stokes Equation

David A. Randall

Department of Atmospheric Science Colorado State University, Fort Collins, Colorado 80523

25.1

Analysis of the relative motion near a point

Suppose that the velocity of the uid at position r 0 " x! y! z # and time t is V " x! y! z! t # , and that the simultaneous velocity at a neighboring position r 0 + r is V + ! V . We can write & $ $ ! u & ' $ !v % = $ $ $ % $ " ! w# $ $ " In vector form, this can be written as !V = D ) r , (25.2) (u ----(x (v ---(x (w -----(x (u ----(y (v ---(z (w -----(y (u ----(z (v ---(z (w -----(z ' % % & x' %$ % % $ y% . %" # % z % #

(25.1)

where D is called the deformation tensor because it describes how the uid element is being deformed by the non-uniform motion eld. Using Cartesian tensor notation, we can alternatively express (25.1) as (v i - x , where i = 1! 2! 3 . ! v i = -----(x j j (25.3)

We can decompose (v i (x j into two parts which are symmetric and antisymmetric in the sufces i and j . They are 1 & (v i (v j' - -----* ij = -- + ------ , 2 " (x j (x i# and
Selected Nuggets 193

(25.4)

194

The Navier-Stokes Equation

1 & (v i (v j' - -----+ ij = -- ------ , 2 " (x j (x i# respectively. The deformation D can now be expressed by D = * + ,, where we dene two parts of D : & e xx e xy e xz $ *-$ e e e $ yx yy yz " e zx e zy e zz & 0 + xy + xz ' $ % % , and , - $ + yx 0 + yz $ % " + zx + zy 0 # ' % %. % #

(25.5)

(25.6)

(25.7)

We show below that * is related to the divergence, and , is related to the vorticity. Correspondingly, ! V can be divided into two parts, i.e. !V = !V
"s#

+ !V
s

"a#

, where ! V i

"s#

= e ij X j , and ! V i

"a#

= + ij X j .

(25.8)

Here the superscripts

and a denote symmetric and antisymmetric, respectively.

We refer to * as the rate of strain tensor, or simply as the strain tensor. The (u (v (w -! e = ------ , are called the normal strains, diagonal elements of * , i.e. e xx = -----! e yy = ---(x (y zz (z and represent the rate of volume expansion, as illustrated in Fig. 25.1 a. The sum of the normal strains, i.e., the trace of the strain tensor, is the divergence of V , i.e. e xx + e yy + e zz = e ii = . ) V . (25.9)

The off-diagonal elements of * , namely e xy , e yz , and e zx , are called the shearing strains, and express the rate of shearing deformation, as illustrated in Fig. 25.1 b. They can be written as 1 & (u (v' $ - ----- + ---e xy = e yx = -- , 2 " (y (x# 1 & (v (w' - ---- + ------ $, e yz = e zy = -2 " (z (y # 1 & (w (u' - ------ + ----- $. e zx = e xz = -2 " (x (z # (25.10)

Selected Notes of David A. Randall

25.1 Analysis of the relative motion near a point

195

dv

Dy

(u (v ----- + ---(x (y

Dx

du

du

Dy dv 0 Dx

(u (v ----- + ---(y (x

Figure 25.1: a) The normal strains, representing the rate of volume expansion. b) The shearing strains, which represent the rate of shearing deformation.

The elements of the anti-symmetric tensor, , , are 1 & (w (v' 1 & (u (w' v (u' - ------ ---- ----- ------ ! + = + xy = & ( + zy = + yz = ----- ----- . (25.11) - ! + = + zx = -" (x (y # $ 2 " (y (z# xz 2 " (z (x # yx Introducing the notation / x = 2 + yz! / y = 2 + zx! / z = 2 + zx , we see that " / x! / y! / z # is the vorticity vector / = . % V $. (25.12)

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The Navier-Stokes Equation

In tensor notation, (25.12) can be written as (v k / i = * ijk ------, (x j (25.13)

where * ijk = 1 when i, j, k are in even permutation, and * ijk = 1 when i, j, k are in odd (v 1 (v 2 v (u - = ( permutation. For example, / z = / 3 = * 321 ------- + * 312 ---------- ----- , which gives (x 2 (x 1 (x ( y twice the angular velocity about the z-axis, as illustrated in Fig. 25.2. Thus -du

Dy

(v ( u +0 ---- ----- = 1 (x ( y 1
Dx dv

Figure 25.2: The component of the vorticity in the z direction.

& "a# $ !u $ "a# $ !v $ "a# " !w or

' & 0 /z /y ' & ' % $ %$ x % 1 % = -- $ /z 0 /x % $ y % , % 2$ %$ % % " #" z # / / 0 y x #

(25.14)

!V
25.2

"a#

1 / -" % r# . = -2

(25.15)

Invariants of the strain tensor

Consider the scalar product

Selected Notes of David A. Randall

25.2 Invariants of the strain tensor

197

r ) * ) r = r ) "* ) r# = e xx x + e yy y + e zz z + 2 " e xy xy + e yz yz + e zx zx # = f " x! y! z #$. (25.16)

2 2 2

By putting f " x! y! z # = constant , we obtain a surface of second order, the strain quadratic, also called the ellipsoid of strain. We refer the strain quadratic to its principal axes " X 1! X 2! X 3 # . Then (25.16) takes the form e 1 X 1 + e 2 X 2 + e 3 X 3 = F " X 1! X 2! X 3 # = constant .
2 2 2

(25.17)

Here e 1 , e 2 , and e 3 are the principal values of the strain tensor, and are called the principal normal strains. Using (25.16), we see that !u 5 1 (f - = e xx x + e xy y + e xz z 3 - ---= -2 (x 3 3 "s# 1 (f - ---- = e yx x + e yy y + e yz z 4$ . ! v = -2 (y 3 3 "s# 1 (f - = e zx x + e zy y + e zz z 3 - ---! w = -2 (z 2
"s#

(25.18)

In terms of the principal axes " X 1! X 2! X 3 # ,

"s# "s# "s# 1 (F - -------- = e 1 X 1! ! v 2 = e 2 X 2! ! v 3 = e 3 X 3 . ! v 1 = -2 (X 1 "s# "s# "s# "s#

(25.19)

" ! v 1 ! ! v 2 ! ! v 3 # are the projections of ! v upon the principal axes. Therefore, the symmetric part of ! V is composed of three expansions (or contractions) in the mutually orthogonal directions of the principal axes of the strain quadratic. We next consider the sum of the diagonal elements of e, i.e. e xx + e yy + e zz = e ii = . ) V . (25.20)

This quantity is an invariant under the rotation of the axes of reference. Consider the

Selected Notes of David A. Randall

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The Navier-Stokes Equation

transformation by which the surface f " x! y! z # = the constant of (25.16) is transformed into F " X 1! X 2! X 3 # = the constant of (25.17). We can write the transformation between the two Cartesian coordinates in the schematic, tabular form shown in Table 25.1 x X1 X2 X3
a1 a2 a3

y
b1 b2 b3

z
g1 g2 g3 bi, gi,

Table 25.1: The transformation between two Cartesian coordinate systems. Here ai, are the direction cosines between the axes.

Here ai, bi, gi, are the direction cosines between the axes. We nd that 5 = 03 4$, i=1 i=1 3 1 i 1 j + 0 i 0 j + 7 i 7 j = ! ij 2
3

2 1i

= 1!

6 1i 0i

(25.21)

$ j# . = j! ! ij = 0 when i$ 8 where ! ij is Kroneckers delta " ! ij = 1 when i$ $ Substituting the expression X i = 1 i x + 0 i y + 7 i z where i = 1! 2! 3 into (25.17), we obtain 5 = 03 4$. i=1 i=1 3 1 i 1 j + 0 i 0 j + 7 i 7 j = ! ij 2
3

(25.22)

2 1i

= 1!

6 1i 0i

(25.23)

This expression must be identical with (25.16), so that

2 2 2 e xx = 1 1 e 1 + 1 2 e 2 + 1 3 e 3! e xy = 1 1 0 1 e 1 + 1 2 0 2 e 2 + 1 3 0 3 e 3 , 5 $ $ 3 3 2 2 2 e yy = 0 1 e 1 + 0 2 e 2 + 0 3 e 3! e yz = 0 1 7 1 e 1 + 0 2 7 2 e 2 + 0 3 7 3 e 3 , $ 4$ . 3 2 2 2 e zz = 7 1 e 1 + 7 2 e 2 + 7 3 e 3! e zy = 7 1 1 1 e 1 + 7 2 1 2 e 2 + 7 3 1 3 e 3 , $ 3 2

(25.24)

Selected Notes of David A. Randall

25.3 Stress

199

It follows that
3

9 = e xx + e yy + e zz =

i=1

6 " 1i + 0i + 7 i # ei

= e1 + e2 + e3

(25.25)

i.e., the sum e xx + e yy + e zz = . ) V is independent of the choice of reference. Of course, this quantity is called the divergence, and we knew already that it is independent of the choice of reference. Another invariant of the strain tensor is e xx e yy + e yy e zz + e zz e xx e xy e yz e zx = constant . The proof is left as an exercise.
25.3 Stress
2 2 2

(25.26)

In a moving viscous uid, forces act not only normal to a surface but also tangential to it. In Fig. 25.3, : x , : y and : z denote respectively the forces per unit area acting upon the surfaces normal to the positive x, y, and z directions, respectively. In z (: z - 9z : z + -----(z : x = : x (: y 9y : y + ------(y 0 : y = : y y

(: x 9x : x + ------(x

: z = : z

Figure 25.3: Sketch illustrating the normal and tangential forces acting on an element of fluid.

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The Navier-Stokes Equation

general, each force is a vector with 3 components, so that : x = : xx i + : yx j + : zx k , 5 $$ 3 : y = : xy i + : yy j + : zy k , 4 $ $. 3 : z = : xz i + : yz j + : zz k . $ 2

(25.27)

Symbolically we can write an element of the stresses as : ij " i = 1! 2! 3 ;j = 1! 2! 3 # . Here : ij is the i-component of the force per unit area exerted across a plane surface element normal to the j-direction. The stress is thus a tensor with nine elements, and can be represented by the matrix & : xx : xy : xz $ T = $ : yx : yy : yz $ " : zx : zy : zz ' % % % #

(25.28)

For an arbitrarily chosen plane surface, whose normal vector is n , the force acting per unit area is : n . See Fig. 25.4. The equilibrium condition is : y = : y : n 9; : x 9; x : y 9; y : z 9; z = 0 , (25.29)

where 9; is the area of the oblique surface, 9; x , 9; y , 9; z , are the areas of the faces lying in the planes x = 0! y = 0 and z = 0 . Denoting the direction cosines of n by 1 , 9; y 9; z 9; x = 1 , --------= 0 , -------- = 7 . Therefore (25.29) can be written as 0 and 7 , we have --------9; 9; 9; : n = 1: x + 0: y + 7 : z , or & : xn $ $ : yn $ " : zn or :n = T ) n . (25.32) ' & : xx : xy : xz % $ % = $ : yx : yy : yz % $ # " : zx : zy : zz '& ' %$ 1 % %$ 0 % , %$ % #" 7 # (25.30)

(25.31)

Selected Notes of David A. Randall

25.3 Stress

201

z :n C B :x n " 1! 0! 7 # y

:y 0 A :z x

Figure 25.4: Sketch illustrating the normal force acting on a plane surface.

Equation (25.32) shows that matrix T transforms a vector n into another vector : n , so that T is a tensor, called the stress tensor. See Fig. 25.5. The three diagonal elements, : xx , : yy , and : zz , are normal stresses. The six off-diagonal elements are tangential stresses. An important property of T is its symmetry, i.e. : ij = : ji . This symmetry can be deduced from the condition of moment equilibrium. Consider for example a moment about the z-axis due to : yx and : xy : 1 1 1 - 9 x " : xy 9 x 9 z # -- 9 y = -- ": : #9x9y9z . " : yx 9 y 9 z # -2 2 2 yx xy (25.33)

The shear stresses acting on the negative x- and y-surfaces contribute also, so that the total moment about the z-axis is " : yx : xy # 9 x 9 y 9 z . Eulers equation (for a rotating rigid body) states that (25.34)

Selected Notes of David A. Randall

202

The Navier-Stokes Equation

:< yx = : yx

:< xy = : xy 9z

: xy 0

: yx 9y x

9x

Figure 25.5: Sketch illustrating the components of the stress tensor.

d =z I z --------= " : yx : xy # 9 x 9 y 9 z , dt
2 2

(25.35)

2 2 > "9x# + "9y# - 9 x 9 y 9 z & " 9 x # + " 9 y # ' is the moment of inertia of - = ----where I z = --------------------------------12 12 the uid element >9 x 9 y 9 z , and = z is the angular velocity about the positive z-axis. Then (25.35) reduces to 2 2 d =z > ----- ( " 9 x # + " 9 y # ) --------= : yx : xy . 12 dt

(25.36)

d =z In order that --------remains nite, we need " : yx : xy # ? 0 when 9 x! 9 y ? 0 . It follows dt that : yx = : xy . Similar considerations establish that the stress tensor is symmetric, i.e., : xy = : yx! : yz = : zy! : zx = : xz . (25.37)

Selected Notes of David A. Randall

25.4 Invariants of the stress tensor

203

25.4

Invariants of the stress tensor

As in the case of the strain tensor, we have a scalar product r ) T ) r = : 1 X 1 + : 2 X 2 + : 3 X 3 = constant ,

2 2 2

(25.38)

where : 1 , : 2 , and : 3 are the principal stresses acting on the surface elements normal to the principal axes (X1, X2, X3) of the ellipsoid of stress. It can be shown that r ) T ) r is an invariant under the rotation of the axes of reference. The sum of the normal stresses, i.e., the trace of the stress tensor, : xx + : yy + : zz = : ii = : 1 + : 2 + : 3 = 3 p , (25.39)

is also an invariant. For a moving uid, (25.39) is the denition of pressure p , which reduces to the static pressure when the uid is at rest.
25.5 The resultant forces due to the spatial variation of the stresses

The resultant force acting in the x-direction on a volume element of uid 9 x 9 y 9 z is : xx ' (: xy ' &: + ( --------- 9 x 9 y 9 z : xx 9 y 9 z + & : xy + --------- 9y 9x9z " xx (x # " # (y (: xz ' (: xx (: xy (: xz' 9 z 9 x 9 y : xz 9 x 9 y = & --------- + --------- + --------- 9 x 9 y 9 z . : xy 9 y 9 z + & : xz + --------" " (x (z # (y (z # (25.40) Therefore the three components of the resultant force (vector) per unit volume are (: xx (: xy (: xz (: xj 5 - + --------- + --------- = --------3 X = --------(x (y (z (x j 3 3 (: yx (: yy (: yz (: yj 3 - + --------- + --------- = -------Y = --------- 4$. (x (y (z (x j 3 3 (: zx (: zy (: zz (: zj 3 - = -------Z = --------- + --------- + -------(x (y (z (x j 3 2 Equation (25.41) can be compactly written as

(25.41)

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The Navier-Stokes Equation

(: x (: y (: z + ------- + -----Div T = ------(x ( y ( z (: zj (: xj (: yj -. - + k -------= i -------- + j -------(zj (y j (x j Div T is a tensor divergence and, therefore, is a vector.
25.6 Physical laws connecting the stress and strain tensors

(25.42)

The relation between the stress tensor and the strain tensor may be established by the following assumptions. i) : ij = p ! ij + F ij , (25.43)

where F ij is the frictional stress tensor which depends on the space derivatives of the velocity, i.e. the strain tensor. ii) The relationship between F ij and eij is linear. iii) The relationship does not depend on the frame of reference. We have already shown that, with reference to the respective principal axes, & :1 0 0 $ T = $ 0 :2 0 $ " 0 0 :3 ' & e1 0 0 ' % $ % % and * = $ 0 e 2 0 % . % $ % # " 0 0 e3 #

(25.44)

Because : 1 , : 2 , and : 3 are normal stresses and e1, e2, e3 are normal strains, it is natural to assume that the principal axes of both tensors are the same. We therefore assume that : 1 = p + @. ) V + 2 * e 1 5 3 : 2 = p + @. ) V + 2 * e 2 4$ , 3 : 3 = p + @. ) V + 2 * e 3 2 where p satises (25.39). Writing direction cosines between the principal axes (X1, X2, X3) and axes of a Cartesian coordinate system (x, y, z) as shown in Table 25.2,

(25.45)

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25.6 Physical laws connecting the stress and strain tensors

205

x X1 X2 X3
a1 a2 a3

y
b1 b2 b3

z
g1 g2 g3

Table 25.2: Direction cosines between principle axes.

we nd that : xx = 1 1 : 1 + 1 2 : 2 + 1 3 : 3 : xy = 1 1 0 1 : 1 + 1 2 0 2 : 2 + 1 3 0 3 : 3 etc. Substituting (25.45) into (25.46), and using (25.24), we obtain & : = & p + @ " . ) V # + 2 * e ' 12 + & p + @ " . ) V # + 2 * e ' 12 xx 1 1 2 2 $ $ 2 + & p + @ " . ) V # + 2 * e 3 ' 1 3 p + @9 + 2 * e xx , $ $ $ $ $ $ $ $ $ : xy = & p + @ " . ) V # + 2 * e 1 ' 1 1 0 1 + & p + @ " . ) V # + 2 * e 2 ' 1 2 0 2 $ + & p + @ " . ) V # + 2 * e 3 ' 1 3 0 3 = 2 * e xy , $ " etc. In general we have : ij = p ! ij + @. ) V ! ij + 2 * e ij . This expression gives : ii = 3 p + @. ) V + 2 * . ) V = 3 p + " 3 @ + 2 * # . ) V .$ Because we have dened : ij = 3 p , we conclude that 3@ + 2* + 0 . Thus we have the nal expression (25.50) (25.49) (25.48)
2 2 2

$ ,

(25.46)

(25.47)

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The Navier-Stokes Equation

1 - . ) V ! ij' : ij = p ! ij + 2 * & e ij -" # 3 = p ! ij + F ij .

25.7 The Navier-Stokes equation

(25.51)

Substitution of (25.51) into (25.42) gives the resultant forces per unit volume, as expressed by the divergence of the stress tensor: Div T = . p + Div F The equation of motion in the inertial frame (with subscript a omitted) is DV -------- = .A 1. p + 1 Div F Dt or, in Cartesian tensor notation, (v i (v i Dv i 5 1 (p ( D (A - " . ) V # ! ij 4 - = ------ + 1 ------ C 2 * e ij -= ------ + v j ------------- 1 -----3 (x j (x i (x j B (t Dt (x i 2 (p ( D & (v i (v j' 2 (v k 5 (A - + 1 ------ C * ------ * ------- 4 $. = ------ 1 ------ + ------ -(x i (x j B " (x j (x i# 3 (x k 2 (x i This is called the Navier-Stokes equation. When the uid is incompressible " . ) V = 0 # , and * (25.54) reduces to & ( v i' Dv i (p (A - + 1 * $ ---------------- = ----- 1 -----% $, (x i Dt (x " (x 2 #
j 2

(25.52)

(25.53)

(25.54)

is spatially constant,

(25.55)

or, in vector form,

2 DV -------- = .A 1. p + 1 * . V . Dt

(25.56)

Here we see the Laplacian of the vector V .

Selected Notes of David A. Randall

25.8 A proof that the dissipation is non-negative

207

1 & (v i (v j' - -----It should be noted that e ij = -- + ------ vanishes when V = = % r (rigid 2 " (x j (x i# rotation), and that . ) " = % r # = 0 . This means that we do not have to worry about the distinction between V a = V + = % r and V in the expression F = Div F in the equation of relative motion. The frictional force is the same in the rotating frame as in the inertial frame.
25.8 A proof that the dissipation is non-negative

The dissipation rate is given by (v i --! " F ) . # ) V = F ij -----(x j (u (u (u = F 11 ----- + F 12 ----- + F 13 ----(z (x (y (v (v (v - + F 22 ---- + F 23 ---+ F 21 ---(z (x (y (w (w (w + F 31 ------ + F 32 ------ + F 33 ------ . (z (x (y Since F ij = F ji , we have (v i (v i (v j - = F ji ------ = F ij ------, ! = F ij -----(x j (x j (x i so we can write (v i (v j' 2 ! = F ij & ------ + ------ $. " (x (x # j i But 1 & (v i (v j' 1 (v i - ------! - ------ + ------ -F ij = 2 * -2 " (x j (x i# 3 (x i ij D 1 & (v i (v j' 5 1 & (v i (v j' 1 (v i - ------ ------ ! ij 4$, - -----= 2 * C -- + ------ " 1 ! ij # + -- + ------ -" # " # 2 ( x j (x i 3 ( x i B 2 (x j (x i 2 or (25.59) (25.58) (25.57)

(25.60)

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The Navier-Stokes Equation

1 & (v i (v j' 2 (v i - ------ ------! . F ij = 2 * -- + ------ " 1 ! ij # + -2 " (x j (x i# 3 (x j ij Substituting (25.61) into (25.59), we nd that 1 & (v i (v j' 2 (v i -! - ------ -----! = * -- + ------ " 1 ! ij # + -2 " (x j (x i# 3 (x j ij
2 4 - " . ) V # ! ij . = * 2 e ij e ij " 1 ! ij # + -3

(25.61)

v i (v j' &( ------ + -----" (x (x #

j i

(25.62)

This expression is obviously non-negative, since " 1 ! ij # E 0 and ! ij E 0 . For a nondivergent ow, the dissipation can be expanded, using Cartesian coordinates, as ! = 2 * e ij e ij 1 & (u (v' 2 & (u (w' 2 - * ----- + ---- + ----- + -----= -" (z (x # 2 " (y (x# (v (u' 2 & (v (w' 2 - + ----- + ---- + -----+ & ---" ( x (y # " (z (y # (w ( u 2 (w (v' 2 + & ------ + -----' + & ------ + ---" (x ( z # " ( z (z # (u (v' 2 & (u (w' 2 & (w (v' 2 = * & ----- + ---- + ----- + ------ + ------ + ---. " ( z (x # " (y (z # " (y (x# This shows that ! is the sum of squares; again, it cannot be negative.

(25.63)

Selected Notes of David A. Randall