The Equation of Continuity and the Equation of Motion in Cartesian, cylindrical, and spherical coordinates

CM310 Fall 1998 Faith A. Morrison

Continuity Equation, Cartesian coordinates
@ @t

vx

@ @x

@ + vy @y + vz @ + @z

@vx @x

y z + @v + @v @y @z

= 0

Continuity Equation, cylindrical coordinates

@ @t

@ ( rvr ) @( v ) vz ) +1 +1 + @ (@z = 0 r @r r @

Continuity Equation, spherical coordinates

@ @t r 2 vr ) 1 + r12 @ ( @r + r sin

@ ( v sin @

)+ 1 r sin

@( v @

) = 0

Equation of Motion for an incompressible uid, 3 components in Cartesian coordinates

@vx @t @vy @t @vz @t @vx @vx x + vx @v + vy + vz @x @y @z @vy @vy y + vx @v + vy + vz @x @y @z @vz @vz z + vx @v + vy + vz @x @y @z

= ; @P ; @x = ; @P ; @y = ; @P ; @z

@ xx @x @ xy @x @ xz @x

yx zx + @@y + @@z + yy zy + @@y + @@z + yz zz + @@y + @@z +

gx gy gz

Equation of Motion for an incompressible uid, 3 components in cylindrical coordinates

@vr @t @v @t v r + vr @v + @r r @vr @
r ; vr + vz @v @z
2

1 @ (r rr ) + 1 @ r ; = ; @P ; @r r @r r @

v + vr @v + @r r @vz @t

@v @

+ v rvr + vz @v @z
@vz @
z + vz @v @z

@P 1 @ (r 2 r ) + 1 @ + @ z + = ;1 ; r @ r2 @r r @ @z

rz + @@z +

gr

v z + vr @v + @r r

1 @ (r rz ) + 1 @ z + @ zz + = ; @P ; @z r @r r @ @z
@vr @ v + r sin @vr @

gz

Equation of Motion for an incompressible uid, 3 components in spherical coordinates

@vr @t v r + vr @v @r + r
rr )
1 + r sin

;v
@ r @

2 +v 2

= ; @P @r ;
@P = ;1 r @ ; r2
1

r2 @v @t

@ (r 2

@r

@ ( r sin ) @ @v @ @ v + r sin
sin )

1 + r sin

v + vr @v @r + r
1 + r sin

@v @

@ (r 2 r ) @r

@( @v @

1 + r sin

; r 2 + vrrv ; v r @ + r @ r ;
cot

gr

(cot )

+ +
g

@v @t
1 = ; r sin

v + vr @v @r + r r2
1

v + r sin

@v @ @ @

+ vrrv + v +
r

v cot r

@P @

@ (r 2 r ) @r

1@ 1 +r + r sin @

+ (2 cotr )

Cartesian coordinates
@vx @t @vy @t @vz @t

Equation of Motion for incompressible, Newtonian uid (Navier-Stokes equation) 3 components in

x x x + vx @v + vy @v + vz @v @x @y @z y y y + vx @v + vy @v + vz @v @x @y @z z z z + vx @v + vy @v + vz @v @x @y @z

= ; @P + @x = ; @P + @y = ; @P + @z

@ 2 vx @x2 @ 2 vy @x2 @ 2 vz @x2

vx vx +@ +@ + @y 2 @z 2 vy vy +@ +@ + @y 2 @z 2 vz vz +@ +@ + @y 2 @z 2
2 2 2 2

gx gy gz

cylindrical coordinates
@vr @t @v @t

Equation of Motion for incompressible, Newtonian uid (Navier-Stokes equation), 3 components in

v r + vr @v + @r r @vr @
r ; vr + vz @v @z
2

= ; @P + @r

v + vr @v + @r r @vz @t

@v @

+ vrrv + vz @v @z
@vz @
z + vz @v @z

@P = ;1 + r @

@ @r @ @r

1 @ (rvr ) + 1 @ 2 vr ; 2 @v + @ 2 vr + r @r r2 @ 2 r2 @ @z 2
@vz @r
2 vz @ 2 vz + r12 @ + + 2 @ @z 2

gr g

z + vr @v + vr @r

= ; @P + @z

1 @ (rv ) + 1 @ 2 v + 2 @vr + @ 2 v + r @r r2 @ 2 r2 @ @z 2
gz

@ r @r

spherical coordinates

Equation of Motion for incompressible, Newtonian uid (Navier-Stokes equation), 3 components in

; v rv v r vr ; rv2r ; r2 @ ; v r2 ; r2 @v + gr = ; @P @r + @ v2 v @v v @v @v vr v @v @t + vr @r + r @ + r @ + r ; r @v v r = ; r @P r v + r2 @v + g 2 ; r2 2 @ + @ ; r2 @
@vr @t v r + vr @v @r + r
2

@vr @

v + r sin
2

@vr @

2+ 2

cot

2 sin

cot

sin

sin

2 cos sin

@v @t
1 = ; r sin

v + vr @v @r + r

@v @

v + r sin
sin

@v @

+ vrrv + v
@vr @ @ @
1 + r2 sin 2

v cot r @v @ @2 @ 2

@P @

+
;

r v ; r2 v
2

2 + r2 sin

cos + r2 2 sin2

+ .

where, in these equations, r

1 @ r 2 @r

@ r2 @r

1 + r2 sin

@ @

sin

Reference: R. B. Bird, W. E. Stewart, and E. N. Lightfoot, Transport Phenomena, Wiley: NY, 1960. 2