Mathematics Review

Polymer Rheology

5. Curvilinear Coordinates
Cylindrical Spherical

r , , z
r , ,

r , e , e z e

r , e , e e

See figures 2.11 and 2.12

These coordinate systems are ortho-normal, but they are not constant (they vary with position). This causes some non-intuitive effects when derivatives are taken.

Faith A. Morrison, Michigan Tech U.

Mathematics Review 5. Curvilinear Coordinates (continued)

Polymer Rheology

r + v e + v z e z v = vr e r + v e + v z e z ) v = (vr e = x + e y + e z (vr e r + v e + v z e z ) e x y z
First, we need to write this in cylindrical coordinates. solve for Cartesian basis vectors and substitute above

e r = cos e x + sin e y e = sin e x + cos e y e z = e z

x = r cos y = r sin z=z

substitute above

Faith A. Morrison, Michigan Tech U.

Mathematics Review 5. Curvilinear Coordinates (continued)

Polymer Rheology

Result:

x + e y + e z e x y z 1 z +e +e r r z

r =e
Now, proceed:

r v = e
(We cannot use Einstein notation because these are not Cartesian coordinates)

1 z r + v e + v z e z ) +e +e (vr e r r z r (vr e r + v e + v z e z ) + =e r 1 r + v e + v z e z ) + e (vr e r z (vr e r + v e + v z e z ) e z

Faith A. Morrison, Michigan Tech U.

Mathematics Review 5. Curvilinear Coordinates (continued)

Polymer Rheology

r v = e

r 1 1 v r e r = e vr e r r 1 e v vr r + e r r =e r

r + v e + v z e z ) + (vr e r 1 r + v e + vz e z ) + e (vr e r z (vr e r + v e + vz e z ) e z

r e x + sin e y = cos e x + cos e y = sin e =e

Faith A. Morrison, Michigan Tech U.

Mathematics Review 5. Curvilinear Coordinates (continued)

Polymer Rheology

r 1 1 v r e r = e vr e r r e v 1 vr r + e r r =e r =e = 1 v + e r r vr e r
This term is not intuitive, and appears because the basis vectors in the curvilinear coordinate systems vary with position..
Faith A. Morrison, Michigan Tech U.

1 vr r

Mathematics Review 5. Curvilinear Coordinates (continued)

Polymer Rheology

Final result for divergence of a vector in cylindrical coordinates:

r + v e + v z e z ) + (vr e r 1 r + v e + v z e z ) + e (vr e r z (vr e r + v e + v z e z ) e z v 1 v vr vr v = r + + + r r r z r v = e

Faith A. Morrison, Michigan Tech U.

Mathematics Review 5. Curvilinear Coordinates (continued)

Polymer Rheology

Curvilinear Coordinates (summary)

The basis vectors are ortho-normal The basis vectors are non-constant (vary with position) These systems are convenient when the flow system mimics the coordinate surfaces in curvilinear coordinate systems. We cannot use Einstein notation must use Tables in Appendix C2 (pp464-468).

Faith A. Morrison, Michigan Tech U.

Mathematics Review

Polymer Rheology

6. Vector and Tensor Theorems and definitions

In Chapter 3 we review Newtonian fluid mechanics using the vector/tensor vocabulary we have learned thus far. We just need a few more theorems to prepare us for those studies. These are presented without proof. outwardly directed unit normal

Gauss Divergence Theorem

b dV =
V S

b dS n

This theorem establishes the utility of the divergence operation. The integral of the divergence of a vector field over a volume is equal to the net outward flow of that property through the bounding surface.
Faith A. Morrison, Michigan Tech U.

Mathematics Review

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b
dS S

n
V

Faith A. Morrison, Michigan Tech U.

Mathematics Review 6. Vector and Tensor Theorems (continued)

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Leibnitz Rule
constant limits

for differentiating integrals

I=

f ( x, t ) dx

dI d = f ( x, t ) dx dt dt

one dimension, constant limits

f ( x , t ) dx t
Faith A. Morrison, Michigan Tech U.

Mathematics Review 6. Vector and Tensor Theorems (continued)

Polymer Rheology

Leibnitz Rule
(t )

for differentiating integrals

J=
(t )

f ( x, t ) dx
(t )

variable limits

dJ d = f ( x, t ) dx dt dt (t ) = f ( x, t ) d d dx + f ( , t ) f ( , t ) t dt dt (t )
(t )

one dimension, variable limits

Faith A. Morrison, Michigan Tech U.

Mathematics Review 6. Vector and Tensor Theorems (continued)

Polymer Rheology

Leibnitz Rule

for differentiating integrals

J=
V (t )

f ( x, y , z , t ) dV f ( x, y, z , t ) dV
V (t )

dJ d = dt dt =

V (t )

f ( x, y , z , t ) dS dV + f v surface n t S (t )

three dimensions, variable limits

velocity of the surface element dS

Faith A. Morrison, Michigan Tech U.

Mathematics Review 6. Vector and Tensor Theorems (continued)

Polymer Rheology

Substantial Derivative

Consider a function f ( x, y , z , t )

df

f x

dx +
yzt

f y

dy +
xzt

f z

dz +
xyt

f t

dt
xyz

df f dt x
time rate of change of f along a chosen path

yzt

dx f + dt y

xzt

dy f + dt z

xyt

dz f + dt t

xyz

x-component of velocity along that path

When the chosen path is the path of a fluid particle, then these are the components of the particle velocities.
Faith A. Morrison, Michigan Tech U.

Mathematics Review 6. Vector and Tensor Theorems (continued) Substantial Derivative When the chosen path is the path of a fluid particle, f f f df dx dy then the space + + derivatives are the dt x yzt dt y xzt dt z components of the particle velocities. f f f df

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xyt

f dz + dt t f t

xyz

dt

along a particle path

vx +

yzt

vy +

xzt

vz +
xyt

xyz

v f
df dt Df f = + v f Dt t

along a particle path

Substantial Derivative
Faith A. Morrison, Michigan Tech U.