2.

20 Marine Hydrodynamics, Fall 2011

Lecture 9
c 2011 MIT - Department of Mechanical Engineering, All rights reserved.
Copyright

2.20 - Marine Hydrodynamics

Lecture 9
Lecture 9 is structured as follows: In paragraph 3.5 we return to the full Navier-Stokes
equations (unsteady, viscous momentum equations) to deduce the vorticity equation and
study some additional properties of vorticity. In paragraph 3.6 we introduce the concept of
potential flow and velocity potential. We formulate the governing equations and boundary
conditions for potential flow and finally introduce the stream function.

3.5 Vorticity Equation

Return to viscous incompressible flow. The Navier-Stokes equations in vector form


p
~v
+ ~v ~v =
+ gy + 2~v
t

By taking the curl of the Navier-Stokes equations we obtain the vorticity equation. In
detail and taking into account ~u ~ we have
~v
(Navier-Stokes)
+ (~v ~v ) =
t




p
+ gy + 2~v

The first term on the left side, for fixed reference frames, becomes

~v

~
=
( ~v) =
t
t
t

In the same manner the last term on the right side becomes


2~v = 2 ~

Applying the identity scalar = 0 the pressure term vanishes, provided that the
density is uniform


p
( + gy) = 0

The inertia term ~v ~v , as shown in Lecture 8, 3.4, can be rewritten as

 2
1
v
~v ~v = (~v ~v ) ~v ( ~v) =
~v ~ where v 2 |~v|2 = ~v ~v
2
2
and then the second term on the left side can be rewritten as
 2
v
(~v ) ~v =
(~v ~ ) = (~ ~v )
2
= (~v ) ~ (~ ) ~v + ~ ( ~v ) + ~v ( ~ )
| {z } | {z }
=0

incompressible
fluid

=0 since
(~
v)=0

Putting everything together, we obtain the vorticity equation

D~
= (~ ) ~v + 2 ~
Dt
Comments-results obtained from the vorticity equation
Kelvins Theorem revisited - from vorticity equation:
If 0, then

D~

Dt

= (~ ) ~v , so if ~ 0 everywhere at one time, ~ 0 always.

can be thought of as diffusivity of vorticity (and momentum), i.e., ~ once generated

(on boundaries only) will spread/diffuse in space if is present.

v
Dv
v
= 2v + ...
Dt

v
D
v
= 2 + ...
Dt

T
= K2 T , where K is the
Diffusion of vorticity is analogous to the heat equation:
t
heat diffusivity.
2
Numerical example
for

1 mm /s. For diffusion time t = 1 second, diffusion
distance L O t O (mm). For diffusion distance L = 1cm, the necessary
diffusion time is t O (L2 /) O(10)sec.

In 2D space (x, y),

~v = (u, v, 0) and

0
z

So, ~ = ~v is to ~v (~ is parallel to the z-axis). Then,

(~ ) ~v = x
+ y
+ z
~v 0,
|{z} x |{z}
y
z
|{z}
0

so in 2D we have
D~
= 2 ~
Dt

If = 0, D~
= 0, i.e., in 2D following a particle the angular velocity is conserved.
Dt
Reason: In 2D space the length of a vortex tube cannot change due to continuity.

 In 3D space,
Di
=
Dt

vi
j
xj
| {z }

vortex turning and stretching

for example,

D2
u2
= 1
+
Dt
x1
| {z }
vortex turning

u2
2
x
| {z 2}

vortex stretching

u2
>0
x2

vortex turning

z x3
dz

dy

x x1

diffusion

u2
+ 3
+ diffusion
x3
| {z }

z x3

u2 = 0

2 i

xj xj
| {z }

y x2
u2
dy > 0
x2

u2 = 0

u2
dz > 0
x3

y x2

x x1

D2
>0
Dt
1
424
3

3 >0
u2
D2
> 0

>0
Dt
x3
1
424
3

vortex stretching rate

vortex turning rate

3.5.1 Example: Pile on a River

Scouring

What really happens as length of the vortex tube L increases?

IFCF is no longer a valid assumption.
Why?
Ideal flow assumption implies that the inertia forces are much larger than the viscous
effects. The Reynolds number, with respect to the vortex tube diameter D is given by
UD

As the vortex tube length increases the diameter D becomes really small
that big after all.
Re

Therefore IFCF is no longer valid.

Re is not

3.6 Potential Flow

Potential Flow (P-Flow) is an ideal and irrotational fluid flow

P-Flow

Inviscid Fluid
=0
Ideal Flow
+

Incompressible Flow
~v = 0
+
Irrotational Flow
~ = 0 or = 0

3.6.1 Velocity potential

For ideal flow under conservative body forces by Kelvins theorem if ~ 0 at some
time t, then ~ 0 irrotational flow always. In this case the flow is P-Flow.
Given a vector field ~v for which ~ = ~v 0, there exists a potential function
(scalar) - the velocity potential - denoted as , for which
~v =
Note that
~ = ~v = 0
for any , so irrotational flow guaranteed automatically. At a point ~x and time t,
the velocity vector ~v (~x, t) in cartesian coordinates in terms of the potential function
(~x, t) is given by
~v (~x, t) = (~x, t) =

,
,
x y z

 (x)

x
u

>0

x
u

u=0

>0

<0
<0

from low
to high

The velocity vector ~v is the gradient of the potential function , so it always points
towards higher values of the potential function.
3.6.2 Governing Equations and Boundary Conditions for Potential Flow
(a) Continuity
~v = 0 = 2 = 0
Number of unknowns

Number of equations

2 = 0

Therefore we have closure. In addition, the velocity potential and the pressure p
are decoupled. The velocity potential can be solved independently first, and after
is obtained we can evaluate the pressure p.
p = f (~v ) = f ()

Solve for , then find pressure.

7

(b) Bernoulli equation for P-Flow

This is a scalar equation for the pressure under the assumption of P-Flow for
steady or unsteady flow.
Euler equation:
~v
+
t

v2
2

~v ~ =

p
+ gy

Substituting ~v = and ~ = 0 into Eulers equation above, we obtain

1
||2
2

p
+ gy

= 0,

or

p
1
+ ||2 + + gy
t
2

which implies that

1
p
+ ||2 + + gy = f (t)
t
2

everywhere in the fluid for unsteady, potential flow. The equation above can be
written as



1
2
p =
+ || + gy + F (t)
t
2
which is the Bernoulli equation for unsteady or steady potential flow.

DO NOT CONFUSE WITH

BERNOULLI EQUATION FROM 3.4,
USED FOR STEADY, ROTATIONAL FLOW

Summary: Bernoulli equationS for ideal flow.

(a) For steady rotational or irrotational flow along streamline:


1 2
p =
v + gy + C()
2
(b) For unsteady or steady irrotational flow everywhere in the fluid:


1
2
p =
+ || + gy + F (t)
t
2

(c) For hydrostatics, ~v 0, t

= 0:

p = gy + c hydrostatic pressure (Archimedes principle)

(d) Steady and no gravity effect ( t

= 0, g 0):

v 2
+ c = ||2 + c Venturi pressure (created by velocity)
2
2
(e) Inertial, acceleration effect:
p=

Eulerian inertia

z}|{

~v
t

p
p

+
+

u
p+

p
x
9

p
x
x

(c) Boundary Conditions

KBC on an impervious boundary
~|{z}
vn
=
n

~|{z}
un
no flux across boundary
= Un given
n
Un given

DBC: specify pressure at the boundary, i.e.,

1
+ ||2 + gy
t
2

Note: On a free-surface p = patm .

10

= given

3.6.3 Stream function

Continuity: ~v = 0; Irrotationality: ~v = ~ = 0

Velocity potential: ~v = , then ~v = () 0 for any , i.e.,

irrotationality is satisfied automatically. Required for continuity:

~ defined by
Stream function

~v = 2 = 0

~
~v =


~ 0 for any ,
~ i.e., satisfies continuity automatically.
Then ~v =

Required for irrotationality:





~ =
~ 2
~=0
~v = 0
|
{z
}
still 3 unknowns

(1)

~
=(
x ,y ,z )

~ is a scalar (stream functions are more use For 2D and axisymmetric flows,
ful for 2D and axisymmetric flows).
For 2D flow: ~v = (u, v, 0) and

0.



 i
 





 j k 

~v = =  x y z  =
z i + z j +
y
x k
y
x
x
y
 
x
y
z

Set x = y 0 and z = , then u =

;
y

v =
x

So, for 2D:

~ = x + y + z 0

x
y
z
Then, from the irrotationality (see (1))
equation.
11

2 = 0 and satisfies Laplaces

 2D polar coordinates: ~v = (vr , v ) and

0.

v
v
vr

 z }|
z 
}|z
z
{
}|
{
 er r

{
e
e

z


1
1

1
z
z

~= 
~v =
=
er
e +
r r ez
r  r z  r
r
r r

r z

Again let

r = 0 and z = , then
vr =

and v =
r
r

~ also reduces to (read JNN 4.6 for details).

For 3D but axisymmetric flows,

12

 Physical Meaning of .
In 2D
u=

and v =
y
x

We define
Z

~
x

= (~x0 , t) +
~v n
d
~
x0
| {z }
total volume flux
from left to right
accross a curve C
between ~x and ~x0

(~x, t) = (~x0 , t) +

~
x

~
x0

(udy vdx)

v
x
C

v
xo

v
t

R
For to be single-valued, must be path independent.
Z
Z
Z
Z
I
ZZ
=
or
= 0
~v n
d =

| {z ~v}
C

CC

Therefore, is unique because of continuity.

13

=0,

continuity

ds = 0

Let ~x1 , ~x2 be two points on a given streamline (~v n

= 0 on streamline)

streamline

(~x2 ) = (~x1 ) +
| {z } | {z }
2

Z~x2
~
x1

~|{z}
vn
d
=0

along a
streamline

Therefore, 1 = 2 , i.e., is a constant along any streamline. For example, on

an impervious stationary body ~v n
= 0, so = constant on the body is the
appropriate boundary condition. If the body is moving ~v n
= Un
Z
= 0 +
Un d on the boddy
|{z}
given

y = constant
u=0

y = given

yo

14

f
=0
n

Flux = vx = uy.
Therefore, u =

and v =
y
x

(x, y + y)

streamline
-v

streamline

(x +x, y)

(x,y)

15

Summary of velocity potential formulation vs. stream-function formulation for ideal flows

use
For irrotational flow

For incompressible flow use

For P-Flow
use or
velocity potential

definition
continuity ~v = 0

irrotationality ~v = 0

~v =
2 = 0

stream-function
~
~v =
automatically

 satisfied


~ =
~ 2
~=0

2 = 0
automatically satisfied

automatically satisfied
z : 2 = 0

automatically satisfied

2D: w = 0, z
=0

continuity
irrotationality

Cauchy-Riemann equations for (, ) = (real, imaginary) part of an analytic complex

function of z = x + iy
Cartesian (x, y)

u=

u=

v=

v =
x

vr =

vr =

v =

1
r

v =
r

Polar (r,)

1
r

Given or for 2D flow, use Cauchy-Riemann equations to find the other:

e.g. If = xy, then = ?

u=
=y=
x
y
v=

=x=
y
x

1
= y 2 + f1 (x)
2

1
= (y 2 x2 ) + const

= x2 + f2 (y)
2
16