W-6

Chapter 4 Basic Equation in Integral Form for a Control Volume

4.6 Momentum Equation for Control Volume

with Arbitrary Acceleration
In Section 4.5 we obtained a momentum equation for a control volume with rectilinear acceleration. The purpose of this section is to extend this for completeness
to include rotation and angular acceleration of the control volume, in addition to
translation and rectilinear acceleration.
First, we develop an expression for Newtons second law in an arbitrary, noninertial
coordinate system. Then we use Eq. 4.25 to complete the formulation for a control
volume. Newtons second law for a system moving relative to an inertial coordinate
system is given by
!
~XYZ
d
P
~5
F
4:27
dt
system

where, as in the previous section, XYZ denotes the inertial (e.g., stationary) reference
frame. Since
Z
~XYZ
~XYZ dm
P
5
V
system
Msystem

and M(system) is constant,

Z
Z
~XYZ
dV
~5 d
~XYZ dm 5
dm
F
V
dt Msystem
dt
Msystem
or
~5
F

Z
~
aXYZ dm

4:35

Msystem

The basic problem is to relate ~

aXYZ to the acceleration ~
axyz , measured relative to a
noninertial coordinate system. For this purpose, consider the noninertial reference
frame, xyz, shown in Fig. 4.5.
~ relative to the fixed
The noninertial frame, xyz, itself is located by position vector R
frame XYZ. The noninertial frame is assumed to rotate with angular velocity ~
.
A particle is instantaneously located relative to the moving frame by position vector
^ Relative to inertial reference frame XYZ, the position of the particle
^ 1 jy
^ 1 kz.
~
r 5 ix
~. From the geometry of the figure, X
~5R
~ 1~
is denoted by position vector X
r.
The velocity of the particle relative to an observer in the XYZ system is
~
~
r
r
~rf 1 d~
~XYZ 5 dX 5 dR 1 d~
5V
V
4:36
dt
dt
dt
dt

Particle
Y

X
R

y
x
z
X

Fig. 4.5 Location of a particle in

inertial (XYZ) and noninertial (xyz)
reference frames.

4.6

Momentum Equation for Control Volume with Arbitrary Acceleration W-7

~rf is the instantaneous velocity of the control

where, as in the previous section, V
volume frame itself relative to the inertial XYZ reference frame.
We must be careful in evaluating d~
r =dt because both the magnitude, j~
r j, and the
^ are functions of time. Thus
^ j;
^ and k,
orientation of the unit vectors, i;
^
^
^
d~
r
d ^ ^
^ 5 i^dx 1 x di 1 j^dy 1 y dj 1 k^ dz 1 z dk
5
xi 1 yj 1 zk
dt
dt
dt
dt
dt
dt
dt
dt

4:37a

The terms dx/dt, dy/dt, and dz/dt are the velocity components of the particle relative to
xyz. Thus
~xyz 5 i^dx 1 j^dy 1 k^ dz
V
4:37b
dt
dt
dt
You may recall from dynamics (and as we will see in Example 4.13), for a rotating
coordinate system
di^
dj^
dk^
~
4:37c
3~
r 5 x 1y 1z
dt
dt
dt
Combining Eqs. 4.37a, 4.37b, and 4.37c, we obtain
d~
r
~xyz 1 ~
5V
3~
r
dt

4:37d

~rf 1 V
~xyz 1 ~
~XYZ 5 V
3~
r
V

4:38

Substituting into Eq. 4.36 gives

The acceleration of the particle relative to an observer in the inertial XYZ system is
then
!
~rf dV
~xyz
~XYZ
dV
dV
d
~
3~
r
5
1
1 ~
aXYZ 5
dt
dt
dt
dt
XYZ

or
~
aXYZ

~xyz
dV
5~
arf 1
dt

!
1
XYZ

d
~
3~
r
dt

4:39

~xyz and ~
Both V
r are measured relative to xyz, so the same caution observed in
developing Eq. 4.37d applies. Thus
!
~xyz
dV
du
dv
dw
~xyz 5 ~
~xyz
1~
3V
5 i^ 1 j^ 1 k^
axyz 1 ~
3V
4:40a
dt
dt
dt
dt
XYZ

and
d
d~

d~
r
~
3~
r 5
3~
r 1~
3
dt
dt
dt
_
~
5~
3~
r 1~
3 Vxyz 1 ~
3~
r
or
d
~xyz 1 ~
_ 3~
r 1~
3V
~
3~
r 5 ~
3 ~
3~
r
dt

4:40b

Substituting Eqs. 4.40a and 4.40b into Eq. 4.39, we obtain

~xyz 1 ~
~
arf 1 ~
axyz 1 2~
3V
3 ~
3~
r 1 ~
_ 3~
r
aXYZ 5 ~

4:41

W-8

Chapter 4 Basic Equation in Integral Form for a Control Volume

Equation 4.41 relates the acceleration of a fluid particle as measured in the two frames
(the inertial frame XYZ and the noninertial frame xyz). From your study of dynamics
you will be familiar with each of the terms in the equation. They are
~
aXYZ

: Absolute rectilinear acceleration of a particle relative to fixed reference

frame XYZ.
~
arf
: Absolute rectilinear acceleration of origin of moving reference frame xyz
relative to fixed frame XYZ.
~
axyz
: Rectilinear acceleration of a particle relative to moving reference frame
xyz (this acceleration would be that seen by an observer on moving
~xyz =dt ).
frame xyz; ~
a xyz 5 dV
xyz
~
2~
3 Vxyz : Coriolis acceleration due to motion of the particle within moving frame
xyz.
~
3 ~
3~
r : Centripetal acceleration due to rotation of moving frame xyz.
~
_ 3~
r
: Tangential acceleration due to angular acceleration of moving reference
frame xyz.
Substituting ~
a XYZ , as given by Eq. 4.41, into Eq. 4.35, we obtain
Z
h
i
~system 5
~xyz 1 ~
~
F
axyz 1 2~
3V
3 ~
3~
r 1 ~
_ 3~
r dm
arf 1 ~
Msystem

or
~2
F

Z
h
i
~xyz 1 ~
~
3V
3 ~
3~
r 1 ~
_ 3~
r dm 5
arf 1 2~

Z
Msystem

But
Z

~
axyz dm 4:42a

Msystem

~xyz
dV
~
axyz dm 5
Msystem
Msystem dt

!
xyz

d
dm 5
dt

Z
Msystem

!
~xyz dm
V
xyz

~xyz
dP
5
dt

!
system

4:42b
Combining Eqs. 4.42a and 4.42b, we obtain
!
Z
h
i
~xyz
dP
_
~
~
~
3 Vxyz 1 ~
3 ~
3~
r 1 ~
3~
r dm 5
F2
arf 1 2~
dt
Msystem

system

or
Z

h
i
~
dP
~B 2
~xyz 1 ~
~S 1 F
--- 5 xyz
~
3V
3 ~
3~
r 1 ~
_ 3~
r dV
F
arf 1 2~
dt
Vsystem

!
4:43
system

Equation 4.43 is a statement of Newtons second law for a system. The system
~xyz =dt, represents the rate of change of momentum, P
~xyz , of the
derivative, dP
system measured relative to xyz, as seen by an observer in xyz. This system derivative
can be related to control volume variables through Eq. 4.25,

Z
Z
dN
@
~
~ xyz  dA
--- 1
5
dV
V
4:25
dt system
@t CV
CS
~xyz ; and 5 V
~xyz . Then Eqs.
To obtain the control volume formulation, we set N 5 P
4.25 and 4.43 may be combined to give
~B 2
~S 1 F
F

Z
CV

~xyz 1 ~
--~
arf 1 2~
3V
3 ~
3~
r 1 ~
_ 3~
r  dV
Z
Z
@
~
~xyz  dA
~xyz dV
~xyz V
--- 1
V
V
5
@t CV
CS

4:44

4.6

Momentum Equation for Control Volume with Arbitrary Acceleration W-9

Equation 4.44 is the most general control volume form of Newtons second law.
Comparing the momentum equation for a control volume moving with arbitrary
acceleration, Eq. 4.44, with that for a control volume moving with rectilinear acceleration, Eq. 4.33, we see that the only difference is the presence of three additional
terms on the left side of Eq. 4.44. These terms result from the angular motion of
noninertial reference frame xyz. In dynamics these terms are often referred to as
fictitious forces that arise due to inertia effects present when we use a noninertial
xyz coordinate system: the Coriolis force due to particle motion within the xyz
coordinates, and centripetal and tangential forces due to the xyz coordinate systems
rotational motion, respectively. As we should expect, the general form, Eq. 4.44,
reduces to the rectilinear acceleration form, Eq. 4.33, when the angular terms are zero,
and to the inertial control volume form, Eq. 4.26, when all of the terms for the control
volume motion (~
a rf ; ~
; and ~
_ ) are zero.
The precautions concerning the use of Eqs. 4.26 and 4.33 also apply to the use of
Eq. 4.44. Before attempting to apply this equation, one must draw the boundaries
of the control volume and label appropriate coordinate directions. For a control
volume moving with arbitrary acceleration, one must label a coordinate system xyz on
the control volume and an inertial reference frame XYZ.

xample

4.13

VELOCITY IN FIXED AND NONINERTIAL REFERENCE FRAMES

A reference frame, xyz, moves arbitrarily with respect to a fixed frame, XYZ. A particle moves with velocity
^ relative to frame xyz. Show that the absolute velocity of the particle is given by
~xyz 5 dx=dti^1 dy=dtj^1 dz=dtk,
V
~XYZ 5 V
~rf 1 V
~xyz 1 ~
V
3~
r
Given:
Find:

Fixed and noninertial frames as shown.

~xyz ; ~
~rf .
~
; ~
r ; and V
V XYZ in terms of V

Since

Particle

Solution:
~5R
~ 1~
From the geometry of the sketch, X
r , so
~XYZ
V

~
~ d~
dX
dR
r
r
~rf 1 d~
5
1
5V
5
dt
dt
dt
dt

z
X
Z

~
r 5 xi^1 yj^1 zk^

we have
d~
r
dx ^ dy ^ dz ^
di^
dj^
dk^
5
k1x 1y 1z
i1
j1
dt
dt
dt
dt
dt
dt
dt
or
^
^
^
d~
r
~xyz 1 x di 1 y dj 1 z dk
5V
dt
dt
dt
dt
^
^
^
The problem now is to evaluate di=dt; dj=dt, and dk=dt that result from the angular motion of frame xyz. To evaluate
these derivatives, we must consider the rotation of each unit vector caused by the three components of the angular
velocity, ~
, of frame xyz.
^ It will rotate in the xy plane because of z, as follows:
Consider the unit vector i.
y(t + t)

y(t)
i (t + t)
^

z
^

i (t)

x(t + t)
x(t)

i (t + t)
^

i (t + t) i (t)
^

i (t)

W-10

Chapter 4 Basic Equation in Integral Form for a Control Volume

Now from the diagram

^ 1 t 2 it
^ 5 1sin j^1 11 2 cos2i
^
it
But for small angles cos  1 2 [()2/2] and sin  , so



2 ^
^
^
^
^
^
i
2i 5 1 j 2
it 1 t 2 it 5 1 j 1 1
2
2

In the limit as t - 0, since 5 z t,

#
di^
dt

due to z



2
z t ^ 3
^
i
1 z t j 2
^
6
7
2
^ 
it 1 t 2 it
7
lim
lim 6
5 t-0 6
7
t-0 5
4
5
t
t


di^
^z
5 j
dt due to z
Similarly, i^ will rotate in the xz plane because of y.
i (t + t)
^

x(t + t)
^

i (t)

Enlarged sketch

x(t)

i (t + t)
^

i (t + t) i (t)
^

i (t)

z(t)

z(t + t)

Then from the diagram

^ 1 11 2 cos 2i
^ 1 t 2 it
^ 5 1 sin 2k
^
it
For small angles


2
^ 1 1 2i
^ 1 t 2 it
^ 5 1 2k
^ 5 1 2k^ 2 i^
it
2
2
In the limit as t - 0, since 5 y t,

"


^
^ 
di^
it 1 t 2 it
lim
lim
5 t-0
5 t-0
dt due to y
t

di^
^ y
5 2k
dt due to y

#
y t ^
^
1 y t 2 k 2
i
2


^ Combining terms,
Rotation in the yz plane because of x does not affect i.
di^
5 z j^2 y k^
dt
By similar reasoning,
dj^
5 x k^ 2 z i^
dt

and

dk^
5 y i^2 x j^
dt

4.7

The Angular-Momentum Principle (Continued) W-11

Thus
x

di^
dj^
dk^
1y 1z
5 zy 2 yz i^1 xz 2 zx j^1 yx 2 xy k^
dt
dt
dt

But
^
i

~
3~
r 5  x

x

j^
y
y


k^ 

z  5 zy 2 yz i^1 xz 2 zx j^1 yx 2 xy k^

z

Combining these results, we obtain

~XYZ 5 V
~rf 1 V
~xyz 1 ~
V
3 r

~XYZ
V

The Angular-Momentum Principle (Continued) 4.7

Equation for Rotating Control Volume
In problems involving rotating components, such as the rotating sprinkler of
Example 4.14, it is often convenient to express all fluid velocities relative to the
rotating component. The most convenient control volume is a noninertial one that
rotates with the component. In this section we develop a form of the angularmomentum principle for a noninertial control volume rotating about an axis fixed in
space.
Inertial and noninertial reference frames were related in Section 4.6. Figure 4.5
showed the notation used. For a system in an inertial frame,
!
~
d
H
~system 5
4:3a
T
dt
system

The angular momentum of a system in general motion must be specified relative to an

inertial reference frame. Using the notation of Fig. 4.5,
Z
Z
~ 1~
~XYZ dm 5
~ 1~
~XYZ dV
~system 5
--R
r 3 V
R
r 3 V
H
-V--system
Msystem
~ 5 0 the xyz frame is restricted to rotation within XYZ, and the equation
With R
becomes
Z
Z
~
~
~XYZ dV
--~
~
Hsystem 5
r 3 VXYZ dm 5
r 3V
---system
Msystem
V
so that
~system 5 d
T
dt

Since the mass of a system is constant,

Z
~system 5
T

~XYZ dm
~
r 3V

Msystem

d
~XYZ dm
~
r 3V
dt
Msystem

W-12

Chapter 4 Basic Equation in Integral Form for a Control Volume

or
~system 5
T

~XYZ
d~
r
dV
~XYZ 1~
3V
r3
dt
dt

Msystem

!
4:47

dm

From the analysis of Section 4.6,

r
~rf 1 d~
~XYZ 5 V
V
dt

4:36

~rf 5 0. The first term under the integral on the

With xyz restricted to pure rotation, V
right side of Eq. 4.47 is then
d~
r
d~
r
3
50
dt
dt
Thus Eq. 4.47 reduces to
Z

~XYZ
dV
~
dm 5
r3
dt
Msystem

~system 5
T

Z
~
r 3~
aXYZ dm

4:48

Msystem

From Eq. 4.41 with ~

a rf 5 0 (since xyz does not translate),
~xyz 1 ~
~
axyz 1 2~
3V
3 ~
3~
r 1 ~
_ 3~
r
aXYZ 5 ~
Substituting into Eq. 4.48, we obtain
Z
h
i
~system 5
~xyz 1 ~
~
T
3V
3 ~
3~
r 1 ~
_ 3~
r dm
r 3 ~
axyz 1 2~
Msystem

or

h
i
~xyz 1 ~
~
3 ~
3~
r 1 ~
_ 3~
r dm
r 3 2~
3V
Msystem
1
Z
Z
~xyz
dV
A dm
~
~
5
r 3~
axyz dm 5
r3
dt
Msystem
Msystem

~system 2
T

4:49

xyz

We can write the last term as

0
1
!
!
Z
Z
~xyz
~xyz
dV
d
H
d@
~xyz dmAxyz 5
~
~
dm 5
r3
r 3V
dt
dt
dt
Msystem
Msystem
xyz

4:50

system

The torque on the system is given by

~s 1
~system 5 ~
r 3F
T

~shaft
~
r 3~
g dm 1 T

4:3c

Msystem

The relation between the system and control volume formulations is


Z
Z
dN
@
~
~xyz  dA
--- 1
5
dV
V
dt system
@t CV
CS
where

Z
Nsystem 5

dm
Msystem

4:25

4.7

The Angular-Momentum Principle (Continued) W-13

~xyz
~xyz yields
Setting N equal to H
r 3V
system and 5 ~
!
Z
Z
~xyz
dH
@
~
~xyz  dA
~xyz dV
~xyz V
--- 1
~
~
5
r 3V
r 3V
@t CV
dt
CS

4:51

system

Combining Eqs. 4.49, 4.50, 4.51, and 4.3c, we obtain

Z
~shaft
~s 1
~
~
r 3~
g dm 1 T
r 3F
Msystem

h
i
~xyz 1 ~
~
3 ~
3~
r 1 ~
_ 3~
r dm
r 3 2~
3V

2
Msystem

@
5
@t

~xyz dV
--- 1
~
r 3V

CV

~
~xyz  dA
~xyz V
~
r 3V

CS

Since the system and control volume coincided at t0,

~s 1
~
r 3F

~shaft
--- 1 T
~
r 3~
g dV

CV

h
i
~xyz 1 ~
--~
3 ~
3~
r 1 ~
_ 3~
r dV
r 3 2~
3V

2
CV

@
@t

~xyz dV
--- 1
~
r 3V
CV

4:52

~
~xyz  dA
~xyz V
~
r 3V
CS

Equation 4.52 is the formulation of the angular-momentum principle for a (noninertial) control volume rotating about an axis fixed in space. All fluid velocities in
Eq. 4.52 are evaluated relative to the control volume. Comparing Eq. 4.52 with
Eq. 4.46 (for inertial XYZ cooordinates) we see that the noninertial (rotating) xyz
coordinates have an extra moment term on the left side that includes three components. As we discussed following Eq. 4.44, these components arise because of
fictitious forces: the Coriolis force because of fluid particle motion within the xyz
coordinates, and centripetal and tangential forces because of the xyz coordinates
rotational motion, respectively. Equation 4.52 reduces to Eq. 4.46 when the control
volume is not in motion (when ~
and ~
_ are zero). Even though we have the extra term
to evaluate, Eq. 4.52 is sometimes simpler to use than Eq. 4.44 because a problem that
is unsteady in XYZ coordinates becomes steady state in xyz coordinates, as we will see
in Example 4.15.

xample

4.15

LAWN SPRINKLER: ANALYSIS USING ROTATING CONTROL VOLUME

A small lawn sprinkler is shown in the sketch at right. At an inlet

gage pressure of 20 kPa, the total volume flow rate of water through
the sprinkler is 7.5 liters per minute and it rotates at 30 rpm. The
diameter of each jet is 4 mm. Calculate the jet speed relative to each
sprinkler nozzle. Evaluate the friction torque at the sprinkler pivot.
Given:
Find:

Small lawn sprinkler as shown.

(a) Jet speed relative to each nozzle.
(b) Friction torque at pivot.

Vrel

Vrel

= 30

Q = 7.5 L/min
= 30 rpm

psupply = 20 kPa (gage)

R = 150 mm

W-14

Chapter 4 Basic Equation in Integral Form for a Control Volume

Solution:
control volume enclosing sprinkler arms.
Apply continuity and angular momentum equations using rotating A
 0(1)
Governing equations:
 dV 
 Vxyz dA  0
t CV
CS
 0(3)

r  FS 

r  g  dV  Tshaft 

CV

CV

r  2  Vxyz    (  r)    r  dV

 0(1)

Assumptions:

r  Vxyz  dV 

CV

r  Vxyz  Vxyz dA

CV

(1) Steady flow relative to the rotating CV.

(2) Uniform flow at each section.
(3) 5 constant.

From continuity
Vrel 5
5

4:52
CV

Q = 7.5 L/min
= 30 rpm
Vrel

Vrel

= 30
Tf
(Control volume
rotates with
sprinkler arm)

psupply = 20 kPa (gage)

R = 150 mm

Q
Q 4
5
2Ajet
2 D2jet
2
1
L
4
1
m3
min
6 mm
3 7:5
3
3
10
3
3
2
2
2
2
min 4 mm
60 s
1000 L
m

Vrel 5 4:97 m=s

Vrel

Consider terms in the angular-momentum equation separately. As in Example 4.14, the only external torque acting
on the CV is friction in the pivot. It opposes the motion, so
~shaft 5 2Tf k^
T

The second integral on the left of Eq. 4.52 is evaluated for flow within the CV. Let the velocity and area within the
sprinkler tubes be VCV and ACV, respectively. Then, for one side, the first term (a Coriolis effect) is
Z
Z R
h
i
h
i
~xyz dV
--- 5
~
r er 3 2k^ 3 VCV er ACV dr
r 3 2~
3V
CV
Z R0
5
r er 3 2VCV e ACV dr
Z0 R
fone sideg
2VCV ACV r dr k^ 5 R2 VCV A CV k^
5
0

(The flow in the bent portion of the tube has no r component of velocity, so it does not contribute to the integral.)
From continuity, Q 5 2 VCV ACV, so for both sides the integral becomes
Z
h
i
~xyz dV
--- 5 R2 Qk^
~
r 3 2~
3V

CV

The second term in the integral (a moment generated by centripetal acceleration) is evaluated as
Z
Z
h
i
---~
~
re^r 3 k^ 3 k^ 3 r e r dV
r 3 3 ~
3~
r  dV 5
CV
Z CV
Z
h
i
--- 5 0
--- 5
r er 3 k^ 3 r e dV
re^r 3 2 r2e^r dV
5
CV

CV

so it contributes no torque. (The force generated by centripetal acceleration is radial, so it generates no moment.)

4.7

The Angular-Momentum Principle (Continued) W-15

The integral on the right side of Eq. 4.52 is evaluated for flow crossing the control surface. For the right arm of the
sprinkler,
Z
h
i
~ 5 R er 3 Vrel cos 2 e 1 sin k^ f1Vrel Ajet g
~xyz  dA
~xyz V
~
r 3V
CS
h
i
^ 1 sin 2 e Q
5 RVrel cos 2k
2
The velocity and radius vectors for flow in the left arm must be described in terms of the same unit vectors used for the
right arm. In the left sprinkler arm, the component has the same magnitude but opposite sign, so it cancels. For
the complete CV,
Z
~ 5 2RVrel cos Q k^
~xyz  dA
~xyz V
~
3
r 3V
CV

Combining terms (1), (2), and (3), we obtain

2Tf k^ 2 R2 Q k^ 5 2RVrel cos Q k^
or
Tf 5 RVrel cos 2 RQ
From the data given,
rev
rad min
m
3 150 mm 3 2
3
3
5 0:471 m=s
min
rev
60 s
1000 mm
Substituting gives
0
1
m
m
kg
L
Tf 5 150 mm @4:97 3 cos 30 2 0:471 A999 3 3 7:5
s
s
m
min
R 5 30

m3
min
N  s2
m
3
3
3
60 s
1000 L
kg  m 1000 mm

Tf 5 0:0718 N  m

Tf

This prob
lem illus
trates us
angular
e of the
momentu
m
noninert
ial (rotati principle for a
ng) contr
Note tha
ol
t in this
approach volume.
inertial c
, unlike th
ontrol vo
e
lum
4.14, the
fluid part e of Example
~
icle posit
r and ve
loc
ion vecto
~ are
r
depende ity vector V
not time
nt. As we
should e
results a
xpect, th
gree usin
e
ge
noninert
ial contro ither an inertial
or
l volume
.