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Lecture in Fluid Mechanics PDF
Lecture in Fluid Mechanics PDF
A Skeleton Guide
J. E. Shepherd
Aeronautics and Mechanical Engineering
California Institute of Technology
Pasadena, CA USA 91125
2 Thermodynamics 11
2.1 Thermodynamic potentials and fundamental relations . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Maxwell relations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Various defined quantities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4 v(P, s) relation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.5 Equation of State Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3 Compressible Flow 15
3.1 Steady Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.1.1 Streamlines and Total Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Quasi-One Dimensional Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2.1 Isentropic Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3 Heat and Friction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3.1 Fanno Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3.2 Rayleigh Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.4 Shock Jump Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4.1 Lab frame (moving shock) versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.5 Perfect Gas Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.6 Reflected Shock Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.7 Detonation Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.8 Perfect-Gas, 2- Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.8.1 2- Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.8.2 High-Explosives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.9 Weak shock waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.10 Acoustics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.11 Multipole Expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.12 Baffled (surface) source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.13 1-D Unsteady Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.14 2-D Steady Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.14.1 Oblique Shock Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
i
3.14.2 Weak Oblique Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.14.3 Prandtl-Meyer Expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.14.4 Inviscid Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.14.5 Potential Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.14.6 Natural Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.14.7 Method of Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5 Viscous Flow 52
5.1 Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.2 Two-Dimensional Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.3 Parallel Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.3.1 Steady Flows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.3.2 Poiseuille Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.3.3 Rayleigh Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.4 Boundary Layers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.4.1 Blasius Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.4.2 Falkner-Skan Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.5 Karman Integral Relations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.6 Thwaites Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.7 Laminar Separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.8 Compressible Boundary Layers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.8.1 Transformations and Approximations . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.8.2 Energy Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.8.3 Moving Shock Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.8.4 Weak Shock Wave Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.9 Creeping Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
A Famous Numbers 69
ii
1 FUNDAMENTALS 1
1 Fundamentals
I = ik (6)
Deformation tensor
1 ui uk 1
u + uT
Dik = + or (8)
2 xk xi 2
Energy conservation:
|u|2
Z
d
e+ dV = Q + W (9)
dt 2
Work: Z Z
W = G u dV + T u dA (10)
Heat: Z
Q = q n dA (11)
heat flux q, thermal conductivity k and thermal radiation qr
q = kT + qr (12)
q n
Z Z
d
s dV dA (13)
dt T
1 FUNDAMENTALS 2
|u|2 |u|2
Z Z
d
e+ dV + e+ (u uV ) n dA =
dt V 2 V 2
Z Z Z
G u dV + T u dA q n dA (18)
V V V
Z Z Z
d q
sdV + s (u uV ) n dA + n dA 0 (19)
dt V V V T
Stationary control volume:
Z Z
d
dV + u n dA = 0 (20)
dt V V
Z Z Z Z
d
udV + uu n dA = G dV + T dA (21)
dt V V V V
|u|2 |u|2
Z Z
d
e+ dV + e+ u n dA =
dt V 2 V 2
Z Z Z
G u dV + T u dA q n dA (22)
V V V
Z Z Z
d q
sdV + su n dA + n dA 0 (23)
dt V V V T
1 FUNDAMENTALS 3
where Ai is the cross-sectional area of the ith connection and mi = i ui is the mass flow rate per unit area
through this connection. The energy equation for this same situation is
I
|u|2 |ui |2
Z
dE d X
= e+ + gz dV = Ai mi hi + + gzi
dt dt V 2 i=1
2
J
|uj |2
X
Aj mj hj + + gzj + Q + W (25)
j=1
2
where Q is the thermal energy (heat) transferred into the control volume and W is the mechanical work
done on the fluid inside the control volume.
ei ek = ik (33)
1 FUNDAMENTALS 4
e3 = e1 e2 (34)
This leads to the simple interpretation of the divergence as the following limit
Z
1
F lim F n dA (40)
V 0 V V
e1
F = (h3 F3 ) (h2 F2 )
h2 h3 x2 x3
e2
+ (h1 F1 ) (h3 F3 )
h3 h1 x3 x1
e3
+ (h2 F2 ) (h1 F1 ) (48)
h1 h2 x1 x2
Cartesian
(x, y, z) x y z 1 1 1
Cylindrical
(r, , z) r sin r cos z 1 r 1
Spherical
(r, , ) r sin cos r sin sin r cos 1 r r sin
Parabolic Cylindrical
1
(u, v, z) 2
(u2 v 2 ) uv z u2 + v 2 h1 1
Paraboloidal
1
(u, v, ) uv cos uv sin 2
(u2 v2 ) u2 + v 2 h1 uv
Elliptic Cylindrical p
(u, v, z) a cosh u cos v a sinh u sin v z a sinh2 u + sin2 v h1 1
Prolate Spheroidal p
(, , ) a sinh sin cos a sinh sin sin a cosh cos a sinh2 + sin2 h1 a sinh sin
for a fixed (Eulerian) control volume in an inertial reference frame by using the divergence theorem.
+ (u) = 0 (51)
t
(u) + (uu T) = G (52)
t
|u|2 |u|2
e+ + u e + Tu+q = G u (53)
t 2 2
q
(s) + us + 0 (54)
t T
D
= u (56)
Dt
Du
= P + + G (57)
Dt
|u|2
D
e+ = (T u) q + G u (58)
Dt 2
Ds q
(59)
Dt T
Alternate forms of the energy equation:
|u|2
D
e+ = (P u) + ( u) q + G u (60)
Dt 2
Formulation using enthalpy h = e + P/
|u|2
D P
h+ = + ( u) q + G u (61)
Dt 2 t
D |u|2
= (u ) P + u + G u (62)
Dt 2
Thermal energy equation
De Dv
= P + v :u v q (63)
Dt Dt
Dissipation
ui
= :u = ik sum on i and k (64)
xk
Entropy
2
Ds q T
= + +k (65)
Dt T T T
1 FUNDAMENTALS 7
D
= u (67)
Dt
Du
= P (68)
Dt
|u|2
D P
h+ = (69)
Dt 2 t
Ds
0 (70)
Dt
|u|2
D P
h+ = + ( u) q + G u (71)
Dt 2 t
and further suppose that the external force field G is conservative and can be derived from a potential as
G = (72)
|u|2
D P
h+ + = + ( u) q (73)
Dt 2 t
|u|2
u h+ + =0 (75)
2
Or
H = constant on streamlines
For the ordinary case of isentropic flow of an incompressible fluid dh = dP/ in a uniform gravitational
field = g(z z ), we have the standard result
|u|2
P + + gz = constant (76)
2
1 FUNDAMENTALS 8
1.10 Vorticity
Vorticity is defined as
u (77)
and the vector identities can be used to obtain
|u|2
(u )u = ( ) u ( u) (78)
2
The momentum equation can be reformulated to read:
|u|2
u
H = h + + = + u + T s + (79)
2 t
1 FUNDAMENTALS 9
rf
Parameters for Air and Water Values given for nominal standard conditions 20 C and 1 bar.
1 FUNDAMENTALS 10
Air Water
shear viscosity (kg/ms) 1.8105 1.00103
kinematic viscosity (m2 /s) 1.5105 1.0106
thermal conductivity k (W/mK) 2.54102 0.589
thermal diffusivity (m2 /s) 2.1105 1.4107
specific heat cp (J/kgK) 1004. 4182.
sound speed c (m/s) 343.3 1484
density (kg/m3 ) 1.2 998.
gas constant R (m2 /s2 K) 287 462.
thermal expansion (K1 ) 3.3104 2.1104
isentropic compressibility s (Pa1 ) 7.01106 4.51010
2 Thermodynamics
2.1 Thermodynamic potentials and fundamental relations
energy
e(s, v)
de = T ds P dv (80)
enthalpy h(s, P ) = e + Pv
dh = T ds + v dP (81)
Helmholtz f (T, v) = e Ts
df = s dT P dv (82)
Gibbs g(T, P ) = e Ts + Pv
dg = s dT + v dP (83)
Calculus identities:
F F
F (x, y, . . . ) dF = dx + dy + . . . (88)
x y,z,... y x,z,...
f
x y
= x (89)
y f
f
x
y
x 1
= (90)
f y
f
x
y
2 THERMODYNAMICS 12
c4 2 v
(100)
2v 3 P 2 s
v3 2 P
= (101)
2c2 v 2 s
c
= 1 + c (102)
P
2 2 s
1 v h
= +1 (103)
2 c2 v 2 s
P
c2 (104)
s
P
= v 2 (105)
v s
v
= (106)
Ks
v
= (107)
Kt
Gruneisen Coefficient
2 THERMODYNAMICS 13
v
G (108)
cv KT
P
= v (109)
e v
v
= (110)
cp Ks
v T
= (111)
T v s
dv T ds
= Ks dP + (Ks dP )2 + + ... (112)
v cp
2
dP dP T ds
= + +G + ... (113)
c2 c2 c2
The ideal gas limit 0 has to be carried out slightly differently since the ideal gas entropy, unlike the
internal energy, is a function of density and is singular at = 0. Define
T
cig
Z Z
v (T ) d
sig = dT R (122)
T T
where the second integral on the RHS is R ln /. Then compute the residual function by substracting the
singular part before carrying out the integration
Z !
r 1 P d
s (, T ) = R (123)
0 T
and the complete expression for entropy is
3 Compressible Flow
3.1 Steady Flow
A steady flow must be considered as compressible when the Mach number M = u/c is sufficiently large. In
an isentropic flow, the change in density produced by a speed u can be estimated as
1
s = c2 P M 2 (125)
2
from the energy equation discussed below and the fundamental relation of thermodynamics.
If the flow is unsteady, then the change in the density along the pathlines for inviscid flows without body
forces is
u u2 1 1 u2
1 D 1 P
= u = (126)
Dt 2c2 c2 2 t t
This first term is the steady flow condition M 2 . The second set of terms in the square braces are the
unsteady contributions. These will be significant when the time scale T is comparable to the acoustic transit
time L/c , i.e., T Lco .
|u|2
ht = h + = constant (129)
2
Velocity along a streamline is given by the energy equation:
p
u = |u| = 2(ht h) (130)
Total properties are defined in terms of total enthalpy and an idealized isentropic deceleration process along
a streamline. Total pressure is defined by
Pt P (s , ht ) (131)
Other total properties Tt , t , etc. can be computed from the equation of state.
d(uA) = 0 (132)
udu = dP (133)
u2
h+ = constant or dh = udu (134)
2
ds 0 (135)
3 COMPRESSIBLE FLOW 16
(d)2
dP = c2 d + c2 ( 1) + ... (136)
For isentropic flow, the quasi-one-dimensional equations can be written in terms of the Mach number as:
1 d M 2 1 dA
= (137)
dx 1 M 2 A dx
1 dP M 2 1 dA
= (138)
c2 dx 1 M 2 A dx
1 du 1 1 dA
= 2
(139)
u dx 1 M A dx
1 dM 1 + ( 1)M 2 1 dA
= (140)
M dx 1 M2 A dx
2
1 dh M 1 dA
= (141)
c2 dx 1 M 2 A dx
At a throat, the gradient in Mach number is:
2
d2 A
dM
= (142)
dx 2A dx2
Constant- Gas If the value of is assumed to be constant, the quasi-one dimensional equations can be
integrated to yield:
t 1
1 + ( 1)M 2
2(1)
= (143)
1
ct t 1/2
= = 1 + ( 1)M 2 (144)
c
ht
1 + ( 1)M 2
= (145)
h
1/2
M2
u = ct (146)
1 + ( 1)M 2
1 1 + ( 1)M 2 2(1)
A
= (147)
A M
P Pt 1 21
= 1 + ( 1)M 2 2(1) 1 (148)
t c2t 2 1
(149)
Ideal Gas For an ideal gas P = RT and e = e(T ) only. In that case, we have
Z T Z T
cP (T )
h(T ) = e + RT = h + cv (T ) dT, s = s + dT R ln(P/P ) (150)
T T T
Perfect or Constant- Gas Perfect gas results for isentropic flow can be derived from the equation of
state
R
P = RT h = cp T cp = (152)
1
the value of for a perfect gas,
+1
pg = (153)
2
the energy integral,
1 2
Tt = T 1+ M (154)
2
and the expression for entropy
T
s so = cp ln R ln P/Po (155)
To
or
T
s so = cv ln R ln /o
To
Tt 1 2
= 1+ M (156)
T 2
1
Pt Tt
= (157)
P T
11
t Tt
= (158)
T
u = m = constant (163)
udu + dP = F dx (164)
dh + udu = Qdx (165)
1 F
ds = Q+ dx (166)
T
F is the frictional stress per unit length of the duct. In terms of the Fanning friction factor f
2
F = f u2 (167)
D
where D is the hydraulic diameter of the duct D = 4area/perimeter. Note that the conventional DArcy
or Moody friction factor = 4 f .
Q is the energy addition as heat per unit mass and unit length of the duct. If the heat flux into the fluid
is q, then we have
q 4
Q= (168)
u D
u = m = constant (169)
udu + dP = F dx (170)
u2
h+ = ht = constant (171)
2
(172)
c2 u2
ds
T = (173)
dv F anno v(1 + G)
u = m = constant (174)
P + u2 = I (175)
dh + udu = Qdx (176)
(177)
c2 u2
ds
T = (178)
dv Rayleigh vG
3 COMPRESSIBLE FLOW 19
1 w1 = 2 w2 (179)
P1 + 1 w12 = P2 + 2 w22 (180)
w2 w2
h1 + 1 = h2 + 2 (181)
2 2
s2 s1 (182)
or defining [f ] f2 - f1
[w] = 0 (183)
P + w2
= 0 (184)
w2
h+ = 0 (185)
2
[s] 0 (186)
The Rayleigh line:
P2 P1
= (1 w1 )2 = (2 w2 )2 (187)
v2 v1
or
[P ]
= (w)2 (188)
[v]
Rankine-Hugoniot relation:
1
P2 = P1 + 1 w12 1 (191)
2
" 2 #
1 1
h2 = h1 + w12 1 (192)
2 2
w1 = Us (193)
Particle (fluid) velocity in laboratory frame
w2 = Us up (194)
Jump conditions
2 (Us up ) = 1 Us (195)
P2 = P1 + 1 Us up (196)
h2 = h1 + up (Us up /2) (197)
3 COMPRESSIBLE FLOW 20
Kinetic energy:
u2p 1
= (P2 P1 )(v1 v2 )
2 2
[P ] 2
M12 1
= (198)
P1 +1
[w] 2 1
= M1 (199)
c1 +1 M1
[v] 2 1
= 1 2 (200)
v1 +1 M1
[s] Pt2
= ln (201)
R Pt1
+1 2
1
Pt2 1 M1
=
2
(202)
Pt1
2 1
1
1 1 2
M2 1+ M1
+1 1 +1 2
P2 2
M12 1
= 1+ (204)
P1 +1
2 1
= M12 (205)
+1 +1
2 +1
= (206)
1 1 + 2/M12
2
M12 +
1
M22 = (207)
2
M2 1
1 1
Prandtls relation
w1 w2 = c2 (208)
where c is the sound speed at a sonic point obtained in a fictitious isentropic process in the upstream flow.
w2
r
1
c = 2 ht , ht = h + (209)
+1 2
u2
UR = 3 (210)
1
2
Pressure P3 behind reflected shock:
3 u 2
P 3 = P 2 + 3 2 (211)
1
2
Enthalpy h3 behind reflected shock:
3
+1
u22 2
h3 = h2 + (212)
2 3 1
2
Perfect gas result for incident shock waves:
P2
(3 1) ( 1)
P3 P1
= (213)
P2 P2
( 1) + ( + 1)
P1
3 COMPRESSIBLE FLOW 22
1 w1 = 2 w2 (214)
P1 + 1 w12 = P2 + 2 w22 (215)
w2 w2
h1 + 1 = h2 + 2 (216)
2 2
s2 s1 (217)
h1 = cp1 T (218)
h2 = cp2 T q (219)
P1 = 1 R 1 T 1 (220)
P2 = 2 R 2 T 2 (221)
1 R1
cp1 = (222)
1 1
2 R2
cp2 = (223)
2 1
(224)
P2 1 + 1 M12
= (225)
P1 1 + 2 M22
v2 2 M22 1 + 1 M12
= (226)
v1 1 M12 1 + 2 M22
1 1 q
+ M2 + 2
T2 1 R1 1 1 2 1 c1
= (227)
T1 2 R2 1 1
+ M22
2 1 2
Chapman-Jouguet Conditions Isentrope, Hugoniot and Rayleigh lines are all tangent at the CJ point
PCJ P1 P P
= = (228)
vCJ V1 v Hugoniot v s
which implies that the product velocity is sonic relative to the wave
w2,CJ = c2 (229)
Entropy variation along adiabat
1
ds = (v1 v)2 dm2 (230)
2T
3 COMPRESSIBLE FLOW 23
Jouguets Rule
" #
w2 c2
G P P
= 1 (v1 v) (231)
v2 2v v Hug v
where G is the Gruniesen coefficient.
The flow downstream of a detonation is subsonic relative to the wave for points above the CJ state and
supersonic for states below.
3.8.1 2- Solution
Mach Number for upper CJ (detonation) point
s s
(1 + 2 )(2 1) (2 1 )(2 + 1)
MCJ = H + + H+ (232)
21 (1 1) 21 (1 1)
(2 1)(2 + 1)q
H= (233)
21 R1 T1
CJ pressure
2
PCJ 1 MCJ +1
= (234)
P1 2 + 1
CJ density
2
CJ 1 (2 + 1)MCJ
= 2 ) (235)
1 2 (1 + 1 MCJ
CJ temperature
TCJ PCJ R1 1
= (236)
T1 P1 R2 CJ
Strong detonation approximation MCJ 1
q
UCJ 2(22 1)q (237)
2 + 1
CJ 1 (238)
2
1 2
PCJ 1 UCJ (239)
2 + 1
(240)
3.8.2 High-Explosives
For high-explosives, the same jump conditions apply but the ideal gas equation of state is no longer appro-
priate for the products. A simple way to deal with this problem is through the nondimensional slope s of
the principal isentrope, i.e., the isentrope passing through the CJ point:
v P
s (241)
P v s
Note that for a perfect gas, s is identical to = cp /cv , the ratio of specific heats. In general, if the principal
isentrope can be expressed as a power law:
P v k = constant (242)
3 COMPRESSIBLE FLOW 24
then s = k. For high explosive products, s 3. From the definition of the CJ point, we have that the
slope of the Rayleigh line and isentrope are equal at the CJ point:
P PCJ P1 PCJ
= = s,CJ (243)
v s vCJ V1 vCJ
[v]
= + 2 + O()3 (248)
v1
2
[v] [v] 3
= + + O ([v]) (249)
v1 v1
[w] 2
= + O()3 (250)
c1 2
2
[w] [w]
M1 = 1 +O (251)
2 c1 c1
M1 = 1 + + O()2 (252)
2
M2 = 1 + O()2 (253)
2
[c]
= ( 1) + O()2 (254)
c1
M1 1 1 M2 (255)
Prandtls relation
1 1
c w1 + [w] or w2 [w] (256)
2 2
Change in entropy for weak waves:
3
T [s] 1 1 [v]
= 3 + . . . or = + ... (257)
c21 6 6 v
3 COMPRESSIBLE FLOW 26
3.10 Acoustics
Simple waves
P = c2 (258)
P = cu (259)
+ for right-moving waves, - for left-moving waves
Acoustic Potential
u = (260)
P0 = o (261)
t
o
0 = 2 (262)
co t
Potential Equation
1 2
2 =0 (263)
c2o t2
dAlemberts solution for planar (1D) waves
= f (x co t) + g(x + co t) (264)
P0
z= (265)
|u|
For a planar wavefront in a homogeneous medium z = c, depending on the direction of propagation.
Transmission coefficients A plane wave in medium 1 is normally incident on an interface with medium
2. Incident (i) and transmitted wave (t)
2z1
ut /ui = (266)
z2 + z1
2z2
Pt0 /Pi0 = (267)
z2 + z1
Harmonic waves (planar)
2 2
= A exp i(wt kx) + B exp i(wt + kx) c= k= = = 2f (268)
k T
Spherical waves
potential function
Q(t r/c)
(r, t) = (271)
4r
3 COMPRESSIBLE FLOW 27
Energy flux
= P 0u (272)
Acoustic intensity for harmonic waves
T 0
P 2
Z
1
I =< >= dt = rms (273)
T 0 c
Decibel scale of acoustic intensity
q(xs , t R/c)
Z
1
(x, t) = dVs R = |x xs | (278)
4 Vs R
Harmonic source
q = f (x) exp(it)
Potential function
exp i(kR t)
Z
1
(x, t) = f (xs ) dVs (279)
4 Vs R
Compact source approximation:
Multipole expansion:
exp ikR X (xs x )n exp ikr
= (280)
R n=0
n! r
Series expansion of potential
= 0 + 1 + 2 + . . . (281)
Monopole term
exp i(kr t)
Z
0
(x, t) = f (xs )dVs (282)
4r Vs
3 COMPRESSIBLE FLOW 28
Dipole term
ikx D i
1 (x, t) = 1+ exp i(kr t) (283)
4r2 kr
Dipole moment vector D Z
D= xs f (xs )dVs (284)
Vs
Quadrupole term
k2
2 3i 3 X
(x, t) = 1+ exp i(kr t) xi xj Qij (285)
4r3 kr k 2 r2 i,j
un (xs , t R/c)
Z
1
= dA (287)
2 R
Normal component of the source surface velocity
un = u n (288)
Harmonic source
un = f (x) exp(iwt)
Fraunhofer conditions |xs | a
aa
1
r
Approximate solution:
exp i(kr wt)
Z
= f (xs ) exp i xs dA
2r As
3 COMPRESSIBLE FLOW 29
+ (u) = 0 (289)
t
u
+ (uu) = P (290)
t
u2 u2
e+ + u(h + ) = 0 (291)
t 2 2
s
+ (us) 0 (292)
t
(293)
Alternative version
1 D
= u (294)
Dt
Du
= P (295)
Dt
u2
D P
h+ = (296)
Dt 2 t
Ds
0 (297)
Dt
The characteristic version of the equations for isentropic flow (s = constant) is:
d dx
(u F ) = 0 on C : =uc (298)
dt dt
This is equivalent to:
(u F ) + (u c) (u F ) = 0 (299)
t x
Riemann invariants:
Z Z Z
c dP dc
F = d= = (300)
c 1
Bending of characteristics:
d
(u + c) = (301)
dP c
For an ideal gas:
2c
F = (302)
1
Pressure-velocity relationship for expansion waves moving to the right into state (1), final state (2) with
velocity u2 < 0.
2
P2 1 u2 1 2c1
= 1+ < u2 0 (303)
P1 2 c1 1
Shock waves moving to the right into state (1), final state (2) with velocity u2 > 0.
s
2 2
[P ] ( + 1) u2 4 c1
= 1 + 1 + u2 > 0 (304)
P1 4 c1 + 1 u2
3 COMPRESSIBLE FLOW 30
w1 = u1 sin (307)
w2 = u2 sin( ) (308)
v = u1 cos = u2 cos( ) (309)
2 w1 tan
= = (310)
1 w2 tan( )
Shock Polar
[w] M1 tan
= (311)
c1 cos (1 + tan tan )
[P ] M12 tan
2 = (312)
1 c1 cot + tan
Real fluid results
Mach angle
1
= sin1 (317)
M
2
1 1 [w] [w]
= p + O (318)
2 M12 1 c1 c1
p 2
M12 1 [w]
[w]
= 2 +O (319)
M1 c1 c1
2
[P ] M
= p 21 + O()2 (320)
1 c21 M1 1
T1 [s] 1 M16
= 3 + O()4 (321)
c21 6 (M12 1)3/2
Perfect Gas Results
[P ] M 2
= p 2 1 + O()2 (322)
P1 M1 1
3 COMPRESSIBLE FLOW 32
u u2
+ ( u) u = T S (h + ) (327)
t 2
(u) = 0 (328)
u = 0 (329)
u2
h+ = constant (330)
2
or with u = = (x , y )
u = U + 0x (332)
v = 0y (333)
2
1 0xx 0yy
0 = M (334)
Prandtl-Glauert Rule
Cpinc
Cp = p (338)
2
1 M
= cos sin (339)
x s n
= sin + cos (340)
y s n
u = U cos (341)
v = U sin (342)
The transformed equations of motion are:
U
+ U = 0 (343)
s n
U P
U + = 0 (344)
s s
P
U 2 + = 0 (345)
s n
U
z = U = 0 (346)
s n
Curvature of stream lines, R = radius of curvature
1
= (347)
s R
Vorticity production
1 Po (T To ) S
z = + (348)
U o n U n
Elimination of pressure dP = c2 d
U
(M 2 1) U = 0 (349)
s n
U
U = 0 (350)
n s
1
( ) + ( ) = 0 (351)
s M 1 n
2
1
( + ) ( + ) = 0 (352)
s 2
M 1 n
(353)
Characteristic directions
dn 1
C = = tan (354)
ds M2 1
Invariants
J = = constant on C (355)
4 INCOMPRESSIBLE, INVISCID FLOW 34
u = ue + uv (356)
Irrotational Flow Define the irrotational portion of the flow by the following two conditions:
ue = 0 (357)
ue = e(x, t) volume source distribution (358)
ue = (359)
2 = e(x, t) (360)
uv = 0 (361)
uv = (x, t) vorticity source distribution (362)
uv = B (363)
B = 0 choice of gauge (364)
2
B = (x, t) (365)
2 G = (x ) (367)
1 1 1
G = = (368)
4 |x | 4r
r = |r| r=x (369)
Z
1 e(, t)
(x, t) = dV (370)
4 r
Z
1 (, t)
B(x, t) = dV (371)
4 r
4 INCOMPRESSIBLE, INVISCID FLOW 35
Z
1 re(, t)
ue (x, t) = dV (372)
4 r3
r (, t)
Z
1
uv (x, t) = dV (373)
4 r3
If the domain is finite or there are surfaces (stationary or moving bodies, free surfaces, boundaries), then
an additional component of velocity, u0 , must be added to insure that the boundary conditions (described
subsequently) are satisfied. This additional component will be a source-free, u0 = 0, irrotational u0
= 0 field. The general solution for the velocity field will then be
u = ue + uv + u0 (374)
Fluid Boundaries At an internal or free surface of an ideal fluid, the normal components of the velocity
have to be equal on each side of the surface
u1 n = u2 n = u n (379)
and the interface has to be in mechanical equilibrium (in the absence of surface forces such as interfacial
tension)
P1 = P2 (380)
4.4 Streamfunction
The vector potential in flows that are two dimensional or have certain symmetries can be simplified to one
component that can be represented as a scalar function known as the streamfunction . The exact form of
the streamfunction depends on the nature of the symmetry and related system of coordinates.
4 INCOMPRESSIBLE, INVISCID FLOW 36
2 2
=0 (385)
xy yx
which is always true as long as the function (x, y) has continuous 2nd derivatives.
Stream lines (or surfaces in 3-D flows) are defined by = constant. The normal to the stream surface is
n = (386)
||
Integration of the differential of the stream function along a path L connecting points x1 and x2 in the plane
can be interpreted as volume flux across the path
d = u nL dl = v dx + u dy (387)
Z Z
d = 2 1 = u nL dl = volume flux across L (388)
L L
where 1 = (x1 ) and 2 = (x2 ). For compressible flows, the difference in the streamfunction can be
interpreted as the mass flux rather than the volume flux.
For this flow, the streamfunction is exactly the nonzero component of the vector potential
B = (Bx , By , Bz ) = (0, 0, ) u = B = x y (389)
y x
and the equation that the streamfunction has to satisfy will be
2 2
2 = + = z (390)
x2 y 2
where the z-component of vorticity is
v u
z = (391)
x y
A special case of this is irrotational flow with z = 0.
4 INCOMPRESSIBLE, INVISCID FLOW 37
x = r cos (392)
y = r sin (393)
z = z (394)
u = ur cos u sin (395)
v = ur sin + u cos (396)
w = uz (397)
The continuity equation is
1 rur 1 u uz
u=0= + + (398)
r r r z
Translational Symmetry in z The results given above for 2-D incompressible flow have translational
symmetry in z such that /z = 0. These can be rewritten in terms of the streamfunction (r, ) where
B = (0, 0, ) (399)
The velocity components are
1
ur = (400)
r
u = (401)
r
The only nonzero component of vorticity is
1 ru 1 ur
z = (402)
r r r
and the stream function satisfies
1 1 1
r + = z (403)
r r r r r
Rotational Symmetry in If the flow has rotational symmetry in , such that / = 0, then the
stream function can be defined as
B = 0, , 0 (404)
r
and the velocity components are:
1
ur = (405)
r z
1
uz = (406)
r r
The only nonzero vorticity component is
ur uz
= (407)
z r
The stream function satisfies
1 1
+ = (408)
z r z r r r
4 INCOMPRESSIBLE, INVISCID FLOW 38
1
ur = (411)
r2 sin
1
u = (412)
r sin r
The only non-zero vorticity component is:
1 ru 1 ur
= (413)
r r r
The stream function satisfies
1 1 1 1
+ 2
= (414)
r r sin r r r sin
2 = 0 u=0 (415)
In the case of flows, that contain sources and sinks or other singularities, this equation holds everywhere
except at those singular points.
= Uy (417)
In spherical polar coordinates, Stokes streamfunction is
U r2
= sin2 U = U z (418)
2
4 INCOMPRESSIBLE, INVISCID FLOW 39
Source Distributions Single source of strength Q(t) located at point 1 . The meaning of Q is the volume
of fluid per unit time introduced or removed at point 1 .
Dipole Consider a source-sink pair of equal strength Q located a distance apart. The limiting process
0 Q Q (424)
defines a dipole of strength . If the direction from the sink to the source is d, then the dipole moment
vector can be defined as
d = d (425)
The dipole potential for spherical (3-D) sources is
dr
= (426)
4r3
and the resulting velocity field is
1 3d r d
u= r (427)
4 r5 r3
If the dipole is aligned with the z-axis, Stokes stream function is
sin2
= (428)
4r
and the velocity components are
cos
ur = (429)
2r3
sin
u = (430)
4r3
The dipole potential for 2-D source-sink pairs is
cos
= (431)
2 r
4 INCOMPRESSIBLE, INVISCID FLOW 40
cos
ur = (433)
2 r2
sin
u = (434)
2 r2
Combinations More complex flows can be built up by superposition of the flows discussed above. In
particular, flows over bodies can be found as follows:
4.6 Vorticity
Vorticity fields are divergence free In general, we have ( A) 0 so that the vorticity = u,
satisfies
0 (435)
Transport The vorticity transport equation can be obtained from the curl of the momentum equation:
D
= ( )u ( u) + T s + (436)
Dt
The cross products of the thermodynamic derivatives can be written as
P
T s = P v = (437)
2
which is known as the baroclinic torque.
For incompressible, homogeneous flow, the viscous term can be written 2 and the incompressible
vorticity transport equation for a homogeneous fluid is
D
= ( )u + 2 (438)
Dt
Vortex Lines and Tubes A vortex line is a curve drawn tangent to the vorticity vectors at each point in
the flow.
dx dy dz
= = (440)
x y z
The collection of vortex lines passing through a simple curve C form a vortex tube. On the surface of the
vortex tube, we have n =0.
4 INCOMPRESSIBLE, INVISCID FLOW 41
A vortex tube of vanishing area is a vortex filament, which is characterized by a circulation . The
contribution du to the velocity field due to an element dl of a vortex filament is given by the Biot Savart
Law
r dl
du = (441)
4 r3
Line vortex A potential vortex has a singular vorticity field and purely azimuthal velocity field. For a
single vortex located at the origin of a two-dimensional flow
= z(r) u = (442)
2r
For a line vortex of strength i located at (xi , yi ), the velocity field at point (x, y) can be obtained by
transforming the above result to get velocity components (u, v)
i y yi
u = (443)
2 (x xi )2 + (y yi )2
i x xi
v = (444)
2 (x xi )2 + (y yi )2
(445)
Or setting = z
i ri
ui = (446)
2ri2
where ri = i - xi .
The streamfunction for the line vortex is found by integration to be
i
i = ln ri (447)
2
For a system of n vortices, the velocity field can be obtained by superposition of the individual contributions
to the velocity from each vortex. In the absence of boundaries or other surfaces:
n
X i ri
u= (448)
i=1
2ri2
u 1 | n|
fn = lim =
r0 2r 2 2
2. Vorticity cannot begin or end within the fluid.
=0
3. The circulation is constant along a vortex tube or filament at a given instant in time
Z
n dA = constant
tube
However, the circulation can change with time due to viscous forces, baroclinic torque or nonconser-
vative external forces. A vortex tube does not have a fixed identity in a time-dependent flow.
4 INCOMPRESSIBLE, INVISCID FLOW 42
4. Thompsons or Kelvins theorem Vortex filaments move with the fluid and the circulation is constant
for an inviscid, homogeneous fluid subject only to conservative body forces.
D
=0 (449)
Dt
Bjerknes theorem If the fluid is inviscid but inhomgeneous, (x, t), then the circulation will change due
to the baroclinic torque P :
P
I Z
D dP
= = ndA (450)
Dt 2
Viscous fluids have an additional contribution due to the diffusion of vorticity into or out of the tube.
U2 ||2
P P = ( ) + (451)
t 2 2
Induced Mass If the external force Fext is applied to a body of mass M , then the acceleration of the
body dU/dt is determined by
dU
Fext = (m + M) (452)
dt
where M is the induced mass tensor. For a sphere (3-D) or a cylinder (2-D), the induced mass is simply M
= mi I.
2 3
mi,sphere = a (453)
3
mi,cylinder = a2 (454)
(455)
Bubble Oscillations The motion of a bubble of gas within an incompressible fluid can be described by
unsteady potential flow in the limit of small-amplitude, low-frequency oscillations. The potential is given by
the 3-D source solution. For a bubble of radius R(t), the potential is
R2 (t) dR
= (456)
r dt
Integration of the momentum equation in spherical coordinates yields the Rayleigh equation
2
d2 R 3
dR P (R) P
R 2 + = (457)
dt 2 dt
F (z) = + i (458)
and the complex velocity w is defined as
4 INCOMPRESSIBLE, INVISCID FLOW 43
dF
w = u iv = (459)
dz
NB sign of v-term! The complex potential is an analytic function and the derivatives satisfy the Cauchy-
Riemann conditions
= (460)
x y
= (461)
y x
which implies that both 2 = 0 and 2 = 0, i.e., the real and imaginary parts of an analytic function
represent irrotational, potential flows.
Examples
1. Uniform flow u = (U , V )
F = (U iV )z
q
F = ln(z z )
2
3. Line vortex of strength located at z
F = i ln(z z )
2
4. Source doublet (dipole) at z oriented along +x axis
F =
2(z z )
5. Vortex doublet at z oriented along +x axis
i
F =
2(z z )
6. Stagnation point
F = Cz 2
F = Cz n 1/2 n 1
F = Cz n 1n=
9. Circular cylinder at origin, radius a, uniform flow U at x =
a2
F = U (z + )
z
4 INCOMPRESSIBLE, INVISCID FLOW 44
Blasius Theorem The force on a cylindrical (2-D) body in a potential flow is given by
I
i
D iL = w2 dz (463)
2 body
For rigid bodies
D=0 L = U (464)
where the lift is perpendicular to the direction of fluid motion at . The moment of force about the origin
is
I
1 2
M = < zw dz (465)
2 body
L = U (468)
The pressure coefficient on the surface of the cylinder is
2
P P 4
CP = 1 2
= 1 4 sin2 + sin (469)
2 U 2aU 2aU
Generalized Cylinder Flow If the flow at infinity is at angle w.r.t. the x-axis, the complex potential
for flow over a cylinder of radius a, center and bound circulation is:
a2 exp(i)
z
F (z) = U exp(i)(z ) + i ln( ) (470)
z 2 a
4 INCOMPRESSIBLE, INVISCID FLOW 45
T2
z=+ (471)
is the Joukowski transformation, which will map a cylinder of radius T in the -plane to a line segment y
=0, 2T x 2T . Use this together with the generalized cylinder flow in the plane to produce the flow
for a Joukowski arifoil at an angle of attack. The inverse transformation is
r
z z 2
= T2 (472)
2 2
Kutta Condition The flow at the trailing edge of an airfoil must leave smoothly without any singularities.
There are two special cases:
For a finite-angle trailing edge in potential flow, the trailing edge must be a stagnation point.
For a cusp (zero angle) trailing edge in potential flow, the velocity can be finite but must be equal on
the two sides of the separating streamline.
Application to Joukowski airfoil: Locating the stagnation point at T = + a exp i, the circulation
is determined to be:
u = U cos + ut + uc (475)
v = U sin + vt + vc (476)
ut = t (477)
uc = c (478)
(479)
where is the angle of attack and 2 i = 0.
Geometry A thin, two-dimensional, wing-like body can be represented by two surfaces displaced slightly
about a wing chord aligned with the x-axis, 0 x c. The upper (+) and lower () surfaces of the wing
are given by
The profiles of the upper and lower surface can be expressed in terms of f and g as
1
Y+ (x)
= g(x) + f (x) upper surface (484)
2
1
Y (x) = g(x) f (x) lower surface (485)
2
The maximum thickness t = O(f ), the maximum camber h = O(g), and the angle of attack are all
considered to be small in this analysis
t h
1 and ui , vi << U (486)
c c
Boundary Conditions The exact slip boundary condition for inviscid flow on the body is:
dY v
= (487)
dx u (x,Y (x))
The linearized version of this is:
dY vt + vc
= + lim (488)
dx y0 U (x,y)
with cos 1, and sin . This can be written as
1 0
vt (x, 0+) + vc (x, 0+) = U g 0 + f U (489)
2
1 0
vt (x, 0) + vc (x, 0) = U g 0 f U (490)
2
where f 0 = df /dx and g 0 = dg/dx.
The boundary conditions are then divided between the thickness and camber disturbance flows as follows:
1
vt = U f 0 for y 0 (491)
2
vc = U (g 0 ) for y 0 (492)
In addition, the disturbance velocities have to vanish far from the body.
Delta Function Representation The limit of the integrand is one of the representations of the Dirac
delta function
1 y
lim = (x ) (497)
y0 y 2 + (x )2
where Z +
0 x 6=
(x ) = f ()(x ) d = f (x) (498)
x=
U c (x )f 0 () d
Z
t
ut = = (500)
x 2 0 y 2 + (x )2
U c yf 0 () d
Z
t
vt = = (501)
y 2 0 y 2 + (x )2
The velocity components satisfy the following relationships across the surface of the wing
P P u2 + v 2
CP = 1 2
=1 2
(504)
2 U
U
The linearized version of this is:
ut + uc
CP 2 (505)
U
For the pure thickness case, then we have the following result:
1 c f 0 () d
Z
CP (506)
0 (x )
The integral is to be evaluated in the sense of the Principal value interpretation.
Principal Value Integrals If an integral has an integrand g that is singular at = x, the principal value
or finite part is defined as
Z a Z x Z a
P g() d = lim g() d + g() d (507)
0 0 0 x+
Z c
c 1 y() d
uc = = (513)
x 2 0 y + (x )2
2
Z c
c 1 (x )() d
vc = = (514)
y 2 0 y 2 + (x )2
(x)
lim uc (x, y) = u(x, 0) = (515)
y0 2
Apply the linearized boundary condition to obtain the following integral equation for the vorticity distribution
Z c
dg 1 () d
U = P d (516)
dx 2 0 (x )
Kutta Condition The Kutta condition at the trailing edge of a sharp-edged airfoil reduces to
(x = c) = 0 (520)
4 INCOMPRESSIBLE, INVISCID FLOW 49
Vorticity Distribution The integral equation for the vorticity distribution can be solved explicity. A
solution that satisfies the Kutta boundary condition is:
1/2 " Z c 0 1/2 #
cx 1 g ()
(x) = 2U + P d (521)
x 0 x c
The pressure coefficient for the pure camber case is
(x)
CP = for y 0 (522)
U
The integrals can be computed exactly for several special cases, which can be expressed most conveniently
using the transformation
2x 2
z= 1 = 1 (523)
c c
Z 1 r
1 1+
P d = (524)
1 z 1
Z 1 p
1 2
P d = z (525)
1 z
Z 1
1
P p d = 0 (526)
1 1 2 (z )
Z 1
P p d = (527)
1 1 2 (z )
Z 1
2
P p d = z (528)
1 1 2 (z )
Higher powers of the numerator can be evaluated from the recursion relation:
1 1
n n1 1(3) (n 2)
Z Z
P p d = zP p d [1 (1)n ] (529)
1 1 2 (z ) 1
2
1 (z ) 2 2(4) (n 1)
Z c
1 (x )f () d
u = U + = (531)
x 4 0 [(x )2 + r2 ]3/2
Z c
1 rf () d
v = = (532)
r 4 0 [(x )2 + r2 ]3/2
(533)
L0
CL0 (y) = 1 2
= m (y) ( i (y)) (539)
2 U c(y)
Induced angle of attack, w = downwash velocity
w w
i = tan1 (540)
U U
Induced drag
Di = U i (541)
Load distribution (y), bound circulation at span location y
1
(y) = m U c(y) ( i (y)) (542)
2
Trailing vortex sheet strength
d
= (543)
dy
Downwash velocity
Z +b/2
1 () d
w= P (544)
4pi b/2 y
Integral equation for load distribution
" Z +b/2 0 #
1 1 () d
(y) = m (y)U c(y) (y) P (545)
2 4piU b/2 y
Boundary conditions
b b
( ) = ( ) = 0 (546)
2 2
Elliptic load distribution, constant downwash, induced angle of attack
4 INCOMPRESSIBLE, INVISCID FLOW 51
y 2 1/2 s s
(y) = s 1 w= i = (547)
2b 2b 2U
Lift
b2
L = U s (548)
4
Induced drag (minimum for elliptic loading)
1 L2
Di = 1 2 b2
(549)
2 U
Induced drag coefficient
CL2 b
CD,i = AR = b2 /S (550)
AR c
5 VISCOUS FLOW 52
5 Viscous Flow
Equations of motion in cartesian tensor form (without body forces) are:
Conservation of mass:
uk
+ =0 (551)
t xk
Momentum equation:
ui ui P ik
+ uk = + (i = 1, 2, 3) (552)
t xk xi xk
Viscous stress tensor
ui uk uj
ik = + + ik sum on j (553)
xk xi xj
Lames constant
2
= v (554)
3
Energy equation, total enthalpy form:
ht ht P ki ui qi
+ uk = + sum on i and k (555)
t xk t xk xi
Thermal energy form
h h P P ui qi
+ uk = + uk + ik sum on i and k (556)
t xk t xk xk xi
or alternatively
e e uk ui qi
+ uk = P + ik sum on i and k (557)
t xk xk xk xi
Dissipation function
ui
= ik (558)
xk
Fouriers law
T
qi = k (559)
xi
5.1 Scaling
Reference conditions are
velocity U
length L
time T
density
viscosity
thermal conductivity k
5 VISCOUS FLOW 53
P = (565)
Dissipation function
" 2 #
2 2 2
u v u v u v
= 2 +2 + + + + (567)
x y y x x y
Couette Flow A special case are flows in which pressure gradients are absent
P
=0 (572)
x
and the properties strictly depend only on the y coordinate, these flows have x = 0. The shear stress is
constant in these flows
u
xy = = w (573)
y
The motion is produced by friction at the moving boundaries
Constant Prandtl Number Assuming P r = constant and using d h = cp d T , the energy equation can
be integrated to obtain the Crocco-Busemann relation
u2 qw
h hw + P r = Pr u (580)
2 w
For constant cP , this is
u2 qw P r
T = Tw P r u (581)
2cP w cP
5 VISCOUS FLOW 55
1 U2
Tr = Te + P r (583)
2 cP
Contrast with the adiabatic stagnation temperature
1 U2
Tt = Te + (584)
2 cP
The recovery factor is defined as
Tr Te
r= (585)
Tt Te
In Couette flow, r = P r. The wall temperature is lower than the adiabatic stagnation temperature Tt when
P r < 1, due to thermal conduction removing energy faster than it is being generated by viscous dissipation.
If P r > 1, then viscous dissipation generates heat faster than it can be conducted away from the wall and
Tr > Tt .
Reynolds Analogy If the wall is not adiabatic, then the heat flux at the lower wall may significantly
change the temperature profile. In particular the lower wall temperature (for cp = constant) is
qw
Tw = Tr + P rU (586)
cP w
In order to heat the fluid qw > 0, the lower wall must be hotter than the recovery temperature.
The heat transfer from the wall can be expressed as a heat transfer coefficient or Stanton number
qw
St = (587)
U cP (Tw Tr )
where qw is the heat flux from the wall into the fluid, which is positive when heat is being added to the fluid.
The Stanton number is proportional to the skin friction coefficient
w
Cf = 1 2
(588)
2 U
For Couette flow,
Cf
St = (589)
2P r
This relationship between skin friction and heat transfer is the Reynolds analogy.
Constant properties If and k are constant, then the velocity profile is linear:
U w
w = u= y (590)
H
The skin friction coefficient is
2 U H
Cf = Re = (591)
Re
5 VISCOUS FLOW 56
P 2u
0= + 2 (592)
x y
With the boundary conditions u(0) = u(H) = 0, this can be integrated to yield the velocity distribution
P H 2 y y
u= 1 (593)
x 2 H H
and the wall shear stress
P H
w = (594)
x 2
Pipe Flow The same situation for a round channel, a pipe of radius R, reduces to
1 u 1 P
r = (595)
r r r x
which integrates to the velocity distribution
1 P
R2 r 2
u= (596)
4 x
and a wall shear stress of
P R
w = (597)
x 2
The total volume flow rate is
P R4
Q= (598)
x 8
The skin friction coefficient is traditionally based on the mean speed u and using the pipe diameter d = 2R
as the scale length.
Q P R2
u = = (599)
R2 x 8
and is equal to
w 16 ud
Cf = = Red = (600)
1/2u2 Red
In terms of the Darcy friction factor,
8w 64
= 2
= (601)
u Red
Turbulent flow in smooth pipes is correlated by Prandtls formula
1
= 2.0 log Red 0.8 (602)
or the simpler curvefit
2.5
= 1.02 (log Red ) (603)
5 VISCOUS FLOW 57
u 2u
= 2 (604)
t y
The boundary conditions are
u U 2
= = exp( ) (609)
y t 4
Vorticity thickness
Z
1
= (y, t) dy = t (610)
0
Scaling
x L (611)
y (612)
u U (613)
U
v U (614)
L Re1/2
L
(615)
Re1/2
Exterior or outer flow, ue . Re , slip boundary conditions. Equations are inviscid flow equations of
motion.
Interior or inner flow , ui . Finite Re but L, noslip boundary conditions ui (y = 0) = 0, matching to
outer flow, limy ui = limy0 ue . Equations are
5 VISCOUS FLOW 58
u v
+ + = 0 (616)
t x y
u u u P xy
+ u + v + = (617)
t x y x y
P
0 = (618)
y
ht ht ht P
+ u + v = + (uxy qy ) (619)
t x y t y
Displacement thickness
Z
u
= 1 dy (621)
0 e u e
Momentum thickness
Z
u u
= 1 dy (622)
0 e ue ue
Displacement Velocity Near the boundary layer, the external flow produces a vertical velocity ve which
can be estimated by continuity to be
e ue
e ve y (623)
x
The boundary layer displaces the outer flow, producing a vertical velocity v far from the surface which differs
from ve by the amount v
d
e v =(e ue ) (624)
dx
The boundary layer influence on the outer flow can therefore by visualized as a source distribution producing
an equivalent displacement.
Steady Incompressible Boundary layers The pressure gradient can be replaced by using Bernoullis
equation in the outer flow
P ue
= ue (625)
x x y=0
For constant and k, the equations are
u v
+ = 0 (626)
x y
u u ue 2u
u +v = ue + 2 (627)
x y x y
2
e e u 2T
u + v = +k 2 (628)
x y y y
5 VISCOUS FLOW 59
m flow
-.0904 separating
<0 retarded flows, expansion corner
0 flat plate, zero pressure gradient
1 stagnation point
0< accelerated flows, wedges
-2 doublet near a wall
-1 point sink
f (0) = 0 (641)
w
f 0 (0) = (642)
ue
2 due
f 00 (0) = (643)
dx
f 000 (0) = 0 (644)
f (1) = 1 (645)
n>1
f (1) = 0 (646)
ue d2 2 due w
= 2(S (2 + H)) = S= (647)
dx dx ue
Thwaites 1949 correlation
ue
w = S() = H() (651)
u v
+ = 0 (654)
x y
u u Pe u
u + v = + (655)
x y x y y
2
h h u T
u + v = + k (656)
x y y y y
2 2 2
= o C (661)
Y XY X Y 2 Y Y 2
2 2
h h C h
= + C (662)
Y X X Y Y P r Y Y 2
Similarity variable
5 VISCOUS FLOW 62
r
y 2 x
= = (663)
(x) U
Streamfunction ansatz for zero pressure gradient
= U f () h = h g() (664)
Similarity function equations
(Cf 00 )0 + f f 00 = 0 (665)
C 2
( g 0 )0 + f g 0 = CEc (f 00 ) (666)
Pr
where the Eckert number is
U2
Ec = = ( 1)M 2 for perfect gases (667)
h
Transport property approximation
cP
C = 1 = Pr = = constant (668)
k
Approximate equation set:
f 000 + f f 00 = 0 (669)
00 0 00 2
g + P rf g = P rEc (f ) (670)
u2
ht ht ht
u + v = ht = he + e (674)
x y y y 2
This has as a solution in adiabatic flow
u2e u2
ht = he + = h + = constant for qw = 0 (675)
2 2
Therefore, the recovery enthalpy is
5 VISCOUS FLOW 63
u2
hr = h + (676)
2
From the exact correspondence to the x-momentum equation, the general, qw 6= 0, solution is ht = a + bu.
This leads directly to the Crocco integral
u2 u2
u
h = h + [hw hr ] 1 + 1 2 (677)
u 2 u
The Stanton number can be derived from this result in the form of Reynolds analogy
Cf
St = (678)
2
The generalization of this to other Prandtl numbers that is valid for laminar and turbulent boundary layers
in gases is
Cf
St ' (679)
2P r2/3
General Prandtl Number For similarity solutions, the nondimensional enthalpy can be found by inte-
gration of the energy equation, simplest when C = 1, and P r = constant.
2
g 00 + P r f g 0 = P r Ec (f 00 ) (680)
This equation can be integrated exactly to yield
0
"Z #
2
(f 00 ()) d
Z Z
0 0 0 0
g() = g(0) + g (0) F ( ; P r) d P r Ec F ( ; P r) d 0 (681)
0 0 0 F (; P r)
where
0
!
Z Z
F (; P r) = exp P r f () d d 0 (682)
0 0
Coordinate stretching The physical coordinate can be computed from the transformed similarity variable
and the velocity profile
r Z
u
y = d (689)
2 x 0
The density profile can be computed from the temperature profile since the pressure is constant across the
boundary layer. For an ideal gas
T
= (690)
T
For the case of P r = 1 and a perfect gas, the temperature profile is
Z
T 1 2
1 f 02 d 0
=1+ M (691)
T 2 0
If we suppose that the viscosity varies as T , then the skin friction coefficient is
00
2f (0) 1
Cf = 1/2 1 (693)
1 2
Rex 1 + 2 M
u = 1 u 1 (695)
4 0 u
P + 1 u 1 u = P1 + 1 u21 (696)
3 x
u2 4 0 u k T u21
h+ u = h1 + (697)
2 3 1 u1 x 1 u1 x 2
where
3
0 = + v (698)
4
Entropy creation by gradients:
" 2 2 #
+
4 0
Z
1 u 1 T
s2 s1 = +k dx (699)
1 u 1 3T x T x
Weak shock thickness estimate based on maximum slope:
5 VISCOUS FLOW 65
80 1 3
m = 0 = + v (700)
3c M1n 1 4
For a perfect gas ( = constant), the mean free path can be estimated as
1/2
= (701)
2 c
and the shock thickness for = 1.4, v = 0, is
1.8
m = (702)
(M1n 1)
5 VISCOUS FLOW 66
P = (703)
If the viscosity and density are constant this is equivalent to
P = 2 u or P = (704)
Applying the divergence and curl operations to these equations yields
2 P = 0 or 2 = 0 (705)
The Reynolds number enters solely through the boundary conditions. Consider a flow with characteristic
velocity U , lateral dimension L and viscosity . If the velocity is specified at the boundaries,
U 2 U L
P = f (x/L, geometry) ReL = (707)
ReL
If the pressure is specified at the boundaries,
4 = 0 (710)
F = CU L (712)
The constant C will in general depend on the shape of the body, the direction x of the force and the motion
of the body.
For a sphere, the flow can be solved by using Stokes axisymmetric streamfunction . The velocity
components are:
1
ur = (713)
r2
sin
1
u = (714)
r sin r
The analog of the biharmonic equation is
5 VISCOUS FLOW 67
2
2
sin 1
+ 2 =0 (715)
r2 r sin
The boundary conditions at the surface of the sphere are:
=0 =0 =0 r=a (716)
r
and the flow approaches a uniform flow far from the sphere
U r2
lim = sin2 (717)
r 2
The solution is
a 3r 2r2
U
= a2 sin2 + 2 (718)
4 r a a
The pressure on the body is found by integrating the momentum equation
3aU
P = P cos (719)
2r2
and the force (drag) is directed opposite to the direction of motion of the sphere with magnitude
D 24 U 2a
D = 6U a CD 2 2
= Re = (720)
1/2U a Re
For a thin disk of radius a moving normal to the freestream the drag is
D = 16U a (721)
and moving parallel to the freestream
32
D= U a (722)
3
Oseens Approximation The inertial terms neglected in Stokes approximation become significant at a
distance r a/Re. The Oseen equations are a uniform approximation for incompressible viscous flow over
a body. If the mean flow at large distances from body is U in direction x, then the Oseen equations are:
u = 0 (723)
u u
+ U = P + 2 u (724)
t x
This results in a corrected drag law (the flow now has a wake) for the sphere
24 3Re 9 2
CD = 1+ + Re ln Re + . . . (725)
Re 16 160
h hu
+ = 0 (727)
t x
P u
0 = + (728)
x y y
P
0 = (729)
y
For a constant property flow, the velocity is given at any point in the channel by the Couette-Poiseuille
expression of parallel flow if the lower boundary is moving with velocity U and the upper boundary is at
most moving in the y direction
h2 P y y y
u= 1 +U 1 (730)
2 x h h h
Combining this result with the continuity equation yields the Reynolds lubrication equation
1 3 P h h
h = 6U + 12 (731)
x x x t
For a slipper pad bearing, the pressure is equal to the ambient value P at x = 0 and x = L and the gap
height h is
x
h = h 1 1 (732)
L
The pressure is given by
h h2
U L h
P P = 6 1 3 1 (733)
h2 h h h2
where h is the gap height at the location of the pressure maximum
h 1 2
=2 1 + O(3 ) (734)
h 2 2 4
and the maximum pressure is approximately
3 U L
Pmax P + O(2 ) (735)
4 h2
A FAMOUS NUMBERS 69
A Famous Numbers
Astronautics
Consistent with the 1998 CODATA adjustment of the funadamental physical constants
A FAMOUS NUMBERS 70
Our Atmosphere
Sea level
P pressure 1.01325105 Pa
density 1.225 kg/m3
T temperature 288.15 K
c sound speed 340.29 m/s
R gas constant 287.05 m2 /s2 -K
W molar mass 28.96 kg/kmol
viscosity (absolute) 1.79105 kg/m-s
k thermal conductivity 2.54103 W/m-K
cp heat capacity 1.0 kJ/kg-K
30 kft
P pressure 3.014104 Pa
density 0.458 kg/m3
T temperature 228.7 K
c sound speed 303.2 m/s
Unit Conversions
1m 3.28 ft
0.3048 ft 1m
1 lb (force) 4.452 N
1 lb (mass) 0.454 kg
1 btu 1055 J
1 hp 745.7 W
1 hp 550 ft-lbf /s
1 mile (land) 1.609 km
1 mph 0.447 m/s
1 mile (nautical) 1.852 km
B BOOKS ON FLUID MECHANICS 71
Compressible Flow
Acoustics
1. Pierce, A.D. Acoustics: an introduction to its physical principles and applications QC225.15
P52 1989
Aerodynamics
Rotating Flow
1. Vanyo, J. P. Rotating Fluids in Engineering and Science TA357.V36 2000 (Dover paperback)
Thermodynamics
1. D. Kondepudi and I. PrigogineModern Thermodynamics, Wiley, 1998.
2. M. Abbott and H. van Ness Thermodynamics Schaums Outline Series. TJ265.A19 1989
3. Adkins, C. J. Equilibrium Thermodynamics QC318.T47 A34 1983
Some Data Tables
3. Poling, B. E., Prausnitz, J. M., and OConnell, J. P. The Properties of Gases and Liquids.
TP243.P62 2000.
Vector Analysis
1. Aris, R. Vectors, Tensors, and the Basic Equations of Fluid Mechanics QA911.A69 1989
2. Spiegel, M.R. Vector Analysis Schaums Outline Series Not in CIT libraries
Dimensional Analysis
Visualization