Set 1 of Notes (Basic Equations in Fluid Dynamics) PDF

Fluid Dynamics
ME 5313 / AE 5313
Basic Equations in Fluid Dynamics
Instructor: Dr. Albert Y. Tong

Department of Mechanical and Aerospace Engineering
The University of Texas at Arlington
Vector Operations in Orthogonal
Coordinate System
Vector operations in orthogonal coordinate systems

Scalar function  ( x1 , x 2 , x3 )
Vector function a  (a1 , a2 , a3 )
U it vectors
Unit t iin x1 , x2 , x3 = e1 , e 2 , e 3
Metric scale factors h1 , h 2 , h 3
Basic Equations in Fluid Dynamics 2

Coordinate System
 (d l) operator:
(del) t
e1  e2  e3 
  
h1 x1 h 2 x 2 h 3 x 3

Coordinate System
Cartesian Coordinates (x, y, z)

e 1= i e2= j e3= k
h1= 1 h2=1 h3= 1
x1= x x2= y x3= z
  
  i  j  k
x y z
Coordinate System
Cylindrical coordinates (r,,z)

e1= r̂ e2= ̂ e3= ẑ
h1= 1 h2= r h3= 1
x1= r x2=  x3= z
 ˆ  
  rˆ   zˆ
r r  z

Coordinate System
Spherical coordinates (r, , )

e1= r̂ e2= ̂ e3= ̂
h1= 1 h2= r h3= r sin 
x1= r x2=  x3= 
 ˆ  ˆ 
  r̂  
r r  r sin 

Coordinate System
Gradient
The gradient of  or grad  is defined as
e1  e2  e3 
grad
g      
h1 x1 h2 x2 h3 x 3

Coordinate System
In Cartesian Coordinates:
  
  i  j  k
x y z

Coordinate System
Consider a simple 1-D case:

 = T = T (x)
T T T
  T  i j k
x y z
dT
 i
dx

Coordinate System
Consider a surface  (x, y, z) = C

  
d  dx  dy  dz  0
x y z
along  = C
d   (   d r )  0

Coordinate System
⇒   d r
Therefore,  is normal to the

surface
f   C

Coordinate System
Divergence
The divergence of a is defined as
 1  
a   (h2 h3 a1 ) 
h1h2 h3  x1
  
(h3h1a2 )  (h1h2 a3 ) 
x2 x3 

Coordinate System
Cartesian Coordinates:
 a1 a 2 a 3
a   
x y z
e.g.
a  u
 u v w
u   
x y z
Coordinate System
Potential flow:
u  
     
  ( )  ( )  ( )  ( )
x x y y z z
     
2 2 2
  2
  2
x 2
y 2
z
  
2
(Laplacian Operator)

Coordinate System
Cylindrical coordinates:
 1  a2  
 a   (ra1)   (ra3)
r  r  z 

Coordinate System
Spherical Coordinates:
 1  2
a   r ( r sin  a ) 
r 2 sin 
1
  
(r sin  a2 )  (ra3 ) 
  

Coordinate System
Curl

The curl of a is defined by
h1e1 h 2e2 h3e3

  1   
Curl a   a 
h1h 2h3 x1 x 2 x3
h1a1 h 2a 2 h3a 3

Coordinate System
Cartesian Coordinates:
i j k
   
 a 
x y z
ax ay az

Coordinate System
 az a y
  a  i(  )
y z
ax az a y ax
j(  )  k(  )
z x x y
 
  u (Vorticity)

Coordinate System

Velocity field: V (u , v , w)

V Deformation field

 V Volume dilatation

 V Rotation

Coordinate System

 V  0  Incompressible
(constant density)

 V  0  Irrotational

Integral Theorems
Gauss’ Theorem
 
  
a  nd S    adV
S V
It is also known as the divergence theorem.

Integral Theorems
In Cartesian coordinate system (x,y,z)
  a x n x  a yn y  a znz  dS 
S
 a x a y a z 

V

 x

y

z 
 dV


where n  n x , n y , n z 
Integral Theorems
Stokes’ Theorem
   
 a  dl   (  a)  n dS
C S
It relates a line integral

to a surface integral

Vector Identities
(i)       0
  
(ii)    a       a    a   
  
(iii)    a       a      a 

(iv)      a   0

Vector Identities
(v)   1    
 a    a    a  a   a    a 
2
( i)      a       a   2a
(vi)
  

   
(vii)   a  b  b     a   a   b  
       

    
(viii)  a  b   b a    a  b   a  b  b  a  
Eulerian and Langrangian Coordinates
Eulerian coordinates:
Open
p system
y (control
( volume))
Lagrangian coordinates:
Closed system (control mass)

Eulerian Coordinate
Fixed region in space
i.e.
x,y,z,t are independent

Lagrangian Coordinate
Focus attention
F i on a
particular particle as
it moves.
moves
i.e. x,y,z,t are no longer
independent

Material Derivatives
In Eulerian coordinates:
T (temperature) is a function of
x,y,z,and t
i.e. T = T(x,y,z,t)
DT T

Dt t

In Lagrangian coordinates:
T = T(x,t)
DT T t T x
 
Dt t t x t
DT T T
  u
Dt t x

In a 3D case, T = T(x,y,z,t)
DT T t T x T y T z
   
Dt t t x t y t z t
DT T T T T
  u v w
Dt t x y z

In vector form:
DT T 
   u   T
Dt t

where u  iu  jv  kw
  
 i j k
x y z
   
u   u v w
x y z

In tensor form:
DT T T
  uk
Dt t x k
uk xk
k=1 u x
k=2 v y
k=3 w z

Reynolds’ Transport Theorem
   
 
D
dV       u   dV
Dt  t 
V(t) V
 = any fluid properties

   (mass)
  u (momentum)
  e (energy)

Proof:
  
1  
  
D
(t)dV  lim    (t  t)dV   (t)dV  
Dt t  0  t 
V(t)    V(t t) V(t) 


1
By adding and subtracting   t  t dV
t
V(t)
( )

Then
  
1  
  
D
 ((t)dV
)  lim   (t
(  t)dV
)  (t
(  t)dV
) 
D
Dt t  0  t 
V(t)    V(t t) V(t) 

  
1  
lim  
t 0  t

 (t  t)dV 

(t)dV 
 
  V(t) V(t) 


Second limit term = 
V(t)
t
dV
  
1  
First limit term = lim  
t  0  t
 
 
 (t  t)dV] 
 
  V(t
( t)
) V(t)
( ) 

S t   t 
S t 
 
dS u n
 
dV  u  ndS t
  
1  

 
= lim   (t  t)u  ndSt  
t  0  t 
   ( )
S(t) 


 
 
= (t)u  ndS =   (t)u  dV
S(t) V(t)

Sub. back into the original equation gives

   
 (t)dV  
D
Dt  t     u   dV
V(t) V(t)
In tensor notation, it becomes
   
 
D
(t)dV     u k   dV
Dt  t x k 
V(t) V(t)

Conservation of Mass
Physical Law: matter can neither be created nor

destroyed
take 

D
dV  0
Dt
V

Using R T T
   
 
D
dV     u k   dV  0
Dt  t x k 
V V
 
  u k   0
t x k
   u    v    w 

or    0 (C ti it Equation)
(Continuity E ti )
t x y z

Special Case: i) uniform constant density
  constant
   u    v    w 
   0
t x y z
 u  v  w 
 u  v  w 0
t x x y y z z

, , 0
 u v w 
   0
 x y z 

u v w
  0
x y z

or u  0

Special Case: ii) incompressible stratified flow

  c along a streamline but not uniform throughout
D
 0
Dt
The continuity equation can be written as


 
  u k   0
t x k

=>
  u k
 uk  0
t x k x k
D u k D
 0 where 0
Dt x k Dt
u k 
 0 or   u  0
x k

Conservation of Momentum
Physical Law: The directional rate of change of

momentumt = nett external
t l fforce.
 
Fnett  ma
Two types of force
(i) Body force, f , e.g. gravity
(ii) Surface force, P , e.g. pressure, shear stress


D 
Rate of Change of Momentum udV
Dt
V(t)
 
E t
External
lF

Force  PdS   f dV
S

V
 
  
D 
  udV  P dS   f dV
Dt
V S V


Stress in the x1 direction = 11 n1 + 21 n2 + 31 n3

 Pj  ijn i
  
D
=> u jdV  ij n i dS  f jdV
Dt
V S V

Using Reynolds’ Transport Theorem
  
     
D
u jdV   u j  u j u k  dV
Dt  t x k 
V V
Using Gauss’ Theorem
ij
S
ijn i dS 
 x
V
i
dV

It yields
  ij 
  
V
 u j 
 t x k

 u ju k  
x i
 f j  dV  0

Since V is arbitrary, the integrand must vanish
  ij
t
 
u j 
x k

 u ju k 
x i

 f j

On the other hand
 u j 
t
 
u j  
t
uj
t
and
 u k u j
x k
 
u j u k  u j
x k
 u k
x k

u j   u k  u j ij
=>   uj     u k   f j
t  t x k  x k x i
  u k 
But from continuity equation,   0
 t x k 

 u j u j  ij
    uk    f j
 t x k  x i
D j
Du  ij

   f j
Dt x i

Conservation of Energy
First Law of Thermodynamics for a closed system

dE  dKE  Q  W (1)
d  E  KE)   W

 Q
dt
E = internal energy
KE = kinetic energy
Q = heat transfer to the system
W = work done by the system
 1  

D
L.H.S. :  e  u  u dV
Dt  2 
V(t)

 
R.H.S. : (i) 
Q   q  n ds
s

   
  
   u  p ds  u  f dV
(ii) W
s V
Sign convention:
W is positive if work is done by the system
Q is positive if heat is transferred into the
system

D  1      
   
  (2)
 e  u  u dV  u  PdS u f dV  q  ndS
Dt  2 
V s V s
Using the Reynolds

D  1      1      1    

Dt 
V
2  
e  u  udV   e  u  u 
V
t  2 e  u  u uk dV
 xk  2  
(3)

Using Gauss’ Theorem

q j
   x
   (4)
q  n dS    q dV  dV
j
s V V
and
 
 s
u  P dS 

s
u j P jdS

But Pj  ijjn i
 

s
   
 u  P dS  u j ijni dS  (u
s
( jij )n
) idS
s


 xi
 
u jij dV (5)

Substituting (3), (4), and (5) into (2) gives:
      

1 1
  e  u ju j    e  2 u ju j  u k  dV
 t  2  x k   
V
  q j 

   
u jijj  u jf j  dV
 x i x j 
V

since V is arbitrary, the integrand must vanish

 1    1 
  e  u ju j    e  u ju j  uk
t  2  xk  2 
 qj

xi
 
u jij  u jf j 
x j
(6)

Mechanical Energy part can be removed
L H S off (6)
L.H.S. (6):
 1  e    1  1 

1 term:
1st  e  u ju j     e   u ju j   u ju j
t  2  t t t  2  2 t
2nd term:   1  u k e

 e  u j j k
u u  e  u k
x k  2  x k x k
1 uk  1 
 u ju j uk  u ju j 
2 xk xk  2 
From Continuity Equation:

    u k  
  u k   0  
t x k x k t
2nd term becomes:

 e 1   1 
e uk  ujuj uk  j j
u u
t xk 2 t xk  2 

L.H.S. of (6)
e e  1   1 
 uk   u ju j  uk  j j
u u
t xk t  2  xk  2 
e e u j u j
   u k  u j  u k u j (7)
t x k t x k

R.H.S. of (6):
 q j

xi
 
u jij  u jf j 
x j
ij u j q j
 uj  ij  u jf j 
x i x i x j

After rearranging, (6) becomes:

e e  u j u j ij  u j q j
 uk  u j u juk uj  u jf j   ij 
t xk  t xk xi  xi x j
According to momentum equation:
 uj uj ij   uj uj ij 
uj ujuk  uj ujfj  uj  uk  fj   0
 t xk xi   t xk xi 
e e u j q j
  u k  ij 
t x k xi x j

Remarks
Number of Equation:
Continuity 1
Momentum 3
Energy 1
------------------------
Total 5

Remarks
Number of unknowns:
e 1
uj 3
qj 3
σij 9
ρ 1
------------------
Total 17
Remarks
Introducing the constitutive equations:

1) Fourier’s Law of Heat Conduction
2) Newtonian Fluid

Remarks
Fourier’s Law of Heat Conduction


q   k T
Newtonian
e to a Fluid
ud
u k  u i u j 
ij  pij  ij    
x k  x j x i 
 

Deformation of Fluid Element
An infinitesimal element of fluid at time t=0 and time t=t

1) Translation
2) Rigid body rotation
3) Distortion
4) Volumetric dilatation

∂v
δx δt
δx. δy
∂x

C x D
∂v 1
v δx v δt δα tan
∂x δx
∂v δy
δy δxδt δα~
∂x δx

 v
v
  
t x
similarly
  u
y

Rate of rotation (clockwise)

1  1  u v 
 (   )    
2 2  y x 
Rate of shear
 u v
     
y x

Rate of Deformation Tensor
In a 2-D case
 u1 u1   u u 
 x x 2   x y 
eij   1 
or  
 u 2 u 2   v v 
 x x 2   x
 1  y 
which can be broken down to

 u   u v   u v 
0  0    0  
 x 1 y x y x
eij     1 
0 v  2  v u  2  u v 
    0   ( y  x ) 0 
y   x y   

where
 u   u v 
0  0  
Volume  x 1 y x
   Shear
dilatation 0 v  2  v u 
 y   x  y 0 
 
 u v 
 0  
1 y x
 Rotation
2  u v 
 ( y  x ) 0 
 

In a 3-D case
  u1    u1 u 2  u1 u 3 
 0 0   0   
  x1   x 2  x1 x 3  x1 
 u 2  1  u  u1 u 2 u 3 
e ijj   0 0   2  0  
 x 2  2  x1 x 2 x 3 x 2 
 u 3   u u1 u 3 u 2 
 0 0   3   0 
  x 3    x 1 x 3 x 2 x 3 
  u u   u u  
 0  2  1   3  1 
  x1 x2   x1 x3  
  u3 u2 
1  u2 u1
  0   
2  x1 x2  2 x3 
x
 
 u3  u1 u3 u2
 0 
 x x x2 x3 
 1 3 
Constitutive Equations
(i) Stress-strain rate relationship for Isotropic
Newtonian flo
uk  ui u j 
 ij   p ij   ij   
xk 
 x j xi 
where
h ij = 0 i≠j
ij = 1 i=j
It is called “Kronecker delta”

uk  ui u j 
 ij   p ij   ij   
xk  x x 
 j i 
 = dynamic viscosity,
viscosity  = second viscosity coefficient
(empirical parameters)
p = thermodynamic pressure

Sometimes it is written as
 ij   p ij   ij
where
u k  u i u j 
ijj  ijj    
x k 
 x j x i 
It is called the viscous stress tensor

(ii) Fourier’s Law


q   k T
T
or qi  k
xi
k : thermal conductivity

Navier-Stokes Equations
Recall Conservation of Momentum:

u j u j  ij
   uk   fj (1)
t xk xi
Using constitutive relation for ij

 ij   uk  ui u j  
   p ij   ij   
xi xi  xk  x j xi  
  

R.H.S. (1st term):


  p ij 
 xi
  

x1
  p 1j  
x2
  p 2j 
 x3
  p 3 j 
Among these,
these onl
only the one in which
hich i=j
i j is nonzero
non e o
 p
  p ij   
xi x j

R.H.S. (2nd term):

  u k    u k 
   ij   
 xi  xk  x j  xk 
Therefore Eq
Therefore, Eq. (1) becomes:
(2)
(Momentum equation)

(i) Incompressible and constant viscosity
u k
 0
xk
   ui uj     ui    uj 
          
xi   xj xi  xi  xj  xi  xi 
   ui  2uj  2uj
     
xj  xi  xixi  xixi
Therefore, Eq. (2) becomes:
2
(3)

(ii) Incompressible and inviscid
Viscous terms vanish, Eq. (2) becomes:
uj uj
p
  uk    f j (4)
t xk xj
Known as Euler’s Equation

Energy Equations
e e u j q j
  uk   ijj  (1)
t xk xi x j
Applying constitutive relation for Newtonian Fluids
u j  uk  ui u j  u j
ij   pij  ij    
xi  xk  x x  x
 j i  i
uj uk uj  ui uj  uj

pij ij   
xi xk xi  xj xi  xi

Energy Equations
 ui u j  u j
2
u j uk  uk 
 ij  p       
xi xk  xk   x j xi  xi
u j uk
  ij  p 
xi xk
where
 ui u j  u j
2
 uk 
       
 xk   x j xi  xi

Governing Equations for Newtonian Fluids
Conservation Equations:
 
   uk   0
t xk

Governing Equations for Newtonian Fluids
Total number of unknowns = 7
 , e,
e ui(3),
(3) T,
T p
Total number of equations = 5
2 more equations are added:

equation of state: p = p(  ,T)
T)
e.g. p =  RT
caloric equation of state: e = e (p, T)
e.g. de = Cv dT
=> All 7 unknowns now can be solved.

Flow Kinematics
The kinematic relations for a fluid are

concerned only with the space time
geometryy of the motion. Theyy are
g
independent of the dynamics and the
thermodynamics
y of the continuum,, and
are based on the continuity equation.

Flow Kinematics
Streamline
Streamlines are lines whose tangents are
everywhere parallel to the velocity vector.
For 2-D flows

dy v u
 v
dx u
u

Flow Kinematics
If the velocity field is known as a function of x and y

(and t if the flow is unsteady),
unsteady) this equation can be
integrated to gain the equations of the streamlines.
  
u  xi  y j u  x, v   y
dy v y
 
dx u x
dy dx
  0
y x

Flow Kinematics
By integrating both sides
ln y  ln x  ln c
xy  c
The particular
streamline that
passes (1,1)
xy  1  c

Flow Kinematics
Pathlines
A pathline is the line traced out by a given
particle as it flows from one point to another
Mathematically,
we have
t2 t3 t4
dxi t1
 ui ( xi , t ) t0
dt

Flow Kinematics
Streaklines
A streakline consists of all particles in a flow that
have previously passed through a common point

Flow Kinematics
Work Example
Consider a 2-D plane flow:

x1 x
v1  (u  )
1 t 1 t
v2  x2 (v  y )
v3  0 ( w  0)

Flow Kinematics
For streamlines
dy v y
 
dx u x /(1  t )
dx2 v2 x2
 
dx1 v1 x1 /(1  t )
dy dx
 (1  t )
y x

Flow Kinematics
ln y  ((1  t ) ln x  ln c
ln y  ln c  x (1t ) 
(1 t )
y  cx
 y  cx (t  0)
y  cx 2
(t  1)
Flow Kinematics
y y y  cx 2
y  cx
x x

Flow Kinematics
For pathlines
dx1 x1 dx2
 v1   v2  x2
dt 1 t dt
 x1  a1 ((1  t )  x2  a2 e t

Flow Kinematics
dx x

dt 1  t
d
dy
y
dt
Combining x1 and x2 gives

( x1  a1 ) / a1
x2  a2 e

Circulation and Vorticity
Definitions:
 
(i)    u  dl
C
 
(ii)   u
uk
i   ijk
x j

0 if any i,j,k are the same

ijk = -1 if i,j,k is an odd permutation
+1 if i,j,k is an even permutation

     
   u  dl     u  ndA     ndA
C A A

  0    0
 
      (  u )  0

 is divergence free (solenoidal)

Kinematics of Vortex Tubes
A vortex line is a line whose tangents are everywhere

parallel
ll l to
t the
th vorticity
ti it vector.
t A vortex
t tube
t b is
i a
region whose side walls are made up of the vortex
lines
vortex line vortex tube

Consider unwrapping a vortex tube
vortex line

         
 ABCDA  
ABCDA
u  dl  
AB
u  dl  
BC
u  dl  
C D
u  dl  
D A
u  dl
   
note that

B C
u  dl   
D A
 u  dl
   
Therefore,  ABCDA  
A B
u  dl  
C D
u  dl

From Stokes’ theorem

   

ABCDA
u  dl  
Area
(  u )  nds
 
 
Area
  nds

Since vortex lines are tangential to the vortex tube

 
  n  0 and  ABCDA  0
    
  u  dl   u  dl   u  dl  0
ABCDA A B CD
   

A B
 u  dl   
C D
u  dl
   

A B
u  dl  
D C
u  dl both in the
clockwise direction

However,
   

A B
u  dl  1 and
D C
 u  dl   2
   
 1   2 or  u  dl  u  dl
1 2
The circulation is constant over any closed contour
about a vortex tube

   
1   u  dl     ndA
C1 A2 C2
A1 C1 A1
1  1 A1
Similarly,  2  2 A2
and 1 A1  2 A2
Analogous to V1 A1  V2 A2 for a stream tube

Conservative Force Fields
 
W   F  dr
C

If W is independent of the path
path, F is said to be
conservative.

 
If W is path independent, then F  dr must be an

exact differential and F can be written as a gradient
of a scalar function.
2 2
. 2 1
1 1

 F  


  dr  d
  
  i  j k
x y z

dr  i dx  j dy  k dz
   
  dr  dx  dy  dz  d
x y z

Kelvin’s Theorem
The vorticity of each fluid particle will be

preserved d if the
th following
f ll i requirements
i t are
satisfied.
(i) conservative body force field
(ii) inviscid fluid
(iii)  = constant or P = P()

Kelvin’s Theorem
Proof:
Equation of motion,
u j u j p   uk     u u j  
   uk        i      f j
t xk x j x j  xk  xi   x j xi  
F iinviscid
For fl id  and
i id fluid, d  are zero
P
Du j G
   
Dt x j x j

Kelvin’s Theorem
By definition,
D D

Dt Dt  u j dx j
 Du j D(dx j ) 
  dx j  u j 
 Dt Dt 
Du j 1 P G
ddx j   ddx j  ddx j
Dt  x j x j

Kelvin’s Theorem
D(dx j ) ( Dx j )
uj  u jd
Dt Dt
 x j x j 
 u jd   uk 
 t xk 
x j x j
 0 and uk  uj
t xk
D(dx
d j)
uj  u j du j
Dt
Kelvin’s Theorem
Therefore,
D  1 P G 
   dx j  dx j  u j du j 
Dt   x j x j 
 dP 1 
    dG  d (u j u j ) 
  2 
1
dG  0 and d (u j u j )  0
2
D dP
  
Dt 
Kelvin’s Theorem
(i) if  = constant
D
D  1
   (dP)  0
Dt 
(ii) if P = P() (Barotropic)
dP = P’() d
D P()d
   f ()d0
Dt 
D
 0
Dt
Bernoulli Equation
Consider (i) inviscid fluid
(ii) conservative force field
Equation of Motion
u j u j P G 
  uk   where f   G
t xk x j x j

u  
   (u )u  P  G
t

Bernoulli Equation
Recall vector identity,
  1    
 
a 
 a    
a  a  a     a 
2
  1    
  u 
  u   u  u   u    u 
2
1    
  (u  u )  u  
2

u  1     1
    u  u   u     P  G
t 2  

Bernoulli Equation

Note:
1 dP
P  

 1 1 
dl  P  dl 
P
 
1
 dP


 
1 dP
d d  dl 
dP

Bernoulli Equation

u  1    

dP
   u  u   u      G
t 2  

u 1     

dP
   u u   G   u 
t 2  

Bernoulli Equation
(i) Steady Rotational Flow:

  1   dP    
u  u  u 
2 
 G   u  (u )

  
since u  (u   )  0
 1   

dP
 u   u  u  G  0
2  

Bernoulli Equation
Recall D ( )   ( )  u   ( )

1   dP
( )  u u  G
Dt t 2 
( )
 0 for steadyy flow
t

1   dP
u u  G  B along a streamline
2 
B: Bernoulli constant
B can vary from streamline to streamline

Bernoulli Equation
(ii) Steady Irrotational Flow

1   

dP
 u  u  G  0
2  

1   dP
u u  G  B
2 
B is constant through out the entire flow field

Bernoulli Equation
(iii) Unsteady Irrotational Flow


u 1   

dP
  u  u  G  0
t 2  

 0 (irrotational flow)

u  0
Recall:   ( )  0

 u  
Bernoulli Equation
  1   dP 
t 2 
()  u  u 

G  0

  1   dP 
  u u 
 t 2 

G)  0

 1   dP
 u u 
t 2  G  B(t)
B(t) is constant with respect to

time through out the flow field
Vorticity Equation
Consider:   constant
  constant

f 0
N-S Equation:

u   1 2
 (u   )u   P  u
t 

Vorticity Equation
   1    
(u )u    u  u   u  
2 
1 P
P   ( )
 

u  1     P 2
   u  u   u        u
t 2  

Vorticity Equation
Take the curl on both sides:


u  1    
  u  u   u 
t 2 
  p  2
             u  
   

   2 
   (u   )   
t

Vorticity Equation
where
         
 (u )  u()  ( u)  (u )  ( )u
   
)  ( 
 (u  )u

     2
  (u )  ( )u  
t

Vorticity Equation
2-Dimensional plane flow:

 
u  (u x , u y , 0) and   (0, 0, z )

   0

   2 
 (u )   
t
z  Dz
or  (u )z  z 
2
2z
t Dt

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Fluid Dynamics

Instructor: Dr. Albert Y. Tong

Vector operations in orthogonal coordinate systems

Vector function a  (a1 , a2 , a3 )

Metric scale factors h1 , h 2 , h 3

Basic Equations in Fluid Dynamics 2

Basic Equations in Fluid Dynamics 3

Cartesian Coordinates (x, y, z)

x1= x x2= y x3= z

Cylindrical coordinates (r,,z)

x1= r x2=  x3= z

Basic Equations in Fluid Dynamics 5

Spherical coordinates (r, , )

The gradient of  or grad  is defined as

Basic Equations in Fluid Dynamics 7

Basic Equations in Fluid Dynamics 8

Consider a simple 1-D case:

Basic Equations in Fluid Dynamics 9

Consider a surface  (x, y, z) = C

Basic Equations in Fluid Dynamics 10

Therefore,  is normal to the

Basic Equations in Fluid Dynamics 11

Basic Equations in Fluid Dynamics 12

Basic Equations in Fluid Dynamics 14

Basic Equations in Fluid Dynamics 15

Basic Equations in Fluid Dynamics 16

h1e1 h 2e2 h3e3

Basic Equations in Fluid Dynamics 17

Basic Equations in Fluid Dynamics 18

Basic Equations in Fluid Dynamics 19

Basic Equations in Fluid Dynamics 20

Basic Equations in Fluid Dynamics 21

It is also known as the divergence theorem.

Basic Equations in Fluid Dynamics 22

In Cartesian coordinate system (x,y,z)

It relates a line integral

Basic Equations in Fluid Dynamics 24

Basic Equations in Fluid Dynamics 25

Basic Equations in Fluid Dynamics 27

Fixed region in space

Basic Equations in Fluid Dynamics 28

Basic Equations in Fluid Dynamics 29

Basic Equations in Fluid Dynamics 30

Basic Equations in Fluid Dynamics 31

Basic Equations in Fluid Dynamics 32

Basic Equations in Fluid Dynamics 33

Basic Equations in Fluid Dynamics 34

 = any fluid properties

Basic Equations in Fluid Dynamics 35

Basic Equations in Fluid Dynamics 36

Basic Equations in Fluid Dynamics 37

Basic Equations in Fluid Dynamics 38

Basic Equations in Fluid Dynamics 40

Sub. back into the original equation gives

Basic Equations in Fluid Dynamics 41

Physical Law: matter can neither be created nor

Basic Equations in Fluid Dynamics 42

Basic Equations in Fluid Dynamics 43

Basic Equations in Fluid Dynamics 44

Basic Equations in Fluid Dynamics 45

Basic Equations in Fluid Dynamics 46

Special Case: ii) incompressible stratified flow

The continuity equation can be written as