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1. Introduction
One of the most celebrated nonlinear ODEs which appear in fluid mechanics
is referred to as Falkner–Skan equation. It is solved over (0, ∞) subject to
the boundary conditions at 0 and ∞ arising from the flow conditions. The
Falkner–Skan equation arises from the similarity reduction of nonlinear PDEs
describing flow in the boundary layer on a flat plate which has a constant
velocity in the direction opposite to that of a uniform mainstream (see
Section 2 for a brief derivation of (6)–(7) from the basic system). Existence
and uniqueness of the solution of (6)–(7) was first discussed by Weyl [1] for
λ = 0. Hussaini et al. [2] showed that the solution of (6)–(7) was non-unique
for λ > 0; they also gave an upper bound for the critical value of λ = λc
beyond which no solution exists. Coppel [3] proved the results of Weyl [1]
in a constructive manner. Specifically, he proved the following existence and
uniqueness theorem: For all non-negative f (0) and f (0), the second derivative
f is positive, zero or negative throughout the interval 0 ≤ η ≤ ∞ according
as f (0) is less than, equal to or greater than 1. With this restriction on f , the
solution of the problem is unique. He also investigated in some detail the
qualitative properties of the solution of (6)–(7). Coppel [4] solved (6) exactly
for β = −1 in terms of parabolic cylinder functions.
Riley and Weidman [5] undertook a detailed numerical study of the boundary
value problem (6)–(7). They discovered a rich structure of the solution of
(6)–(7) for |β| ≤ 1 over a range of values of λ, both positive and negative. In
particular, their numerical solution showed that, for −1 ≤ β ≤ 0, the system
(6)–(7) admits dual solutions below a critical value of the parameter λ = λm (β),
say, and no solution if λ > λm (β). Further, for λ > 0, they found a unique
solution for 0.14 ≤ β ≤ 0.5, dual solutions for 0.5 < β ≤ 1 and even triple
solutions for 0 < β 0.14. Afzal [6] recently considered another version of
the boundary value problem for the Falkner–Skan equation. He solved the
problem exactly for the special case β = −1. He also found asymptotic form
of the solution both when β is small and when it is large.
In the present paper, we give an exact analytic solution of (6)–(7) in the form
δ
f (η) = η + δ − , (1)
G(η)
where the function G(η) is defined by an infinite power series in η. This form
is inspired by the single hump solution (12) of Burgers equation (see also
Whitham [7], Sachdev [8]). This form has a close resemblance with the
exact solution of (6)–(7) for β = −1 (cf. (9)–(12)). That such resemblance
should occur is not entirely surprising since nonlinear convection and viscosity
are common features of both the boundary layer equations and the Burgers
equation. One must also observe the differences in the BVP (6)–(7) and the
BVP for the ODE resulting from the Burgers equation and the corresponding
boundary conditions. The former is a third order nonlinear ODE with non-zero
f as η → ∞ while the latter is a second order nonlinear ODE with f
→ 0 as η → ±∞. The reciprocal function H = f (η) 1
enabled Sachdev and
his collaborators (Sachdev et al. [9, 10], Sachdev and Nair [11], Sachdev
and Srinivasa Rao [12]) to discover a new class of ODEs, referred to as
Euler–Painlevé transcendents, which unify the study of generalized Burgers
equations just as Painlevé transcendents characterize K-dV type of equations;
their analytic properties are, however, quite different.
In Section 3, we briefly derive the exact solution of (6)–(7) for β = −1 and
hence write out the solution form of this system for general β. This leads to an
exact solution of (6)–(7) involving two parameters. One of these constants is
found by making the solution (14) and (18) of (6)–(7) tend to the special
Exact Analytic Solution of a Boundary Value Problem 3
the boundary layer which obeys the power-law relation U (x) = U ∞ x m . The
relevant boundary conditions are
where U w is the stretching surface velocity which obeys the power law relation,
U w = U 0w x m . Using the similarity transformation
2νxU (x) (1 + m)U (x) 2m
ψ= f (η), η = y , β= (5)
1+m 2νx 1+m
in Equations (2)–(4) and simplifying, we get a third order nonlinear ODE (see
Yuan [17] for details)
d
f + ff + β(1 − f 2 ) = 0,
= (6)
dη
with the boundary conditions
f2 η2
f+ = + δη − λ, (8)
2 2
where δ = f (0). The solution of (8) subject to (7) may be found to be
η2
δ exp − δη +
2
f (η) = η + δ − 2 (9)
πδ δ η+δ δ
1− exp erf √ − erf √
22 2 2 2
The velocity profile f (η) may be easily obtained from (9). Equation (10)
shows that, for β = −1, there are dual solutions for λ < −1 and no solution
for λ > −1. It may also be observed that for λ = −1, f (η) = η is an exact
solution of (6)–(7).
Exact Analytic Solution of a Boundary Value Problem 5
Inspired by the first author’s work on generalized Burgers equations and their
reduction to Euler–Painlevé transcedents to unify their character with reference
to the single hump solution, we seek exact solution of (6)–(7). The similarity
solution of the Burgers equation
δ
u t + uux = u xx , (11)
2
for the so-called single hump solution is
1/2
δ exp(−ξ 2 )
u= √ , (12)
t 2π π
+ erf(ξ )
exp(R) − 1 2
where ξ = √x2δt and R is the Reynolds number, that is, the ratio of area under
the profile divided by δ; this solution vanishes as ξ → ±∞. It is striking that
the form (9) of the solution for the Falkner–Skan system (6)–(7) for β = −1
and the similarity solution (12) of the Burgers equation (11) are so close.
However, the solution f (η) of the Falkner–Skan equation (6), which is of third
order, satisfies a quite different condition, namely, f (η) → 1 as η → ∞,
hence the term η + δ in (9).
We rewrite the solution (9) for β = −1 as
f = η+δ
δ
− .
πδ δ πδ η+δ
exp(−δ 2 /2) + erf √ exp((η + δ)2 /2) − exp((η + δ)2 /2)erf √
22 2 22 2
(13)
Motivated by the form (13) which is solution of (6)–(7) for β = −1, we let
δ
f (η) = η + δ − (14)
G(η)
for general β. Substituting (14) into (6) we get the following equation for G(η):
δ
G(0) = 1, G (0) = , G(∞) = ∞. (16)
2
6 P. L. Sachdev et al.
for general β. Substituting (18) into (15) and equating the coefficients of ηn to
zero, etc., we get
δ δ
a0 = 1, a1 = , a3 = −3δ 2 + β(4 + δ 2 ) + 24a2 ,
2 24
1 2
a4 = δ (2 − 5δ + 2β(6 + δ 2 )) + 4(−2 + 5δ 2 + 2β(2 + δ 2 )) a2 + 96a22 ,
2
96
δ 2
a5 = 2δ (5 + 2δ 2 ) + β 2 (8 + 6δ 2 + δ 4 ) − 2β(4 + 3δ 2 + 2δ 4 )
480
+ 4(−10 − 33δ 2 + 4β(15 + 4δ 2 )) a2 + 32(22 + β) a22 ,
and, in general,
1
n−1 n−m
an+3 =− (m + 1)(m + 2)(m + 3)ak an−m−k am+3
(n + 1)(n + 2)(n + 3) m=0 k=0
n
+ (−δ(m + 1)[(m + 2) an−m am+2 − (2 − β)(n − m + 1)am+1 an−m+1 ]
m=0
m
− (k + 1)(m − k + 1)[2δan−m − 6(n − m + 1)an−m+1 ] ak+1 am−k+1
k=0
n
−m
+ ((m + 1)[mam+1 + δ(m + 2)am+2 − 2βam+1 ]ak an−m−k − (k + 1)
k=0
n = 1, 2, – – –,
(19)
where the coefficients a n have been expressed in terms of a2 which itself
related to f (0) by
Exact Analytic Solution of a Boundary Value Problem 7
δ3
a2 = f (0) + 2δ. (20)
2
The coefficients a n involve two arbitrary constants, namely, δ and f (0). We
match the series (18)with the series form of the exact solution (17) for β =
−1. This yields δ = −2(1 + λ). The other constant a2 or f (0) remains to
be determined. Thus, we have infinite solutions of (6)–(7) in the form (14). We
determine the constant f (0) in the following manner. Integrating (6) from η
= 0 to η = ∞ and using (7), we get
∞ ∞
2
( f − f ) dη + β (1 − f 2 ) dη = f (0). (21)
0 0
f (0) also appears on the LHS of (21) in the series form of f , obtained from
the solution (14) and (18). We solve (21) iteratively to obtain the numerical
value f (0) for different sets of parameters β and λ. f (0) found from (21)
agrees very well with that obtained by solving the BVP (6)–(7) numerically
(see Tables 1 and 2).
4. Asymptotic solutions
of Equation (6) as η → 0 and, using the first two conditions in (7), obtain
1 1
b0 = 0, b1 = −λ, b3 = − β(1 − λ2 ), b4 = λ(1 − 2β) b2 ,
6 12
1
b5 = −βλ(−1 + β)(−1 + λ ) + (−2 + 4β)b22 ,
2
60
1 n
bn+3 = − (m + 1)(m + 2) bn−m bm+2
(n + 1)(n + 2)(n + 3) m=0
n
−β (m + 1)(n − m + 1) bm+1 bn−m+1 , n = 1, 2, – – –, (23)
m=0
where b2 is an arbitrary constant. We seek solution at the other end in the form
f = η + η0 + E(η), |E (η)| 1, which identically satisfies the condition
f (∞) = 1. Substituting this form in (6), we get
E + ξ E − 2β E = 0, (24)
E(0) = −η0 , E (0) = −(1 + λ), E (∞) = 0, (241 )
where ξ = η + η0 . Choosing the solution of (24) which tends to zero as η →
∞, we have
8 P. L. Sachdev et al.
Table 1
Comparison of the Exact and the Numerical Solution of (6)–(7) for λ = –1.4
Table 2
Comparison of the Exact Solution of (26)–(27) with that of Meksyn (30) and
Numerical Solution for λ = −1.4
where â1 = − 12 − β, b̂1 = 12 , â2 = −β, b̂2 = 32 and M(â, b̂, η) is the confluent
hypergoemetric function; η0 and C 1 are arbitrary constants.
The unknown coefficients b2 , η0 and C 1 in (22) and (25) were found
numerically. The agreement of these asymptotic solutions with the numerical
results is rather remarkable. The asymptotic forms (22) and (25) hold for all
values of β and λ.
10 P. L. Sachdev et al.
n−m
+ ((m + 1)[mam+1 + δ(m + 2) am+2 ]ak an−m−k − (k + 1)
k=0
n = 1, 2, – – –.
(29)
Here, again, δ = −2(1 + λ); a2 remains unknown and must be obtained
iteratively from (21) with β = 0.
It is instructive to compare our exact analytic solution of the Blasius equation
(26) subject to (27) with that obtained earlier by Meksyn [13] for the special
case λ = 0. Substituting the power series form of the solution
∞
cm m
f = η (30)
m=0
m!
Exact Analytic Solution of a Boundary Value Problem 11
where the constant c2 = f (0) is arbitrary. Integrating Equation (26) twice and
using the conditions (27), we get
∞
1 + λ = c2 exp(−F(η)) dη, (32)
0
where
η
F(η) = f (η) dη. (33)
0
Substituting (30) into (34) and inverting the series, one may obtain
1 2
− 5c + 3λc
2√ c2 λ 2 3
η= − τ − 2τ − √ τ 3/2
λ 3λ 18 2λ3
40c23 + 45λc2 c3 + 9λ2 c4 2
+ τ + – – –. (35)
270λ5
Now using (34) and (35) in (32), we have
∞ ∞
dη m+1
1 + λ = c2 exp(−τ ) dτ = c2 dm , (36)
0 dτ m=0
2
where
1 7/2 2
5 − c2
1 1 c2 λ 9λ3 c2 + 40c23
d 0 = √ − , d1 = − 2 , d 2 = √ , d3 = etc.
2 λ 3λ 12 2 135λ5
(37)
and represents the Gamma function. Thus, we may find c2 explicitly from
the Equation (36). Meksyn [13] affirmed that the series (30) converges rapidly.
f (0) for different values of λ as obtained by Meksyn’s approach as well as
from (21) with β = 0 agree very well with that found numerically (see Table 2).
12 P. L. Sachdev et al.
Figure 1. Velocity gradient at the wall f (0) versus λ for different values of parameter β.
The exact analytic solution (14) and (18) of the Falkner–Skan equation (6),
subject to the boundary conditions (7), which simulates and embeds the
known exact solution (9) for β = −1 gives a remarkable insight into the
problem. This form, as it is, gives infinite solutions of (6) which satisfy
the conditions (7): it involves one arbitrary parameter a2 or f (0) (see
Equation (20)). This parameter must be found from the integral relation
(21) which itself is derived from (6)–(7). This relation, however, is highly
implicit. Thus, equation (21) must be solved numerically for a2 in a recursive
manner. The results thus obtained for different values of the parameter β are
compared with the direct numerical solution of (6)–(7) and are shown in
Table 1. We use Pade’ approximants for summing the series (18) for G.
f (0) is plotted against λ in Figure 1 for different values of β. Our results
closely agree with those of Riley and Weidman [5] obtained numerically.
For β = 0, we get dual solutions for 0 < λ < 0.3546 and no solution for
λ > 0.3546. For 0.5 < β < 1.0, there are dual solutions for λ > 1 while there is
Exact Analytic Solution of a Boundary Value Problem 13
Figure 2. (continued)
Exact Analytic Solution of a Boundary Value Problem 15
only one solution for λ < 1. For 0.14 < β < 0.5, there is a unique solution for
all λ > 0. However, we have been unable to recover the triple solution for 0 <
β < 0.14, claimed by Riley and Weidman [5]. Figures 2(a–d) show f (η) versus
η for different sets of the parameters λ and β. The approach of the solution to its
asymptotic value 1 as η → ∞ is clearly seen. We may observe from Figure 2
that the special exact solution f = η of (6)–(7) with λ = −1 demarcates
qualitatively different behavior of the solutions for λ > −1 and λ < −1.
Table 2 compares the solution for the Blasius equation (26) subject to (27)
obtained by our exact method, that of Meksyn [13] explained in Section 5
and the numerical results of Riley and Wiedman [5]; a close agreement of
the results from the three approaches is clearly observed. Meksyn’s series
expansion gives good results even with a few terms. We may also observe that
the Taylor series solution found in Section (4) when supplemented by the
value f (0) obtained numerically gives good accuracy even for large η.
7. Conclusions
References
1. H. WEYL, On the differential equations of the simplest boundary layer problems, Ann.
Math. 43:381 (1942).
2. M. Y. HUSSAINI, W. D. LAKIN, and A. NACHMAN, On similarity solution of a boundary
layer problem with an upstream moving wall, SIAM J. Appl. Math. 47:699 (1987).
3. W. A. COPPEL, On a differential equation of boundary layer theory, Phil. Trans. A
253:101 (1960).
4. W. A. COPPEL, Note on an equation of boundary layer theory, Phil. Trans. A 253:696
(1960a).
5. N. RILEY and P. D. WEIDMAN, Multiple solutions of the Falkner-Skan equation for flow
past a stretching boundary, SIAM Jl. Appl. Math. 49:1350 (1989).
6. N. AFZAL, Momentum transfer on power law stretching plate with free stream pressure
gradient, Int. J. Eng. Science 41:1197 (2003).
16 P. L. Sachdev et al.