Motion of a Fluid Element (Fluid Kinematics)

ME 305 Fluid Mechanics I

• In a general flow field, fluid motion can be decomposed into the following 4
components
Movie :
1) translation 3) rotation
Part 6 Fluid deformation
2) linear deformation 4) angular deformation

Differential Formulation of Fluid Flow

Original fluid
element
These presentations are prepared by Deformed fluid
Dr. Cüneyt Sert element
Department of Mechanical Engineering
Middle East Technical University
Ankara, Turkey
= + + +
csert@metu.edu.tr

You can get the most recent version of this document from Dr. Sert’s web site. Overall Linear Angular
= Translation + + Rotation +
Please ask for permission before using them to teach. You are NOT allowed to modify them. motion deformation deformation
6-1 6-2

Fluid Kinematics (cont’d) Fluid Kinematics (cont’d)

• Due to different velocities of each corner, fluid element will move and deform in a
• Consider the following 2D, differential fluid element with corner A moving with a small 𝑑𝑡 time.
velocity of 𝑢𝑖 + 𝑣𝑗 .
𝜕𝑢 𝜕𝑢
𝑢+ 𝑑𝑥 + 𝑑𝑦 𝑑𝑡
• Velocity components of the other corners can be determined as follows using first- 𝜕𝑢 𝜕𝑥 𝜕𝑦
order Taylor series approximation. 𝑢+ 𝑑𝑦 𝑑𝑡
𝜕𝑦
C’
𝜕𝑣 𝜕𝑣 𝜕𝑣
𝑣+ 𝑑𝑦 𝑣+ 𝑑𝑥 + 𝑑𝑦 D’
𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑣 𝜕𝑣
𝜕𝑣 B’ 𝑣+ 𝑑𝑥 + 𝑑𝑦 𝑑𝑡
𝜕𝑢 𝜕𝑥 𝜕𝑦
𝑢+ 𝑑𝑦 Color Code 𝑣+ 𝑑𝑦 𝑑𝑡 A’
𝜕𝑦 𝜕𝑢 𝜕𝑢 𝜕𝑦
D 𝑢+ 𝑑𝑥 + 𝑑𝑦
C 𝜕𝑥 𝜕𝑦 Translation
Linear deformation D C
Rotation & angular 𝑣 𝑑𝑡 𝜕𝑣
𝑑𝑦 𝜕𝑣 𝑣+ 𝑑𝑥 𝑑𝑡
𝑣+ 𝑑𝑥 deformation 𝜕𝑥
𝜕𝑥 A B
𝑦 𝑣
𝑑𝑥 𝜕𝑢 𝑦
𝑢+ 𝑑𝑥 𝑢 𝑑𝑡
A 𝑢 B 𝜕𝑥 𝑥
𝑥 𝜕𝑢
𝑢+ 𝑑𝑥 𝑑𝑡
6-3
𝜕𝑥 6-4

1
 1) Translation 2) Linear Deformation
• Only the position of the fluid element changes. Its size, orientation and shape remain • Only the size of the fluid element changes. Its position, orientation and shape
the same. remain the same.
• All corners are moving with the same 𝑢 and 𝑣 velocity. • Corner A is fixed, because all its motion was previously considered in translation.
• Below, both 𝑢 and 𝑣 are shown to be positive, but it is not necessarily the case. • Corner B moves in 𝑥 direction only and corner D moves in 𝑦 direction only.
• Below, 𝜕𝑢/𝜕𝑥 and 𝜕𝑣/𝜕𝑦 are shown to be positive and negative, respectively, but it
𝑑𝑥 is not necessarily the case.
𝑦
D’ C’ 𝑦
𝑑𝑦
A’ B’
𝜕𝑣 D C
𝑑𝑦 𝑑𝑡
𝜕𝑦 D’ C’
𝑣 𝑑𝑡 D C
B B’
A B 𝑥
𝑥 A, A’
𝜕𝑢
𝑢 𝑑𝑡 𝑑𝑥 𝑑𝑡
6-5
𝜕𝑥 6-6

2) Linear Deformation (cont’d) 2) Linear Deformation (cont’d)

• When we extend linear deformation to 3D, size changes in 𝑥, 𝑦 and 𝑧 directions are • Initial volume of fluid element in 3D : ∀𝑖 = 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑢 𝜕𝑣 𝜕𝑤 • Final volume of fluid element :
𝑑𝑥 𝑑𝑡 , 𝑑𝑦 𝑑𝑡 , 𝑑𝑧 𝑑𝑡
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑢 𝜕𝑣 𝜕𝑤
∀𝑓 = 𝑑𝑥 + 𝑑𝑥 𝑑𝑡 𝑑𝑦 + 𝑑𝑦 𝑑𝑡 𝑑𝑧 + 𝑑𝑧 𝑑𝑡
• These values can be positive or negative. 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝑢 𝜕𝑣 𝜕𝑤
∀𝑓 ≈ 1 + + + 𝑑𝑡 𝑑𝑥 𝑑𝑦 𝑑𝑧
Neglected terms are 𝜕𝑥 𝜕𝑦 𝜕𝑧
• Size changes can also be expressed as linear strains as ‘‘Size change / Original size’’ very small compared
𝜕𝑢 𝜕𝑣 𝜕𝑤 to the kept ones
𝑑𝑥 𝑑𝑡 𝜕𝑢 𝑑𝑦 𝑑𝑡 𝜕𝑣 𝑑𝑧 𝑑𝑡 𝜕𝑤
𝜕𝑦
𝜀𝑥 = 𝜕𝑥 = 𝑑𝑡 , 𝜀𝑦 = = 𝑑𝑡 , 𝜀𝑧 = 𝜕𝑧 = 𝑑𝑡
𝑑𝑥 𝜕𝑥 𝑑𝑦 𝜕𝑦 𝑑𝑧 𝜕𝑧
• Dilation is the rate of change of volume per initial volume Divergence of
the velocity field
∀𝑓 − ∀𝑖
𝑑𝑡 𝜕𝑢 𝜕𝑣 𝜕𝑤
• Comparison of initial and final volume of a 3D fluid element provides an important Dilation = = + + = 𝛻∙𝑉
quantity called dilation. ∀𝑖 𝜕𝑥 𝜕𝑦 𝜕𝑧

6-7 6-8

2
 2) Linear Deformation (cont’d) 2) Linear Deformation (cont’d)
• Dilation (𝛻 ∙ 𝑉) is related to the compressibility of the flow. Exercise : The velocity field 𝑉 = 0.3𝑥 𝑖 − 0.3𝑦𝑗 represents the flow turning at a 90o
corner. A square is marked in the fluid as shown in 𝑡 = 0. Evaluate the new position of
• For incompressible flows dilation is zero, i.e. fluid element’s size can not change.
four corner points when corner ‘‘a’’ has moved to 𝑥 = 1.5 m after 𝜏 seconds.
• Evaluate the size changes and linear strains in 𝑥 and 𝑦 directions.
Incompressible → 𝛻∙𝑉 = 0
• Calculate area change and dilation of the element.
• Is this an incompressible flow?
Exercise : In the cylindrical coordinate system divergence of velocity is
1 𝜕 𝑟𝑉𝑟 1 𝜕𝑉𝜃 𝜕𝑉𝑧 𝑦 [m]
𝛻∙𝑉 = + +
𝑟 𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧
𝑑𝑟
Repeat the dilation calculation of the previous slide for a 2 d c
differential fluid element in cylindrical coordinate system 𝑟
𝑑𝑧 1
a b
and see if you can get the above result or not.

𝑑𝜃 𝑥 [m]
1 2
6-9 6-10

3) & 4) Combined Rotation and Angular Deformation 3) Rotation

• Due to combined rotation and angular 𝜕𝑢 • Rate of rotation of fluid element ABCD 𝜔𝑧 𝑑𝑦𝑑𝑡
𝑑𝑦𝑑𝑡
deformation, sides AB and AD will rotate as 𝜕𝑦 about the 𝑧-axis is defined as the average C’
shown. of the angular speeds of two mutually
D’ D C
𝜕𝑣 perpendicular lines AB and AD.
𝑑𝑥𝑑𝑡 𝜕𝑣 D D’ C
tan 𝑑𝛼𝐴𝐵 ≈ 𝑑𝛼𝐴𝐵 = 𝜕𝑥 = 𝑑𝑡
𝑑𝑥 𝜕𝑥 1 1 𝜕𝑣 𝜕𝑢
𝜕𝑢 𝜔𝑧 = (𝜔 + 𝜔𝐴𝐷 ) = −
𝑑𝑦𝑑𝑡 B’ 2 𝐴𝐵 2 𝜕𝑥 𝜕𝑦 B’
𝜕𝑦 𝜕𝑢 𝜔𝑧 𝑑𝑥𝑑𝑡
tan 𝑑𝛼𝐴𝐷 ≈ 𝑑𝛼𝐴𝐷 = = 𝑑𝑡 𝜕𝑣 𝜔𝑧 A B
𝑑𝑦 𝜕𝑦 𝑑𝛼𝐴𝐷 𝑑𝑥𝑑𝑡
𝜕𝑥
B
A
• Angular speeds of sides AB and AD are 𝑑𝛼𝐴𝐵
• For a 3D flow field angular speeds around 𝑥 and 𝑦 axes are defined in a similar way
𝑑𝛼𝐴𝐵 𝜕𝑣
𝜔𝐴𝐵 = =
𝑑𝑡 𝜕𝑥 1 𝜕𝑤 𝜕𝑣 1 𝜕𝑢 𝜕𝑤
𝜔𝑥 = − , 𝜔𝑦 = −
𝑑𝛼𝐴𝐷 𝜕𝑢 2 𝜕𝑦 𝜕𝑧 2 𝜕𝑧 𝜕𝑥
𝜔𝐴𝐷 =− =−
𝑑𝑡 𝜕𝑦
Line AD rotates CW if 𝜕𝑢 𝜕𝑦 is positive. But a
CW angular speed should be negative. Minus
sign is added for this purpose. 6-11 6-12

3
 3) Rotation (cont’d) 4) Angular Deformation
• Angular velocity vector is defined as • Angular deformation is related to the rate of 𝑑𝛼𝑥𝑦
𝑑𝑦
change of the right angle between sides AB 2 C’
1 𝜕𝑤 𝜕𝑣 𝜕𝑢 𝜕𝑤 𝜕𝑣 𝜕𝑢 1 and AD, which is
𝜔 = − 𝑖+ − 𝑗+ − 𝑘 = 𝛻×𝑉
2 𝜕𝑦 𝜕𝑧 𝜕𝑧 𝜕𝑥 𝜕𝑥 𝜕𝑦 2
𝑑𝛼𝑥𝑦 𝑑𝛼𝐴𝐵 𝑑𝛼𝐴𝐷 𝜕𝑣 𝜕𝑢 D D’ C
= + = +
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝜕𝑥 𝜕𝑦
Curl of velocity
• In cylindrical coordinate system where 𝛼𝑥𝑦 is the shear strain in the 𝑥𝑦 plane.
B’
𝑑𝛼𝑥𝑦
1 1 1 𝜕𝑉𝑧 𝜕𝑉𝜃 𝜕𝑉𝑟 𝜕𝑉𝑧 1 𝜕 𝑟𝑉𝜃 𝜕𝑉𝑟 A B 𝑑𝑥
𝜔 = 𝛻×𝑉 = − 𝑖 + − 𝑖 + − 𝑖 • For a 3D flow field rate of shear strains in 𝑦𝑧 2
2 2 𝑟 𝜕𝜃 𝜕𝑧 𝑟 𝜕𝑧 𝜕𝑟 𝜃 𝑟 𝜕𝑟 𝜕𝜃 𝑧
and 𝑥𝑧 planes can be defined in a similar way
𝑑𝛼𝑦𝑧 𝜕𝑤 𝜕𝑣
• Vorticity of a flow field is defined as = +
𝑑𝑡 𝜕𝑦 𝜕𝑧
𝜉 = 2𝜔 = 𝛻 × 𝑉 𝑑𝛼𝑥𝑧 𝜕𝑤 𝜕𝑢
= +
• For an irrotational flow vorticity (or angular velocity, or curl of velocity) is zero 𝑑𝑡 𝜕𝑥 𝜕𝑧
everywhere in the flow field.
6-13 6-14

4) Angular Deformation (cont’d) Exercises for Kinematics of Fluid Flow

• Remember that for a Newtonian fluid shear stress is proportional to the rate of shear Exercise : Combine the translation, linear deformation, rotation and angular
strain. For a flow in the 𝑥𝑦 plane deformation that we studied separately in the previous slides and show that the new
𝑑𝛼𝑥𝑦 𝜕𝑢 𝜕𝑣 positions of corners B and D of the square fluid element ABCD are actually the ones
𝜏𝑥𝑦 = 𝜇 =𝜇 + shown in slide 6-4.
𝑑𝑡 𝜕𝑦 𝜕𝑥 This 2nd term was zero for the “flow between
parallel plates” example that was studied in Part
1. In a general flow field it is not necessarily zero. 𝑈𝑦
Exercise : Velocity field for the flow in a narrow gap is given as 𝑉 = ℎ 𝑖 where
𝑈 = 4 mm/s and ℎ = 4 mm. At 𝑡 = 0 the segments AC and BD are marked to form a
• There is a direct link between shear stress and rotationality.
cross. Determine the positions of the marked points at 𝑡 = 1.5 s. Calculate the rate
• Pressure or body forces can not rotate a fluid element. of angular deformation and rate of rotation of a fluid particle in this flow field
(Reference: Fox’s book).
• But shear forces can create rotation.
𝑦
• Shear (viscous) forces are especially important close to solid boundaries.
• Away from the solid boundaries flow may be assumed irrotational. 𝑈
B(2,3)
𝑈𝑜
• A totally irrotational flow is an idealization, which can not exist in real life. But it ℎ A(1,2) C(3,2) 𝑢= 𝑦
ℎ
is still a very useful assumption. D(2,1)
𝑥
6-15 6-16

4
 Exercises for Kinematics of Fluid Flow Differential Formulation of Continuity Equation
𝑦
Exercise : Fluid particles in a 2D flow field are rotating • Consider the following infinitesimal control volume. At its centroid
in circular paths about the z-axis at a constant angular 𝜌𝑉 = 𝜌𝑢𝑖 + 𝜌𝑣𝑗 + 𝜌𝑤𝑘
velocity of 𝜔, as if they were a rigid body. The velocity 𝑉𝜃
𝑥 • Mass flow rates passing through the faces can be determined using first order TSE.
field is given as 𝑉 = 𝜔𝑟 𝑖𝜃 . This flow is known as a
forced vortex. Is this a rotational flow field ?
𝜕(𝜌𝑤) 𝑑𝑧
𝜌𝑤 + 𝑑𝑥𝑑𝑦
𝜕𝑧 2 𝜕(𝜌𝑢) 𝑑𝑥
𝑦 𝜌𝑢 − 𝑑𝑦𝑑𝑧
𝜕𝑥 2

Exercise : Fluid particles in a 2D flow field are rotating

in circular paths according to the following velocity 𝑉𝜃 𝜌𝑤 𝑑𝑧
𝐶 𝑥 𝜕(𝜌𝑣) 𝑑𝑦 𝜕(𝜌𝑣) 𝑑𝑦
field 𝑉 = 𝑖𝜃 . This flow is known as a free vortex. Is 𝜌𝑣 − 𝑑𝑥𝑑𝑧 𝜌𝑣 𝜌𝑣 + 𝑑𝑥𝑑𝑧
𝑟 𝜕𝑦 2 𝜌𝑢 𝜕𝑦 2
this a rotational flow field ?
𝑑𝑥
𝑑𝑦 𝑧
Exercise : In Slide 6-15 𝜏𝑥𝑦 is given for a flow in the 𝑥𝑦 plane. Use your fluid mechanics 𝜕(𝜌𝑢) 𝑑𝑥
book to find the expression for 𝜏𝑟𝜃 for a flow in the 𝑟𝜃 plane. Calculate 𝜏𝑟𝜃 for the 𝜌𝑢 + 𝑑𝑦𝑑𝑧
𝜕𝑥 2 𝑦
𝜕(𝜌𝑤) 𝑑𝑧 𝑥
flow fields given in the above exercises. Are there angular deformation in these flows? 𝜌𝑤 − 𝑑𝑥𝑑𝑦
𝜕𝑧 2
6-17 6-18

Continuity Equation (cont’d) Continuity Equation (cont’d)

• Add all the mass fluxes through the faces to get net mass outflow per unit time 𝜕𝜌 𝜕(𝜌𝑢) 𝜕(𝜌𝑣) 𝜕(𝜌𝑤) 𝜕𝜌
+ + + =0 → + 𝛻 ∙ (𝜌𝑉) = 0
𝜕(𝜌𝑢) 𝜕(𝜌𝑣) 𝜕(𝜌𝑤) 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑡
+ + 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑥 𝜕𝑦 𝜕𝑧
• Opening up the dot product
• This net mass outflow rate should be balanced with the following rate of change of
mass in the differential CV 𝜕𝜌
+ 𝑉 ∙ 𝛻𝜌 + 𝜌 𝛻∙𝑉 = 0
𝜕𝑡
𝜕𝑚 𝜕𝜌
= 𝑑𝑥𝑑𝑦𝑑𝑧 𝑑𝜌 𝑑𝑁 𝜕𝑁
𝜕𝑡 𝜕𝑡 ( using = + 𝑉 ∙ 𝛻 𝑁 for density )
𝑑𝑡 𝑑𝑡 𝜕𝑡
resulting in the continuity equation in differential form
𝑑𝜌 𝑑𝜌 𝜕𝑢 𝜕𝑣 𝜕𝑤
𝜕𝜌 𝜕(𝜌𝑢) 𝜕(𝜌𝑣) 𝜕(𝜌𝑤) +𝜌 𝛻∙𝑉 = 0 → +𝜌 + + =0
𝑑𝑥𝑑𝑦𝑑𝑧 + + + 𝑑𝑥𝑑𝑦𝑑𝑧 = 0 𝑑𝑡 𝑑𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

Rate of change of Net mass outflow • For a steady flow, using the first boxed equation : 𝛻 ∙ 𝜌𝑉 = 0
mass within the per unit time
differential CV • For an incompressible flow, using the second boxed equation : 𝛻∙𝑉 = 0
6-19 6-20

5
 Exercises for Continuity Equation Streamfunction (𝜓 (psi))
Exercise : Velocity components for a certain incompressible steady flow are as • Streamfunction is a mathematical tool that can be used to define a flow field using a
follows. Determine 𝑤 (Munson’s book). single scalar instead of multiple velocity components.
𝑢 = 𝑥2 + 𝑦2 + 𝑧2 • It can be defined for ‘‘2D incompressible’’ or ‘‘2D steady’’ flows.
𝑣 = 𝑥𝑦 + 𝑦𝑧 + 𝑧 • Consider the 2D incompressible flow in the 𝑥𝑦 plane case.
𝑤 =? • Continuity equation : 𝛻 ∙ 𝑉 = 0 →
𝜕𝑢
+
𝜕𝑣
=0 (for a flow in the 𝑥𝑦 plane)
𝜕𝑥 𝜕𝑦

Exercise : For an incompressible flow, even if the flow is unsteady no time derivative • Velocity field is defined by two components 𝑢 and 𝑣, but they are related via the
remains in the continuity equation. What does this mean physically? continuity equation.
• If we define a function 𝜓 (𝑥, 𝑦) as
Exercise : Consider a differential CV in the cylindrical coordinate system, similar to 𝜕𝜓 𝜕𝜓
the one given in Slide 6-9. Using the procedure described in Slides 6-18 and 6-19 𝑢= , 𝑣=−
𝜕𝑦 𝜕𝑥
derive the following continuity equation in the cylindrical coordinate system.
𝜕𝜌 𝜕𝜌 1 𝜕 𝑟𝜌𝑉𝑟 1 𝜕 𝜌𝑉𝜃 𝜕 𝜌𝑉𝑧 continuity equation is automatically satisfied, i.e.
+ 𝛻 ⋅ 𝜌𝑉 = + + + = 0
𝜕𝑡 𝜕𝑡 𝑟 𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧 𝜕𝑢 𝜕𝑣 𝜕 𝜕𝜓 𝜕 𝜕𝜓 𝜕2 𝜓 𝜕2 𝜓
+ = + − = − = 0
𝜕𝑥 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑦 𝜕𝑥 𝜕𝑥𝜕𝑦 𝜕𝑥𝜕𝑦
6-21 6-22

Streamfunction (cont’d) Streamfunction (cont’d)

• Therefore for a ‘‘2D incompressible’’ flow instead of working with two velocity
Exercise : The velocity components in a flow field are 𝑢 = 0 , 𝑣 = −𝑦 3 − 4𝑧 and
components, it is possible to work with a single variable called the streamfunction.
𝑤 = 3𝑦 2 𝑧 . Is this a 2D flow? Is this an incompressible flow? If possible determine the
streamfunction. Is the flow rotational?
Exercise : Show that streamfunction has a constant value on a streamline.
𝜓 = 𝜓2
𝜓 = 𝜓1 Exercise : Consider a steady, but not necessarily incompressible flow in the 𝑥𝑦 plane.
What should be the relations (similar to the ones in the box of Slide 6.22) between the
𝜓 = 𝜓0
streamfunction and the velocity components so that the continuity equation is exactly
satisfied. Hint: Continuity equation to be used is 𝛻 ∙ (𝜌𝑉) = 0 and now density is also
Exercise : Show that for a 2D incompressible flow, volumetric flow rate per unit depth a part of the formulation.
between any two streamlines is equal to difference between the streamfunctions
defining these streamlines.
Exercise : Consider an incompressible flow in the 𝑟𝜃 plane of the cylindrical
𝜓 = 𝜓2 coordinate system. What should be the relations between the streamfunction and the
𝑦 velocity components so that the continuity equation is exactly satisfied. Hint: Use the
𝑞
𝜓 = 𝜓1 continuity equation of slide 6-21.
𝑥
𝑄 Repeat this exercise if the flow is in the 𝑟𝑧 plane.
𝑞= = 𝜓2 − 𝜓1
depth
6-23 6-24

6
 Euler’s Equation of Motion Euler’s Equation (cont’d)
• Euler’s equation is the differential form of linear momentum conservation for inviscid • Sum of all the forces will accelerate the fluid element as follows
flows.
• To derive it consider the pressure and body forces acting on a differential fluid 𝑑 𝐹 = 𝑑𝑚 𝑎 → −𝛻𝑝 𝑑∀ + 𝜌 𝑑∀ 𝑓𝑏 = 𝜌 𝑑∀ 𝑎
element. Pressure is taken as 𝑝 at the element’s centroid.
1 𝜕𝑉 1
𝜕𝑝 𝑑𝑧 𝑎 = 𝑓𝑏 − 𝛻𝑝 or + (𝑉 ∙ 𝛻)𝑉 = 𝑓𝑏 − 𝛻𝑝
𝑝+ 𝑑𝑥𝑑𝑦 𝜌 𝜕𝑡 𝜌
𝜕𝑧 2 𝜕𝑝 𝑑𝑥
𝑝− 𝑑𝑦𝑑𝑧
𝜕𝑥 2
• Three components of the Euler’s equation in the Cartesian coordinate system are
𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 1 𝜕𝑝
𝑑𝑧 𝜕𝑝 𝑑𝑦 𝑎𝑥 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑥 −
𝜕𝑝 𝑑𝑦 𝑝 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥
𝑝− 𝑑𝑥𝑑𝑧 𝑝+ 𝑑𝑥𝑑𝑧
𝜕𝑦 2 𝜕𝑦 2
𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑣 1 𝜕𝑝
𝑧 𝑎𝑦 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑦 −
𝑑𝑥 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑦
𝑑𝑦 𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑤 1 𝜕𝑝
𝑑𝐹𝑏 = 𝜌𝑑∀ 𝑓𝑏 𝑦 𝑎𝑧 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑧 −
𝜕𝑝 𝑑𝑥 𝑥 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑧
𝑝+ 𝑑𝑦𝑑𝑧
𝜕𝑥 2 𝑓𝑏 is the body force per unit mass. It
𝜕𝑝 𝑑𝑧
𝑝− 𝑑𝑥𝑑𝑦 Typically 𝑓𝑏𝑥 = 𝑓𝑏𝑦 = 0 and 𝑓𝑏𝑧 = −𝑔
𝜕𝑧 2 is −𝑔𝑘 for the weight of the fluid.
6-25 6-26

Euler’s Equation (cont’d) Use of Euler’s Equation for Fluids in Rigid Body Motion
• Three components of the Euler’s equation in the cylindrical coordinate system are • Consider a body of fluid that is in rigid body motion, i.e. it moves as if it is a solid
body with fluid particles having no relative motion with respect to each other.
𝜕𝑉𝑟 𝜕𝑉𝑟 𝑉𝜃 𝜕𝑉𝑟 𝑉𝜃2 𝜕𝑉𝑟 1 𝜕𝑝
𝑎𝑟 = + 𝑉𝑟 + − + 𝑉𝑧 = 𝑓𝑏 𝑟 − • In such a case, fluid is free of shear stress.
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 𝜕𝑧 𝜌 𝜕𝑟
𝜕𝑉𝜃 𝜕𝑉𝜃 𝑉𝜃 𝜕𝑉𝜃 𝑉𝑟 𝑉𝜃 𝜕𝑉𝜃 1 1 𝜕𝑝 • Two examples of this are fluids moving with constant linear acceleration and fluids
𝑎𝜃 = + 𝑉𝑟 + − + 𝑉𝑧 = 𝑓𝑏 𝜃 − rotating around an axis with constant angular velocity.
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 𝜕𝑧 𝜌 𝑟 𝜕𝜃
𝜕𝑉𝑧 𝜕𝑉𝑧 𝑉𝜃 𝜕𝑉𝑧 𝜕𝑉𝑧 1 𝜕𝑝
𝑎𝑧 = + 𝑉𝑟 + + 𝑉𝑧 = 𝑓𝑏 𝑧 −
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧 𝜌 𝜕𝑧
Constant linear acceleration
𝑎
Liquid causes a tilted planar free
Exercise : 𝑥 component of the velocity in a 2D, incompressible, irrotational, frictionless surface.
flow is given as 𝑢 = 6𝑥. At point (2,0,0) the 𝑦 component of velocity is known to be
zero. 𝑤 = 0 everywhere. Body force is −𝑔𝑘. Obtain an expression for 𝑣. Find the Liquid
acceleration at point (2,0,0). Obtain an expression for the pressure field if the pressure 𝜔
is known to be 𝑝0 at (0,0,0). Stationary liquid Rotation at constant speed
with a horizontal causes a curved (parabolic)
free surface free surface.
Liquid
6-27 6-28

7
 Fluids in Rigid Body Motion (cont’d) Fluids in Rigid Body Motion (cont’d)
• For a fluid in rigid body motion, there are no viscous forces. 1
𝑎 = 𝑔 − 𝛻𝑝
• There are only pressure and body forces, similar to a static fluid. 𝜌

• But the difference is, now we have nonzero acceleration. For a fluid moving with For a fluid rotating at
For a static fluid
• Euler’s equation is valid for fluids in rigid body motion. constant linear acceleration constant speed
𝑎=0
1 𝑎 = constant 𝑎 = 𝑎𝑟 𝑖𝑟
𝑎 = 𝑓𝑏 − 𝛻𝑝 𝛻𝑝 = 𝜌𝑔
𝜌 𝛻𝑝 = 𝜌(𝑔 − 𝑎) 𝛻𝑝 = 𝜌(𝑔 − 𝑎)
𝑎 was zero for a static fluid.
𝜔
But here it is not zero. Typically 𝑓𝑏 = 𝑔
𝑎
𝑔 𝛻𝑝 𝑔 𝑔
𝛻𝑝
• Nonzero acceleration will cause a change in the pressure distribution, compared to a
static fluid.

Red lines are constant pressure

lines. 𝛻𝑝 is perpendicular to them.
6-29 6-30

Fluids in Rigid Body Motion (cont’d) Fluids in Rigid Body Motion (cont’d)
Exercise : We want to use the following U-tube filled with a liquid as a crude Exercise : A cylindrical tank, with its top open to atmospheric pressure has a Radius of
accelerometer in our car. As the car speeds up with constant acceleration we should 𝑅 = 0.5 m and a height of 𝐻 = 2 m. It is completely filled with water and rotated
observe a difference between the levels of the two liquid columns. Determine about its axis at an angular velocity of 𝜔 = 5 rad/s. Determine
a) the pressure distribution inside the liquid a) the pressure distribution inside the water 𝜔
b) relation between acceleration and the parameters of our device. b) the pressures at (𝑟 = 0, 𝑧 = 0) and (𝑟 = 0.5 m, 𝑧 = 0)
c) the pressure distribution on the side wall of the tank
d) the force exerted by the water on the bottom of the tank
e) the volume of the spilled water. Water
𝑎 ℎ

𝑎
𝜌

6-31 6-32

8
 Navier-Stokes Equation Navier-Stokes Equation (cont’d)
• Navier-Stokes equation is the differential form of linear momentum conservation for • Add all the forces and substitute the sum into Newton’s 2 nd Law of Motion.
viscous flows. It is Newton’s second law written for fluid flow. • Express normal and viscous stresses in terms of pressure and velocity components.
• Pressure, viscous and body forces need to be considered. • Skipping the details (you are NOT responsible for them), for a Newtonian fluid with
constant fluid properties (viscosity and density), we get
Note : Only 𝑥 components 𝜕𝜏𝑧𝑥 𝑑𝑧
of the surface forces are 𝜏𝑧𝑥 + 𝑑𝑥𝑑𝑦
𝜕𝑧 2 𝜕𝜎𝑥𝑥 𝑑𝑥 𝜕𝑉 1
shown for clarity. 𝜎𝑥𝑥 − 𝑑𝑦𝑑𝑧 𝑎 = + 𝑉 ∙ 𝛻 𝑉 = 𝑓𝑏 − 𝛻𝑝 + 𝜈 𝛻 2 𝑉
𝜕𝑥 2 𝜕𝑡 𝜌

𝜕𝜏𝑦𝑥 𝑑𝑦 Euler’s Additional viscous term.

𝑑𝑧
𝜏𝑦𝑥 − 𝑑𝑥𝑑𝑧 𝜕𝜏𝑦𝑥 𝑑𝑦 Equation
𝜕𝑦 2 𝜏𝑦𝑥 + 𝑑𝑥𝑑𝑧 𝜈 = 𝜇/𝜌 : Kinematic viscosity
𝜕𝑦 2
𝛻 2 : Laplace operator
𝑑𝑥
𝜕𝜎𝑥𝑥 𝑑𝑥 𝑑𝑦 𝑧 • Navier-Stokes equation can also be written in terms of dynamic viscosity by multiplying
𝜎𝑥𝑥 + 𝑑𝑦𝑑𝑧 𝐹𝑏 = 𝑑𝑚 𝑓𝑏
𝜕𝑥 2 all the terms with density
𝜕𝜏𝑧𝑥 𝑑𝑧 𝑦
𝜏𝑧𝑥 − 𝑑𝑥𝑑𝑦 𝑥
𝜕𝑧 2 𝜕𝑉
𝜌 + 𝑉 ∙ 𝛻 𝑉 = 𝜌𝑓𝑏 − 𝛻𝑝 + 𝜇𝛻 2 𝑉
𝜕𝑡
6-33 6-34

Navier-Stokes Equation (cont’d) Poiseuille Flow

• Components in the Cartesian coordinate system are 𝛻2𝑢 Exercise : Consider the flow between two infinitely wide parallel plates driven by a
pressure gradient in the axial direction. Neglect body forces and consider steady,
𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 1 𝜕𝑝 𝜕2𝑢 𝜕2 𝑢 𝜕2𝑢 laminar, incompressible flow of a Newtonian fluid with constant viscosity and
𝑎𝑥 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑥 − + 𝜈 + + density. Simplify the continuity and Navier-Stokes equations and determine
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2
𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑣 1 𝜕𝑝 𝜕2𝑣 𝜕2𝑣 𝜕2𝑣 • velocity profile
𝑎𝑦 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑦 − + 𝜈 + + • shear stress distribution
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑦 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2
𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑤 1 𝜕𝑝 𝜕2 𝑤 𝜕2𝑤 𝜕2𝑤 • volumetric flow rate
𝑎𝑧 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑧 − + 𝜈 + + • maximum and average velocities
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑧 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2
• pressure drop over a length of 𝐿.
• These equations can be solved analytically only for a few simple geometries and
boundary conditions, such as the ones given in the exercises of the coming slides.

𝑦 flow ℎ
Exercise : Find the three components of the Navier-Stokes equations in cylindrical 𝑥
coordinate system from a fluid mechanics textbook and write them at the back of this
slide for future reference.

6-35 6-36

9
 Hagen-Poiseuille Flow Flow Between Concentric Cylinders
Exercise : Repeat the exercise of the 𝑟 Exercise : A liquid fills the annular gap between vertical concentric cylinders. Inner
previous slide for the steady, incompressible 𝑧 flow 𝑅 cylinder is stationary and outer one rotates at constant speed. Simplify the continuity
flow inside a constant diameter pipe. and Navier-Stokes equations for this steady, laminar flow and determine
• the velocity profile
𝑅2
• shear stress distribution 𝜔
𝑅1
Flow Down an Inclined Plane Compare the shear stress at the surface of the
Exercise : An incompressible fluid flows down an inclined plane in a steady, fully inner cylinder with that computed from a planar
developed laminar film of thickness ℎ. This time fluid weight is not negligible. approximation obtained by “unwrapping” the
annulus into a plane and assuming a linear velocity 𝑧
Simplify the continuity and N-S equations for this flow and study the flow field in
detail. profile across the gap. Determine the ratio of
𝑦 𝑝𝑎𝑡𝑚
cylinder radii for which the planar approximation
𝜃
Hint: At the free surface consider that 𝑥 predicts the correct shear stress at the surface of
the air applies negligible shear force to the inner cylinder within 1 % accuracy. 𝑟
ℎ
the liquid. (Reference: Fox’s book)

𝜃
6-37 6-38

10