Stress Components in a Viscous Fluid and The Equations of Motion[1]

If the velocity for the fluid in x, y and z-direction are u, v and w respectively, the differential velocities must be given by
∂u ∂u ∂u
du = dx + dy + dz ,
∂x ∂y ∂z

∂v ∂v ∂v
dv = dx + dy + dz ,
∂x ∂y ∂z

∂w ∂w ∂w
dw = dx + dy + dz
∂x ∂y ∂z

When combine the above three equations to one vector equation, we have

ˆidu + ˆjdv + kˆ dw = ˆi  ∂u dx + ∂u dy + ∂u dz  + ˆj  ∂v dx + ∂v dy + ∂v dz  + kˆ  ∂w dx + ∂w dy + ∂w dz 
     
 ∂x ∂y ∂z   ∂x ∂y ∂z   ∂x ∂y ∂z 

 ∂ uˆi ∂ uˆi ( )
∂ uˆi ( )
  ∂ vˆj ∂ vˆj( ) ∂ vˆj ( ) ( ) ( )
( ) ( ) ( )
ˆ ˆ ˆ
d ui + d vj + d wk = 
 ∂x
dx +
∂y
dy +
∂z
dz + 
  ∂x
dx +
∂y
dy +
∂z
dz 

   

+
 ∂ wkˆ
dx +
∂ wk ˆ
dy +
( )
∂ wk ˆ 
dz 
( ) ( )
 ∂x ∂y ∂z 
 

(
∂ uˆi + vˆj + wkˆ ) dx + ∂ ( uˆi + vˆj + wkˆ ) dy + ∂ ( uˆi + vˆj + wkˆ ) dz = ∂u dx + ∂u dy + ∂u dz
(
d uˆi + vˆj + wkˆ = ) ∂x ∂y ∂z ∂x ∂y ∂z
 ∂u ˆ ∂u ˆ ∂u  ˆ
=  ˆi
 ∂x
(
+ j + k i idx + ˆjdy + kˆ dz
∂y ∂z 
)
∴ du = ∇uidr
In the other words, if the velocity vector for the fluid is u at position r and u+du at position r+dr, the differential velocity
must be given by
du = ∇uidr

From the differential velocities of u, this may be expressed alternatively in the following form

1  ∂u  ∂u ∂v   ∂u ∂w   ∂u ∂v   ∂u ∂w  
du =  2 dx +  +  dy +  +  dz +  −  dy +  −  dz 
2  ∂x  ∂y ∂x   ∂z ∂x   ∂y ∂x   ∂z ∂x  
1  ∂u  ∂u ∂v   ∂u ∂w   1   ∂v ∂u   ∂u ∂w  
=  2 dx +  +  dy +  +  dz  + 0 −  −  dy +  −  dz 
2  ∂x  ∂y ∂x   ∂z ∂x   2   ∂x ∂y   ∂z ∂x  

∴ du = 1
2 (e xx dx + eyx dy + ezx dz ) + 12 ( 0 − ζ dy + η dz )

Similarly, from the differential velocities of v and w, these may be expressed alternatively in the following form

dv = 1
2 (e xy dx + e yy dy + ezy dz ) + 12 (ζ dx + 0 − ξ dz )

dw = 1
2 (e xz dx + eyz dy + ezz dz ) + 12 ( −η dx + ξ dy + 0 )

where exx, eyy, ezz, exy, eyx, eyz, ezy, ezx and exz are the rate of strain components defined by

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 ∂u ∂v ∂w
exx = 2 , eyy = 2 , ezz = 2 ,
∂x ∂y ∂z

 ∂v ∂u   ∂w ∂v   ∂u ∂w 
exy = eyx =  +  , eyz = ezy =  + , ezx = exz =  + 
 ∂x ∂y   ∂y ∂z   ∂z ∂x 
and ξ, η, ζ are the components of the vorticity w as given in
vorticity w = curl u = ∇ × u
and this may be expressed as

ˆi ˆj kˆ
∂ ∂ ∂
curl u = ∇ × u =
∂x ∂y ∂z
u v w

or curl u = ∇ × u = ξ ˆi + η ˆj + ζ kˆ
where the three components are specified by
 ∂w ∂v   ∂u ∂w   ∂v ∂u 
ξ = − , η = − , ζ = − 
 ∂y ∂z   ∂z ∂x   ∂x ∂y 

The significance of these different

(a) Expansion
quantities will be understood from y ∂v
dy dt
Figure 1, which illustrates the y ∂y
translation, expansion, deformation and
rotation of a fluid element in the
two-dimensional case. ∂u
dx dt
dy ∂x
The three-terms exx, eyy, ezz represent
u dt
expansion or compression of the fluid x x
dx
as shown for the two-dimensional case
y (b) Shearing y (c) Rotation
in Figure 1 (a). Note that the sum of
∂u
these three terms ∂u − dy dt
dy dt ∂y
∂y
 ∂u ∂v ∂w 
exx + eyy + ezz = 2  + + 
 ∂x ∂y ∂z 
= 2 div u = 2 ∇ iu φ ∂v ∂v
dx dt dx dt
∂x dβ
which must be zero for an x ∂x x
dα
incompressible fluid.
Figure 1
The other six components of the rate of
strain, exy, eyx, eyz, ezy, ezx, exz, represent shearing or distortion of the fluid element. This is shown for the two-dimensional
case in Figure 1 (b), where the infinitesimal change of angular deformation is

 ∂v ∂u 
 dx dt ∂y dy dt   ∂v ∂u 
− dφ ≈  ∂x +  =  dt + dt 
 dx dy   ∂x ∂y 
 
 

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Hence the rate of change of angular deformation is given by

dφ  ∂v ∂u 
− =  +  = exy = eyx
dt  ∂x ∂y 

It will also be evident from Figure 1 (c) that the mean rate of angular rotation of the fluid element is given by

 ∂v ∂u 
 dx − dy 
1  ∂α ∂β  1 ∂x ∂y 1  ∂v ∂u 
 + =  +  =  −  = 1ζ
2  ∂t ∂t  2  dx dy  2  ∂x ∂y  2
 
 

and similarly for the other components of rotation, i.e. each vorticity component is equal to twice the corresponding
component of angular velocity.

(a)
σyy p

σxx p = − 13 (σ xx + σ yy + σ zz )

σzz p

(b) (c) (d)

1
3 (σ xx − σ yy ) 1
3 (σ yy − σ zz )

1
(σ − σ yy )
(σ − σ zz )
1
(σ zz − σ xx )
(σ zz − σ xx )
3 xx 1 1 3
3 yy 3

Figure 2

For a Newtonian fluid, it is assumed that the shear stresses are proportional to the rates of angular deformation
 ∂v ∂u 
τ xy = τ yx = µ exy = µ eyx = µ  + 
 ∂x ∂y 
 ∂w ∂v 
τ yz = τ zy = µ eyz = µ ezy = µ  + 
 ∂y ∂z 

 ∂u ∂w 
τ zx = τ xz = µ ezx = µ exz = µ  + 
 ∂z ∂x 
where µ is the coefficient of viscosity. This assumption is confirmed experimentally with most fluids.

The direct stresses can be resolved as shown in Figure 2 and subdivided into four independent direct stresses components.
We can then consider the relationship between each direct stress components and corresponding rate of strains separately.

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Direct Stress and Strain in Figure 2 (b)
The stress system shown in Figure 2 (b) is equivalent to pure two-dimensional

π
shearing of the inner element whose faces are inclined at 45° or to those of
4 τ τ

l
[2]
the outer element . This inner element, and its subsequent state of distortion,
is indicated in Figure 3. Since only pure shear stresses are acting on the inner φ0 = π2
element, the length of sides l should not change.
If l and λ are the length of the sides and length of the diagonal of respectively, τ τ
the diagonal strain will be found from following steps
λ
φ
λ = 2l cos
2
θ  ∂u 
φ dφ φ −λ φ λ dφ φ d λ =   λ dt
d λ = −2l sin ⋅ = −l dφ sin = dφ sin = − tan 2  ∂x b
2 2 2 2 cos φ 2 2 2
2
φ
dλ dφ φ
∴ =− tan
λ 2 2

π
At initial state, i.e. t = t0 , φ = φ0 = , the above equation reduces to
2 Figure 3
dλ dφ φ dφ π dφ
=− tan 0 = − tan = −
λ 2 2 2 4 2
After infinitesimal increment of time dt, i.e. t = t0 + dt , displacement of diagonal is

 ∂u  dλ  ∂u 
d λ =   λ dt ⇒ =   dt
 ∂x b λ  ∂x b
Combine above two equations, we obtain

 ∂u  dφ  ∂u  1 dφ
  dt = − ⇒   =−
 ∂x b 2  ∂x b 2 dt
Also after infinitesimal increment of time dt, i.e. t = t0 + dt , the angular displacement is

π dθ dφ
θ + φ = φ0 = ⇒ =−
2 dt dt
For a Newtonian fluid, the shear stresses are proportional to the rate of angular deformation, i.e.

dθ dφ dφ τ
τ =µ = −µ ⇒ − =
dt dt dt µ

As the result,

 ∂u  1 dφ 1 τ
  =− =
 ∂x b 2 dt 2 µ

Hence, comparing Figure 2 (b) and Figure 3, since τ = 1

3 (σ xx − σ yy )

 ∂u  1 (σ xx − σ yy )
  =
 ∂x b 2µ 3

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For any control mass with density ρ and volume V, i.e.
m = ρV
the relationship of rate of change of density and rate of change of volume
is

l
DV D ρ Dm Dρ ρ DV
ρ +V = =0 ⇒ =−
Dt Dt Dt Dt V Dt
Now consider the control mass of an inner element with length of sides l
and width h as shown in Figure 4. Since only pure shear stresses are acting
on the inner element, the length of sides l and width h should not change. h
The volume of inner element is
V = ( l ⋅ l sin φ ) h = l 2 h sin φ
Hence the rate of change of volume of control mass is l

 DV  dφ dφ φ
 = l h cos φ ⋅ = l 2h cos φ
2

 Dt b dt dt

π
At initial state, i.e. t = t0 , φ = φ0 = ,
2 Figure 4
 DV  2 dφ dφ π
  =l h cos φ0 = l 2 h cos = 0
 Dt b dt dt 2

As the result, the rate of change of density is

 Dρ  ρ  DV 
  =−   =0
 Dt b V  Dt b

Direct Stress and Strain in Figure 2 (d)

By similar reasoning of above derivation and Figure 2 (d), we have

 ∂u  1 (σ xx − σ zz )
  =
 ∂x  d 2 µ 3

 Dρ 
  =0
 Dt d

Direct Stress and Strain in Figure 2 (c)

By similar reasoning of above derivation and Figure 2 (c), we have

 Dρ 
  =0
 Dt c
According to Figure 2 (c), since there are only direct stress acting on y and z-direction and does not have any direct stress
acting on x-direction, there is no direct strain on x-direction, i.e.

 ∂u 
  =0
 ∂x c

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Direct Stress and Strain in Figure 2 (a)

In Figure 2 (a), the element experiences a uniform pressure p defined y

p
by

p = − 13 (σ xx + σ yy + σ zz )
p
Consider a cube with length of side λ as shown in Figure 5, the direct x
strains can be found as
p
 ∂u 
dx
εx = =   dt
λ  ∂x  a z

dy  ∂v  λ
εy = =   dt
λ  ∂y  a y
 ∂v 
 ∂w 
dz dy =   λ dt
εz = = dt  ∂y  a
λ  ∂z  a
It is known that the direct principal strains[2] in the direction of x, y
and z are

− p υ p υ p − (1 − 2υ ) p
εx = ε y = εz = + + =
E E E E
x
where υ is Poisson’s Ratio of fluid; and
E is the Young’s Modulus of fluid.
Hence
 ∂v   ∂w   ∂u 
 ∂u   ∂w  z dz =   λ dt dx =   λ dt
  dt =   dt =   dt  ∂z a  ∂x  a
 ∂x  a  ∂y  a  ∂z  a

 ∂u   ∂v   ∂w  Figure 5
⇒   =  = 
 ∂x  a  ∂y  a  ∂z  a
By using the Continuity equation

∂ρ  ∂ρ  Dρ
+ ∇i( ρ u ) = 0 ⇒  + u i∇ρ  + ρ ( ∇iu ) = 0 ⇒ + ρ ( ∇iu ) = 0
∂t  ∂t  Dt

1 Dρ ∂u ∂v ∂w
∴ − = ∇ iu = div u = + +
ρ Dt ∂x ∂y ∂z

Hence the rate of strain caused by the pressure p can be found from
1  D ρ   ∂u   ∂v   ∂w   ∂u 
−   =   +  +  = 3 
ρ  Dt a  ∂x  a  ∂y  a  ∂z  a  ∂x  a

 ∂u   ∂v   ∂w  1 1  Dρ 
∴   =  =  =−  
 ∂x  a  ∂y a  ∂z  a 3 ρ  Dt  a

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From the results of previous derivation of rate of change of density due to stresses in Figure 2 (b), (c) and (d), the total rate
of change of density is
Dρ  D ρ   Dρ   Dρ   Dρ   Dρ   Dρ 
=  +  +  +  =  +0+0+0 =  
Dt  Dt  a  Dt b  Dt c  Dt  d  Dt  a  Dt  a

1  Dρ  1 Dρ
or −   =−
ρ  Dt a ρ Dt

By using Continuity equation

1 Dρ
− = ∇ iu = div u
ρ Dt

 ∂u   ∂v   ∂w  1 1  Dρ  1 1 Dρ 1
∴   =  =  =−   =− = div u = 13 ∇ iu
 ∂x  a  ∂y a  ∂z  a 3 ρ  Dt  a 3 ρ Dt 3

Combining All the Direct Stress and Strain in Figure 2

By adding up all the partial rates of strain caused by independent direct stress in Figure 2 (a), (b), (c) and (d),

∂u  ∂u   ∂u   ∂u   ∂u  1 1 (σ xx − σ yy ) 1 (σ xx − σ zz )
=   +   +   +   = div u + +0+
∂x  ∂x  a  ∂x b  ∂x c  ∂x  d 3 2µ 3 2µ 3
1 σ 1 (σ xx + σ yy + σ zz ) 1 σ p
= div u + xx − = div u + xx +
3 2µ 2µ 3 3 2 µ 2µ

Hence

∂u 2µ ∂u 2µ
σ xx = − p + 2 µ − div u = − p + 2 µ − ∇iu
∂x 3 ∂x 3

Similarly,
∂v 2µ ∂v 2 µ
σ yy = − p + 2 µ − div u = − p + 2µ − ∇iu
∂y 3 ∂y 3

∂w 2 µ ∂w 2µ
σ zz = − p + 2µ − div u = − p + 2µ − ∇iu
∂z 3 ∂z 3

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Having derived the relationship between stress and rate of strain, by substituting for the stress components in equations of
motion for the x, y and z directions in the following form:
Du ∂σ ∂τ yx ∂τ zx
x-direction: ρ = ρ g x + xx + + ,
Dt ∂x ∂y ∂z

Dv ∂τ xy ∂σ yy ∂τ zy
y-direction: ρ = ρgy + + + ,
Dt ∂x ∂y ∂z

Dw ∂τ ∂τ yz ∂σ zz
z-direction: ρ = ρ g z + xz + +
Dt ∂x ∂y ∂z

The resulting Navier-Stokes equation for motion in x-direction is given by

Du ∂p ∂ 2u 2 ∂  ∂ 2 v ∂ 2u   ∂ 2u ∂ 2 w 
ρ = ρ gx − + 2 µ 2 − µ ( div u ) + µ  + 2 +µ 2 + 
Dt ∂x ∂x 3 ∂x  ∂x∂y ∂y   ∂z ∂x∂z 
∂p  ∂ 2u ∂ 2u ∂ 2u  ∂  ∂u ∂v ∂w  2 ∂
= ρ gx − +µ 2 + 2 + 2 +µ  + +  − µ ( div u )
∂x  ∂x ∂y ∂z  ∂x  ∂x ∂y ∂z  3 ∂x
∂p 1 ∂
= ρ gx − + µ∇ 2 u + µ ( div u )
∂x 3 ∂x
∂p 1 ∂
= ρ gx − + µ∇ u + µ ( ∇iu )
2

∂x 3 ∂x
or written in vectorially

Du µ
ρ = ρ g − ∇p + µ∇ 2 u + ∇ ( ∇iu )
Dt 3
µ
= ρ g − grad p + µ∇ 2 u + grad div u
3

Reference:
[1] Kay, J.M., and Nedderman, R.M. (1974). An Introduction to Fluid Mechanics and Heat Transfer, 3rd Edition.
Cambridge University Press. 290-294. (Call No. QA901.K39 1974)
[2] Ryder, G.H. (1969). Strength of Materials, 3rd Edition. ELBS. 36-37, 49-50, 54, 65-69.

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