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3 FLUID KINEMATICS
1. FLUID KINEMATICS
It describes the motion of fluid and its consequences without any consideration of the forces
invaded. Thus, fluid kinematics deals with the variation of flow parameters in space and time.
Fluid kinematics deals with the following three aspects as shown below:
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S = S(S0 , t)
Where,
ˆ is the position vector of a particle (with respect to a fixed point of
S = ˆix + ˆjy + kZ
reference) at a time t.
Where î , ĵ and k̂ are the unit vectors along the x, y and z axis respectively.
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• However, fluid flow is a continuum phenomenon, at least down to the molecular level. It
is not possible to track each "particle" in a complex flow field. Thus, the Lagrangian
description is rarely used in fluid mechanics.
1.2.1.1. Advantages of Lagrangian Method:
• Since motion and trajectory of each fluid particle is known, its history can be traced.
• Since particles are identified at the start and traced throughout their motion,
certain special cases and therefore, the method is rarely suitable for practical
applications.
• In the Eulerian description of fluid flow, individual fluid particles are not identified.
• In other words, each property is expressed as a function of space and time, as shown
• Pressure, velocity, acceleration, and all other flow properties are described
• Since fluid flow is a continuum phenomenon, at least down to the molecular level, the
Note.1:
• The Lagrangian method of description can always be derived from the Eulerian method.
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V P
t = 0, = 0, =0
x0 ,y0 ,Z0 t x0 ,y0 ,Z0 t x0 ,y0 ,Z0
V P
t 0, 0, 0
x0 ,y0 ,Z0 t x0 ,y0 ,Z0 t x0 ,y0 ,Z0
dV
V = V(t) and =0 ( For Uniform Flow).
ds t = cons tan t
• While a flow in which the velocity and other hydrodynamic parameters changes from
one point to another the flow is defined as non-uniform.
dV
ds 0 (For Non uniform flow)
t = cons tan t
Note.2:
• For a non-uniform flow, the changes with position may be found either in the direction
of flow or in directions perpendicular to it.
• Non-uniformity in a direction perpendicular to the flow is always encountered near
solid boundaries past which the fluid flows.
2.4. Laminar flow and Turbulent flow
• Laminar flow is type of flow in which the fluid particles move along well-defined paths
or steam line & all the streamlines are straight & parallel. Thus, the particles move in
layers gliding smoothly over the adjacent layer.
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• It is type of flow in which the fluid particles move in a zig zag way which results in
eddies formation which are responsible for the energy loss.
• The deciding parameter is the Reynolds number (Re) which determines that whether
the flow is laminar or turbulent.
2.5. Compressible flow and Incompressible flow
• Compressible flow is a type of flow in which density of the fluid changes from point to
point.
cons tant (For compressible flows)
• While a flow in which the density is constant for fluid flow is called the incompressible
flow.
= cons tant (For incompressible flows)
3.1. Streamlines:
• A streamline at any instant can be defined as an imaginary curve or line in the flow
field so that the tangent to the curve at any point represents the direction of the
instantaneous velocity at that point.
• Streamlines are the Geometrical representation of the flow velocity.
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• In an unsteady flow where the velocity vector changes with time, the pattern of
streamlines also changes from instant to instant.
• Only for steady flow, streamlines remain same at all instants of time.
dx dy dz
= = Equation of streamline in 3D
u v w
3.2. Streak-line:
• A streak line is the locus of fluid particles that have passed sequentially through a
prescribed point in the flow.
3.3. Path line
• A path line is the actual path travelled by an individual fluid particle over some time
period.
3.4. Timeline:
• A timeline is a set of adjacent fluid particles that were marked at the same (earlier)
instant in time.
Note.3:
• For steady flow, Streamlines, Streak lines & path lines are identical.
4. CONTINUITY EQUATION
• This equation is based on the principle of conservation of mass. Consider two cross sections
of a pipe as shown in Fig.4.
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By continuity equation:
Mass flow rate at inlet = mass flow rate at outlet
ρ1A1V1 = ρ2A2V2 (If fluid in compressible).
A1V1 = A2V2 (if fluid is Incompressible i.e. ρ = constant).
Continuity Equation for Steady and 3 – D Incompressible Flow:
u v w
+ + =0
x y z
Continuity Equation for Steady and 2 – D Incompressible Flow:
u v
+ =0
x y
Proof:
CONTINUITY EQUATION IN THREE-DIMENSIONS
Consider a fluid element of lengths dx, dy and dz in the direction of x, y and z. Let u, v and w
are the inlet velocity components in x, y and z directions respectively.
and in z-direction = − (w) dx dydz
z
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Net gain of masses = − (u) + (v) + (w) dx dydz
x y z
Since the mass is neither created nor destroyed in the fluid element, the net increase of mass
per unit time in the fluid element must be equal to the rate of increase of mass of fluid in the
element. But mass of fluid in the element is .dx.dy.dz and its rate of increase with time is
(dx.dy.dz) or . dx.dy.dz.
t t
Equating the two expressions.
− (u) + (v) + (w) dx dydz = .dx dydz
x y z t
+ (u) + (v) + (w) = 0 [Cancelling dx.dv.dz from both sides]
t x y z
Above equation is the continuity equation in cartesian co-ordinates in its most general form.
This equation is applicable to:
(i) Steady and unsteady flow,
(ii) Uniform and non-uniform flow, and
(iii) Compressible and incompressible fluids.
For steady flow:
= 0 and hence equation becomes as
t
(u) + (v) + (w) = 0
x y z
For incompressible Fluid:
is constant and the above equation becomes as
u v w
+ + =0.
x y z
Above equation is the continuity equation in three-dimensions.
For a two-dimensional flow, the component w = 0. Hence continuity equation becomes as
u v
+ = 0.
x y
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Du u dx u dy u dz u
ax = lim = lim + lim + lim +
t →0 Dt t →0 x dt t →0 y dt t →0 z dt t
Du u dx u dy u dz u
ax = = + + +
Dt x dt y dt z dt t
dx dy dz
But u = , v = and w =
dt dt dt
Therefore,
Du u u u u
ax = =u +v +w +
Dt x y z t
Similarly, acceleration in y and z directions is given by:
Dv v v v v
ay = =u +v +w +
Dt x y z t
Dw w w w w
az = =u +v +w +
Dt x y z t
• The total differential D/Dt is known as the material or substantial derivative with
respect to time.
• The first term in the right hand side of is known as temporal or local derivative
t
which expresses the rate of change with time, at a fixed position.
• The last three terms in the right-hand side of the equation, are together known as
convective derivative which represents the time rate of change due to change in
position in the field.
5.3. Total acceleration:
• The total acceleration is given by the following vector:
ˆ
A = axˆi + ayˆj + azk
DV V
A= = + V.V
Dt t
Thus, magnitude of the total acceleration is given by:
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Note.5:
• For steady flow: Local or temporal acceleration =0
t
Thus, Total acceleration= convective acceleration.
• For uniform flow: Convective acceleration = 0
Thus, Total acceleration= temporal acceleration
• For steady and uniform flow:
Total acceleration=0
Example. The velocity vector in a fluid flow is given V = 4x3i − 10x2yj + 2tk. Find the
velocity and acceleration of a fluid particle at (2, 1, 3) at time t = 1.
Solution:
The velocity components u, v and w are u = 4x 3, v = − 10x2 y, w = 2t
For the point (2, 1, 3), we have x = 2, y = 1 and z = 3 at time t = 1.
Hence velocity components at (2, 1, 3) are
u = 4 × (2)3 = 32 units
v = − 10(2)2(1) = − 40 units
w = 2 × 1 = 2 units
Velocity vector V at (2, 1, 3) = 32i − 40j + 2k
Resultant velocity = u2 + v2 + w2
v v v v
ay = u +v +w +
x y z t
w w w w
az = u +v +w +
x y z t
v v v v
= −20xy, = 0, = 0 and =0
x y z t
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w w w w
= 0, = 0, = 0 and = 2.1
x y z t
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1 u v 1 u w 1 v w
xx = + , zx = + , yz = +
2 y x 2 z x 2 z y
1
Angular deformation = = 1 + 2
2
1 v u
Shear strain rate = +
2 x y
d. Rotation
• The rotation component about any axis may be defined as the average velocity of any two
linear elements in the particle that are perpendicular to each other and to the axis of
rotation.
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Fig. 9 Rotation
1 v u
z = −
2 x y
1 w v
x = −
2 y z
1 u w
y = −
2 z x
Note.6:
• Translation and rotation without deformation represent the rigid body displacements which
do not induce any strain in the body.
Example. A fluid flow is given by V = 8x 3i − 10x2yj. Find the shear strain rare and slate
whether the flow is rotational or irrotational.
Solution:
Given:
Velocity vector V = 8x3i − 10x2yj
3
u = 8x
u u
Thus, = 24x2 , =0
x y
and v = −10x2y
v v
Thus, = −20xy, = − 10x2
x y
(i) Shear strain rate is given by the following equation:
1 v u 1
= + = (− 20xy + 0) = − 10xy
2 x y 2
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7. ANGULAR VELOCITY (𝜴
⃗⃗ )
1 v u
z = −
2 x y
1 w v
x = −
2 y z
1 u w
y = −
2 z x
Note.7:
• For an irrotational motion of a fluid particle, angular velocity is zero. i.e.
8. VORTICITY (𝝃)
• Vorticity (𝜉) in the simplest form is defined as a vector which is equal to two times the
rotation vector. It is given by:
⃗⃗
𝒗𝒐𝒕𝒊𝒄𝒊𝒕𝒚 = 𝟐𝜴
• It is a measure of rotationality of fluid flow.
• Vorticity is equal to curl of velocity vector.
i.e. 𝜉= V = curlV
𝑖 𝑗 𝑘
𝜉 = (𝛻⃗ × 𝑉
⃗ ) = |𝜕/𝜕𝑥 𝜕/𝜕𝑦 𝜕/𝜕𝑧|
𝑢 𝑣 𝑤
Thus, Vorticity in the x – direction is given by:
w v
x = ( V) = i −
y z
• If vorticity at a point in fluid flow is zero, then flow in that region is called irrotational flow.
• Vortex line: A imaginary line drawn in the fluid so that tangent to it at each point is in the
direction of the vorticity vector at that point, the line is called the vortex line. Therefore,
the general equation for the vortex line can be written as:
ds = 0 .
• Vorticity in the cartesian co-ordinates:
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dx dy dz
= =
x y z
1 VR V V
= − −
R sin R R
1 V 1 V V
R = − + cot
R R sin R R
9. CIRCULATION (Г)
• Circulation is defined as the line integral of tangential component of velocity vector along a
closed curve,
Circulation(Г)=Vorticity×Area
• It is a scalar function of space & time such that its negative derivate with respect to any
• The velocity potential function (ϕ) exists, the flow should be irrotational i.e. when V = o
• If velocity potential function satisfies the Laplace equation, it represents the possible steady
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• Line joining points of equal velocity potential function in a flow field is called equipotential
line.
= = =0
x y z
Thus, flow will not occur along equipotential line.
u v w 2 2 2
+ + = 2 + 2 + 2 = 0
x y z x y Z
2 = 0
curlV = V = 0
1 𝜕2 ∅ 𝜕2 ∅
ω𝑧 = (− + )=0
2 𝜕xdy 𝜕xdy
• It is defined as the scalar function of space and time, such that its p[atrial derivative with
respect to any direction gives the velocity component at right angles to that direction.
• It is denoted by the ψ and defined only for the two – dimensional flows.
• Mathematically, for the steady flow it is defined as ψ = f(x,y) such that:
=v
x
= −u
y
• The velocity components in cylindrical polar co-ordinates in terms of stream function are
given as:
1
ur = and u = −
r r
• For 2 – D incompressible flow:
u v
+ =o (continuity equation)
x y
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Example. If for a two-dimensional potential flow, the velocity potential is given by = x (2y −
1). Determine the velocity at the point P (4, 5). Determine also the value of stream function
at the point P.
Solution:
Given:
Velocity potential function () =x (2y − 1)
(i) The velocity components in the direction of x and y are
u=− =− [x (2y −1)] = −[2y − 1] = 1 − 2y
x x
v=− =− [x (2y − 1)] = − [2x] = − 2x
y y
And = v = − 2x ... (ii)
x
Integrating equation (i) w.r.t. ‘y’, we get
d = (2y − 1) dy
2y2
= − y + Constant of integration.
2
The constant of integration is not a function of y but it can be a function of x. Let the
value of constant of integration is k. Then
= y2 − y + k ... (iii)
Differentiating the above equation w.r.t. ‘x’, we get
k
= .
x x
But from equation (ii), = − 2x
x
k
Equating the value of , we get = − 2x.
x x
2x 2
Integrating this equation, we get k = − 2xdx = −
2
= −x 2 .
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= y2 − y − x2.
Stream function at P (4, 5) = 52 − 5 − 42 = 25 − 5 − 16 = 4 units. Ans.
dy v
mst = = equation of streamline
dx u
As along a streamline
Ψ = constant
u=− , and v =
y x
v u
Irrotationality : − =o
x y
2 2
2 + 2 = 0
x y
2 = 0
Note.
• While velocity potential function exists only for the irrotational flow.
A line along which the velocity potential is constant, is called equipotential line.
= Constant
d= 0
d = dx + dy = − udx − vdy = − u, = − v
x y x x
= − (udx + vdy).
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dy u
=−
dx v
dy
But = Slope of equipotential line.
dx
dy u
Slope of equipotential line: meq = =−
dx v
u v
meq mst = − = −1
v u
Hence, streamlines and equipotential lines are perpendicular to each other.
1 u v
xx = + ,
2 y x
1 v w
yz = +
2 z y
v= =
y x
(b). For polar coordinates:
u 1 v
ur = = and
r r
u v
u = = −r
r
11.3. For 2 – D compressible steady flow
Discharge per unit width between two points in a flow = absolute difference between values of
stream function through those two points, i.e.
Q 2 − Q1
= 2 − 1
b
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dy −u
= = m1
dx =c v
dy v
= = m2
dx =c u
dy dy
= m1m2 = −1
dx =c dx =c
Hence, equipotential lines and streamlines are ORTHOGONAL to each other everywhere in flow
field except at stagnation point where V = 0.
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PRACTICE QUESTIONS
1. A 40 cm diameter pipe, conveying water, branches into two pipes of diameters 30 cm and 20 cm
respectively. If the average velocity in the 40 cm diameter pipe is 3 m/s. Find the discharge in
this pipe. Also determine the velocity in 20 cm pipe if the average velocity in 30 cm diameter pipe
is 2 m/s.
2. Find the convective acceleration at the middle of a pipe which converges uniformly from 0.6 m
diameter to 0.3 m diameter over 3 m length. The rate of flow is 40 lit/s. If the rate of flow changes
uniformly from 40 lit/s to 80 lit/s in 40 seconds, find the total acceleration at the middle of the
pipe at 20th second.
3. The velocity potential function, , is given by = x2 − y2. Find the velocity components in x and y
direction. Also show that represents a possible case of fluid flow.
4. A stream function is given by: = 2x − 5y. Calculate the velocity components and also magnitude
and direction of the resultant velocity at any point.
5. The stream function for a two-dimensional flow is given by = 8xy, calculate the velocity at the
point p (4, 5). Find the velocity potential function .
8 3 8 3
6. The velocity components in a two-dimensional flow are: u = 8x 2y − y and v = − 8x3y + x .
3 3
Find the angular velocity of the flow field.
7. A pipe 450 mm in diameter branches into two pipes of diameters 300 mm and 200 mm
respectively. If the average velocity in 450 mm diameter pipe is 3 m/s, find:
(i) discharge through 450 mm diameter pipe and
(ii) velocity in 200 mm diameter pipe if the average velocity in 300 mm pipe is 2.5 m/s.
8. A fluid flow is given by: V = 10x3i − 8x3yj. Find the shear strain rate.
2z3
9. A fluid flow is given by: V = xy2i − 2yz2j − zy2 − k. Calculate the velocity and acceleration
3
at the point (1, 2, 3)
Answers:
1. 0.3769 m3/s, 2.25 m/s
2. .0499 m/s2, 0.1187 m/s2
3. u = 8 units, v = -10 units
4. u = 5 m/s, v = 2m/s, V = 5.384 m/s, θ = 21.48 °
5. u = -32 units, v = 40 units, ϕ = 4y2 – 4x2
6. 0
7. Q= 0.477 m3/s, V3 = 9.6 m/s
8. -8xy
9. 36.7 unit, 874.5 units
****
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