ME 321: FLUID MECHANICS-I

Dr. A.B.M. Toufique Hasan

Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology (BUET), Dhaka

Lecture-13 &14
22/06/2021 & 24/06/2021

Differential Analysis of Fluid Motion

NS equations

toufiquehasan.buet.ac.bd
toufiquehasan@me.buet.ac.bd

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 1
Differential Analysis
The basic equations of fluid dynamics in integral form for a finite control volume (CV) are:

(1) Continuity equation:
volume flow rate, Q  AV  constant (for incompressible flow)
mass flow rate, m  AV  constant (for any flow : compressible/incompressible)
(2) Bernoulli Equation:
p V2
  z  constant (Bernoulli constant) (for incompressible flow)
 2g

These integral equations are useful when we are interested in gross behavior of a flow field and its
effect on various flow systems.
However, the integral approach does not enable us to obtain the detailed point-by-point
knowledge of the flow field. For example, the integral approach could provide information on the lift
generated by a wing; it could not be used to determine the pressure and shear stress distributions
that produce the lift on the wing.
To see what is happening in a flow in detail, it is required to use the differential equations of fluid
dynamics which involves an infinitesimal control volume, in contrast to finite control volume.
This approach is known as differential analysis.

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 2
Conservation of Mass
Mass can neither be created nor destroyed.
Consider a very small volume of space (infinitesimal control volume) through which a fluid is flowing.
For simplicity, a 2D flow is considered and the control volume is bounded by the surfaces ∆x and ∆y as
shown in figure. According to the law,

the net outflow of mass through the surfaces surrounding the volume
must be equal to the decrease of mass within the volume.

The mass flow rate is equal to the product of density, outflow (+ve)

velocity component normal to surface and the area of
that surface. In vector form; (ρu, ρv)

 outflow (+ve)

    (V  n̂) dA
m inflow (‐ve)
s

inflow (‐ve)

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 3
Conservation of Mass

A first-order Taylor series is used to evaluate the flow properties at

the faces of the element, since the properties are a function of
Taylor series
position (continuum approach (Lecture-1)).
f ( x) h 2  2 f ( x)
f ( x  h)  f ( x )  h   ... ... ...
The net outflow of mass per unit of time per unit depth is x 2! x 2

outflow (+ve) area outflow (+ve) area

  ( u ) x    ( v) y 
 u   ( y  1)   v   (x  1) outflow (+ve)
 x 2    y 2 
  ( u ) x    ( v) y  (ρu, ρv)
  u   ( y  1)   v   (x  1)
 x 2   y 2  outflow (+ve)
inflow (‐ve) inflow (‐ve) inflow (‐ve)

 ( u )  ( v) inflow (‐ve)
 xy  xy (A)
x x

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 4
Conservation of Mass
which must be equal to the rate at which the mass contained within the element decreases:

  x y 1     x y  ; ( ve due to decrease in mass) (B)
t t mass= density × volume

Equating the above two expressions (A & B) and dividing by ∆x∆y-

  ( u )  ( v)
  0
t x y

If z-dimension is considered, the differential form of the above expression comes as

  ( u )  ( v)  ( w)
   0
t x y z
     
    ( V )  0 ; where V  (u, v, w) and del operator,    , , 
t  x y z 
which is known as differential continuity equation.

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 5
Conservation of Mass

In case of steady flows,


()  0
t

Then the steady flow continuity equation in differential form becomes as-

 ( u )  ( v)  ( w) u v w
  0   0
x y z x y z
 
   ( V )  0   V  0
 
 div ( V )  0  div V  0
Compressible flows (ρ≠ constant) Incompressible flows (ρ= constant)

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 6
Conservation of linear momentum
Linear Momentum Equation:
The net force acting on a fluid particle is equal to the time rate of change of the linear
momentum of the fluid particle.
As fluid element moves in space, its velocity, density, shape and volume may change, but its mass is
conserved. Conservation of momentum can be written as-

DV
F m ; V  (u , v, w) and F  ( Fx , Fy , Fz )
Dt
Du
x  direction : Fx  m
Dt
Dv
y  direction : Fy  m (1)
Dt
Dw
z  direction : Fz  m
Dt

The velocity of a fluid particle is, in general, an explicit function of time t as well as of its position (x,
y, z). Furthermore, the position coordinates x, y, z of the fluid particle are themselves a function of
time. The derivative in the above expression is frequently termed as particle, total or substantial
derivative (D/Dt) of velocity (Lecture-3: particle acceleration).

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 7
Conservation of linear momentum
Since
u  u ( x, y , z , t )
v  v ( x, y , z , t )
w  w ( x, y , z , t )
Du u u x u y u z
   
Dt t x t y t z t Similarly
Du u u u u x y z Dv v v v v
   u v  w ; u ,v  , w   u v  w
Dt t x y z t t t Dt t x y z
total local convective Dw w w w w
  u v w
Dt t x y z

A3 > A2
Area=A1 A2 < A1

Steady flow u
ax  u 0
x
( )
0 Convective acceleration
t Velocity increases  Velocity decreases 
(1) to (2) (2) to (3)

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 8
Conservation of linear momentum

The principal forces with which we are concerned are those which act directly on the mass of the
fluid element, the body force, and those which act on its surface, the pressure forces and shear
forces. The stress system acting on an element of the surface is shown in figure:

There is a total of 6 shear stresses and 3 normal

stresses acting on a fluid element.
y‐face

The properties of most fluids have no preferred

direction in space; that is, fluids are isotropic. As a shear
result-
normal
 xy   yx
 yz   zy
shear
 zx   xz x‐face

z‐face

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 9
Conservation of linear momentum
In general, the various stresses change from point to point (continuum approach). Thus, they
produce net forces on the fluid particle, which cause it to accelerate. To simplify the illustration of the
force balance on the fluid particle, consider a 2D flow, as indicated in figure.
The resultant force in x-direction (for a unit depth in the z-direction) is

f x xy 

x y
 
 xx xy    yx xy

where fx is the body force per unit mass in x-

direction.
Including flow in the z-direction, the resultant
force in the x-direction-

 
Fx   f x xyz   xx  xyz   yx  xyz
x y

  zx  xyz
z

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 10
Conservation of linear momentum
Use this expression in eqn. (1) for x-direction:

Fx  f x xyz   xx xyz    yx xyz    zx xyz  xyz  Du
x y z Dt
Du   yx  zx
  f x  xx  
Dt x y z
 u u u u    yx  zx
    u  v  w    f x  xx  
 t x y z  x y z

Similarly, for y- and z-directions

 v v v v    
    u  v  w    f y  xy  yy  zy
 t x y z  x y z

 w w w w    
  u v  w    f z  xz  yz  zz
 t x y z  x y z

These are the basic forms of Navier-Stokes equations (NS equations). Other fluid mechanical
relations are obvious to solve such equations.
NS equations are the most famous equations for advanced analysis in fluid dynamics.

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 11
Navier‐Stokes Equations
Stress-deformation(strain rate) relation:
For incompressible Newtonian fluids it is known that the viscous stresses are related to the
rates of deformation (strain rate/velocity gradient) and coefficient of viscosity. These can be
expressed in Cartesian coordinates (x, y, z) as:
(for 3D, expressions of strain rate is a bit more complicated and details can be found in advanced course of fluid mechanics)

For normal stresses (3D):

u
 xx   p  2
x
v
 yy   p  2
y
w
 zz   p  2
z
normal shear
 air  1.8  10 5 Pa.s
where p is the hydrostatic pressure and  water  1.0 10 3 Pa.s
μ is the molecular viscosity of fluid.

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 12
Navier‐Stokes Equations

For shear stresses (3D):

 u v 
 xy   yx     
 y x 
 v w 
 yz   zy     
 z y 
 w u 
 zx   xz      u
 x z 
y

wall x

For 1-D flow (laminar):

 u v  u
   yx       
 y x  y
u
    yx  
y Newton’s law of viscosity

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 13
Navier‐Stokes Equations

Stress tensor: (9 elements)

 xx  xy  xz 
 
 ij   yx  yy  yz 
 zx  zy  zz 
 

 u  u v   w u  
  p  2        
 x  y x   x z  
  u v  v  v w  
  ij        p  2    
  y x  y  z y  
 
  w u   v w  w 
       p  2
  x z   z y  z 

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 14
Navier‐Stokes Equations
Now, use these stress-deformation relations in NS equation in x-direction:

 u u u u    yx  zx
  u  v  w    f x  xx  
 t x y z  x y z
  u     u v      w u  
  fx    p  2              
x  x  y   y x   z   x z  
p  2u  2u   v    w   2u
  f x   2 2   2         2
x x y y  x  z  x  z

p   2u  2u   2u   v    w   2u
  fx     2   2    2         2
x  x x  y y  x  z  x  z
p  2u   u   2u   v    w   2u
  fx    2       2         2
x x x  x  y x  y  x  z  z
p   2u  2u  2u    u v w 
  fx     2  2  2       
x  x y z  x  x y z 

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 15
Navier‐Stokes Equations

=0
 u u u u  p  u u u
2 2 2
  u v w 

   u  v  w    fx     2  2  2       
 t x y z  x  x y z  x  x y z 
p   2u  2u  2u  u v w
  fx     2  2  2  ;   0
x  x y z  x y z
continuity equation for incompressible flow

 u u u u  p   2u  2u  2u 
    u  v  w      fx    2 2 2
 t x y z  x  x y z 

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 16
Navier‐Stokes Equations
Finally, the set of Navier-Stokes equations for viscous incompressible flow in Cartesian
Coordinates (x,y,z) are:

 u u u u  p   2u  2u  2u 
x:    u  v  w      fx    2 2 2
 t x y z  x  x y z 

 v v v v  p   2v  2v  2v 
y:    u  v  w      fy    2 2 2
 t x y z  y  x y z 

 w w w w  p  2w 2w 2w 

z:  u v  w      fz    2  2  2
 t x y z  z  x y z 

Non-linear partial 2nd order partial

differential equations differential equations

Since the Navier-Stokes (NS) equations are nonlinear, second-order partial differential equations,
these are not manageable for exact mathematical solutions except in a few simplified fluid flow cases
(ME 323).
Numerical solution is a must to solve much complicated partial differential equations (NS equations).
This opens a broad horizon of mechanical engineering research (Computational Fluid Dynamics-CFD).

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 17
Navier‐Stokes Equations

There are 4 unknowns (p, u, v, and w), so the solution of these variables are possible when set of
NS equations combined with continuity equation:

u v w
  0
x y z

 u u u u  p   2u  2u  2u 
x:    u  v  z     f x    2  2  2 
 t x y z  x  x y z 

 v v v v  p   2v  2v  2v 
y:    u  v  z     f y    2  2  2 
 t x y z  y  x y z 

 w w w w  p  2w 2w 2w 

z:    u v z     f z    2  2  2 
 t x y z  z  x y z 

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 18
Euler equation

In case of inviscid incompressible flow (µ = 0), the Navier-Stokes equations reduce to Euler
equation as:

 u u u u  p
x:   u  v  z      fx
 t x y z  x

 v v v v  p
y:   u  v  z     fy
 t x y z  y

 w w w w  p
z:  u v z      fz
 t x y z  z

In compact form using vector notation; Euler equation comes as:


DV 
   p   f p  p  p 
Dt p  i  j k
x y z
   
pressure gradient f  f xi  f y j  f z k

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 19
Problem
An incompressible velocity field is defined as
u  a( x 2  y 2 )
v ?
wb

where a and b are constants. What must be the form of the velocity component v be?

Ans : v   2axy

© Dr. A.B.M. Toufique Hasan (BUET) L-3 T-1, Dept. of ME ME 321: Fluid Mechanics-I (Jan. 2021) 20