Lecture 3: Conservation Equations in Fluid Mechanics

The basic equations considered here are the three laws of conservation for physical
systems:
1. Conservation of mass (continuity)
2. Conservation of momentum (Newton's second law)
3. Conservation of energy (first law of thermodynamics)
The three unknowns that must be obtained simultaneously from these three basic
equations are the velocity u (three components), the thermodynamic pressure p, and the
absolute temperature T. However, the final forms of the conservation equations also
contain four other thermodynamics variables: the density , the enthalpy h, and have
two transport properties  and k.
3.1- Conservation of mass:
The first step in the derivation of the mass conservation equation is to write down a
mass balance for the fluid element:
Rate of increase of mass Net rate of flow of mass
in fluid element = into fluid element
The rate of increase of mass in the fluid element is;
 
 x y z    x y z 
t t
Next we need to account for the mass flow rate across a face of the element, which is
given by the product of density, area and the velocity component normal to the face.
From Figure (1).
Net rate of flow of mass into the element = mass in flow - mass out flow

51
   w 
w  z
  v  z
v  y
y
  u 
Velocities u  x
u in x direction u x
v in y direction z
w in z direction
z y v
x
y
x
w
Fig. (1) Mass flows in and out of fluid element

Mass in flow - Mass out flow = Rate of increase of mass

The mass balance for the fluid element is given by;

   u  
In x - dir.  u  y z   u  x  y z
 x 
   v  
In y - dir.   v  x z   v  y  x z
 y 
   w   
In z - dir.   w  x y   w  z  x y   x y z 
  z  t
Rearrangement the above equ. we have;

   u    v    w   
    x y z   x y z 
  x  y  z  t
Finally, divided by the element volume, we get general form of continuity in Cartesian
coordinate form as;

   u    v    w 
   0 (1)
t x y z

the rate of change Convective term

in time

52
 Or In vector notation
 
 div   u   0 or   . u   0
t t
where u  u i  v j  w k is velocity vector in Cartesian coordinate.

 Or in tensor notation , t   u i ,i  0

Equation (1) is the unsteady, three-dimensional mass conservation or continuity
equation for compressible fluid.
For an incompressible fluid and steady (i.e. a liquid) ρ = constant;
div u  0 or .u  0
u v w
Or in Cartesian coordinate system;   0
x y z
Or in tensor u i,i  0

H.W Continuity in cylindrical Coordinate for fluid element

  v z 
v z  z
z
r   v  
v    r

  v r 
r
v r  r
r  z r

z

v r r 
Shows that:
   v r  v 1   v     v z  v 
  r   0 v z
t r r r  z

Or using velocity vector v  v rer  v  e  v ze z and nabal operator in cylindrical

 1   
coordinate as;   er  e  e z and sub. in   . u   0 .
r r  z t

53
H.W Continuity in spherical Coordinate for fluid element
  v r 
v r  r
  v   r
v   


  v  
r v   


v 
r 

v r r  sin 
v 
Shows that:

 2

 1  v r r
2



1   v  sin  

1   v  
0
t r r r sin   r sin  

3.2- Conservation of Momentum:

Momentum equation are derived based on Newton's second Law of motion;

F  m a i i

where  F = summation of forces in i- direction,

i

ai = acceleration in i- direction,
m = mass of the fluid particle.
Forces: there are two types of forces on fluid particle:
Surface forces: There are acting on the surface of the element. surface forces are normal
or tangential. (e.g. pressure forces, and viscous forces).
Body forces: They are acting through the material of the element. (e.g. gravity force,
centrifugal force, Coriolis force, and electromagnetic force).

54
Herein, the following notation will be followed;
ijij : i -represents the direction of the normal line to the surface on which the stress is acting.
j - represents the stress direction.
 = tangential stress
 = normal stress.

In order to apply Newton second law, it is required to obtain the resultant of forces
in x-, y -, and z - direction;

 To find net F x forces;

 zx z
 zx 
 yx y z 2
 yx 
y 2
 xx x
 xx x  xx 
 xx  x 2
x 2 z

y  yx y
 yx 
x y 2
z  zx z
 zx 
y z 2
x

The resultant of surface forces in x-direction;

  x    xx x 
Fx    xx  xx  y z    xx   y z
  x 2   x 2 
  y    yx y 
  yx  yx   x  z  
 yx   x z
 y 2   y 2 
  z    zx z 
  zx  zx   x y      x y
z 2  z 2 
zx
 
    
 Fx   xx  yx  zx  x y z
 x y z 
55
The resultant of surface forces in x-direction per unit volume;

 xx  yx  zx
fx   
x y z
Similarly;
 xy  yy  zy
fy   
x y z
 xz  yz  zz
fz   
x y z
Also, it is proved that; for symmetrical stress;
 xy   yx ,  yz   zy , and  zx   xz
Body forces
The mass of the fluid particle =  x y z
let a body force per unit volume in x - direction = X ,
a body force per unit volume in y - direction = Y ,
a body force per unit volume in z - direction = Z .
 If gravity is the only body force X =  gx

 xx  yx  zx
  Fx (per unit volume) = X 
x

y

z
 xy  yy  zy
  Fy (per unit volume) = Y 
x

y

z
 xz  yz  zz
  Fz (per unit volume) = Z 
x

y

z
Acceleration;
Du
ax  since u=f  x,y,z,t 
Dt

56
 u u u u
u= t  x  y  z
t x y z
u u u x u y u z
=   
t t x t y t z t
u u u u u
Lim = u v w
x ,y ,z 0 t t x y z
Du u u u u
a x  = u v w
Dt t x y z
Similarly;
Dv v v v v
ay  = u v w
Dt t x y z
Dw w w w w
az  = u v w
Dt t x y z

Local Acc. Convective term

 D 
Where   is called "Substantive derivative or Material derivative.
 Dt 
Apply Newton second law in x - direction;

 F  ma
x x where the mass is; m   x y z

The above equation can be re-written per unit volume as;

F x(per unit volume)   ax

Du     
  X   xx  yx  zx  in x-direction …(1a)
Dt  x y z 
Similarly;
Dv     
  Y   xy  yy  zy  in y-direction …(1b)
Dt  x y z 
Dw     
  Z   xz  yz  zz  in z-direction …(1c)
Dt  x y z 

57
if the fluid is "frictionless" ( = 0) all shearing stresses vanish  xy   yz   xz  0  ;
only the normal stresses remain in this case, and they are, moreover, equal.
 ii  0   xx   yy   zz  p
where p is "pressure" means the normal force per unit area acted on the fluid particle.
As the fluid is static, the pressure of the fluid is called hydrostatic pressure. Since
the fluid is motionless, the fluid is in equilibrium, therefore the;
(Hydrostatic pressure = thermodynamic pressure)
As the fluid is in motion, the 3 principal normal stresses are not necessary equal,
and the fluid is not in equilibrium. Therefore, the hydrodynamic pressure is defined by

Hydrostatic pressure ≡ 
1
3
  xx   yy   zz    tr τ
1
3
and which is not equal to the thermodynamic pressure either. Later we will prove that
1
Hydrostatic pressure) = thermodynamic pressure + 
3

Rate of linear deformation

The rate of linear deformation of a fluid element has none components in three
dimensions, six of which are independent in isotropic fluids.
the rate of elongation in the x- direction; y
u
dxdt
rate change of length x u
 xx   
origin length dxdt x C C'
D, D'
Similarly;
v w
 yy  and  zz 
y z A, A'
B B' x
dx
u
dxdt
x
Volumetric deformation =  v   xx   yy   zz  div  v   .v

58
velocity strain  the rate of change in angle

y y C' y
u
dydt C'
y
C C' D, D' C D'
D D' xy
dy  dy B' v
xy
dxdt B'
yx x yx
x x x
A, A' dx B, B' A, A' dx B A, A'

u
dydt v dxdt
y u v
2 xy   x  
dydt dxdt y x
1  u v 
 xy   
2  y x 
...(2a)

Similarly;
1  v w 
 yz   
2  z y 
...(2b)

1  w u 
 zx     ...(2c)
2  x z 
where;  xy   yx ,  xz   zx , and  zy   yz

Stress - strain relation

Solids when an elastic solid is subjected to normal stresses  xx ,  yy ,and  zz , the

corresponding strain;

 xx 
1
E

 xx    yy   zz   ...(3a)

  yy    xx   zz  
1
 yy ...(3b)
E
 xx
1
E

  zz    xx   yy   ...(3c)

1  2   xx   yy   zz 
1
 v 
E
59
 E v
 xx   yy   zz   3 ...(4)
1  2 
 xx   yy   zz
where,  = the average of normal stresses 
3
E
The modulus of shear is; G 
2 1   

2G 1   
From eq. (4) we have ;   v ...(5)
3 1  2 
where the stress in terms strain, from elastic solid;

1     xx    yy   zz  
E
Q  xx 
 
1   1  2  

 xx  2G xx  2G
1  2
 xx   yy   zz  ...(6)
Subtract eq. (5) from eq. (6), gives;

 2G 1   
 xx    2G xx  2G v  v
1  2 3 1  2 
From the above eq., we have;
2
 xx    2G xx  G  v ...(7a)
3
Similarly;
2
 yy    2G yy  G  v ...(7b)
3
2
 zz    2G zz  G  v ...(7c)
3
Shear stresses;
 u v 
 xy  2G xy  G    ...(8a)
 y x 
 v w 
 yz  G    ...(8b)
 z y 
 w u 
 xy  G    ...(8c)
 x z 

60
Fluid;
Stress - rate of strain relation;
For fluid G is replaced by  and strain is replaced by rate of strain. Also take
  p , i.e., the average normal stress represents the normal pressure. Therefore Eqs.
(7) and (8) can be written as;
u 2  u v w  u 2
 xx   p  2       xx   p  2   div V
x 3  x y z  x 3
 u 2 
 xx   p    2    . V   ...(9a)
 x 3 
Similarly;
 v 2 
 yy   p    2    . V   ..(9b)
 y 3 
 w 2 
 zz   p    2    . V   ...(9c)
 z 3 
and;
 u v 
 xy      ...(10a)
 y x 
 v w 
 yz      ...(10b)
 z y 
 w u 
 xy      ...(10c)
 x z 
Sub. of Eqs. (9) and (10) into Eq. (1) yields;
 u u u u  p    u 2 
 u v w X    2  div V 
 t x y z  x x   x 3 
   u v      w u  
             (11a) x-dir.
y   y x   z   x z  
 v v v v  p    v 2 
 u v w Y     2  div V  
 t x y z  y y   y 3 
   u v      w u  
       (11b) y-dir.
x   y x   z   x z  

61
  w w w w  p    w 2 
 u v w       
z 
Z 2 div V
 t x y z z   z 3 
   w u      v w  
        (11c) z-dir.
x   x z   y   z y  

The above equation are momentum equations, in x-, y -, and z- directions or; they are
called "Navier-Stokes equations" (NSE) or equations of motion.
where the body forces X =  gx , Y   g y , and Z   gz (if gravity effect only )

 There are 3 Spatial (z, y, z) + 1 temporal (t) variables = 4 independent variables

 There are 3 velocity components (u, v, w) + pressure + density _ viscosity = 6
dependent variables.
 Navier Stokes equations (3) + Continuity equation (1) + Equation of state (1)
3.3- Conservation of Energy:
For incompressible viscous flow, the energy equation is;

 T T T T    T    T    T 
 cP  u v  w   k   k   k  
 t x y z  x  x  y  y  z  z 
For constant properties (k = constant), yields;

 T T T T    2 T  2 T  2T 
 cP   u  v  w   k 2  2  2   
 t x y z   x y z 

Convective heat Condition heat Viscous heat

Where;
 u 2  v 2  w 2   v u 2  w v 2  u w 2
  2                 
  x   y   z    x y   y z   z x 
the viscous - dissipation heat (using this term for high Re)
cp = specific heat, and k = thermal conductivity.

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Characteristics of NSEs.
 Non-linear equations
 Partial differential equations
 Used for; - compressible and uncompressible flows
- viscous flow
- three dimensional flow system
- time dependent  unsteady flow system.
3.4 The NSEs in Vector and Tensor Forms
Can be rewriting the NSEs in general form in vector forms:
DV
   g  p   .τ 
Dt


where τ    V   V 
T
 2
   .V 
3


and the term V   V 
T
 is rate of strain
Tensor form:

  ui,t  u ju i, j    gi   ij, j


where  ij   ijP   u i, j  u j,i   2
3
 iju kk

 
  u i,t  u ju i, j    gi   ijP, j     u i, j  u j,i    iju kk 
2
 3 , j
Energy Equation:
DT
Vector form:  cP  .k  T    τ : V 
Dt
for constant properaties (k = cont.)
DT
 cP  k 2 T    τ : V 
Dt

63
3.4.1 Simplifications for NSEs
(i) For incompressible flow ( = c) and negligible body forces

continuity eq. in vector form as ;    .V   0
t
(ii) For incompressible and steady flow with negligible body forces;
 Continuity eq. in vector form .V  0 or tensor form as u i,i  0

 NSE in vector form as;

  V.u   p   .τ 


where τ    V   V 
T

 In Cartesian coordinate for x-dir. as;

 u u u  p    u  
 u v w      2 x  
 x y z  x x   
   u v      w u  
      
y   y x   z   x z  
Similarly for equation of motion in y and z
 NSE in Tensor form

  u jui, j    ijP, j     ui, j  u j,i 

,j

(iii) For incompressible with Newtonian fluid ( = constant) and unsteady flow.


DV
Dt
 p   2 V  
Steady flow   V.u   p    2 V 
 Tensor form:

  u jui, j    ijP, j   ui, jj

64
In Cartesian coordinate in x-dir

 u u u  p   2u  2u  2u 
 u  v  w      2  2  2 
 x y z  x  x y z 
Similarly for y & z directions
(iv) For frictionless ( = 0) for unsteady with body forces the term  .τ   0

DV
   g  p
Dt
This equation is the famous Euler equation, first derived in 1755. It has been widely
used for describing flow systems in which viscous effects are relatively unimportant.
(ideal flow).
(v) For two dimension (2D) flow in x-y plane; w=0 and there are no variations with
respect to z;

 u u u  p   2u  2u 
   u  v    gx     2  2  x-dir.
 t x y  x  x y 

 v v v  p  2v  2v 
   u  v    gy     2  2  y-dir.
 t x y  y  x y 

2 2
where   
2
Laplace operator in 2D
x 2 y2
3.5 Types of Coordinate Systems:
There are two types of coordinate systems using for fluid flow;
1- Cartesian coordinate system (x, y, z),
2- Cylindrical coordinate system (r, , z).
The relation between the above two system is mentioned in previous section (table 1).
Also, Cylindrical coordinate system is divided into;
I - Polar coordinate system (r, ) (There is no variation with respect to z)
II- Axisymmetrical coordinate system (r, z) (There is no variation with respect to )

65
3.6 The NSEs in Cylindrical coordinate:
If r, q, and z are the 3-D cylindrical coordinate and vr, v, and vz denote the velocity
components in the respective directions,
 For Newtonian (= cont.), incompressible viscous flow, steady, Navier stokes
equations are;
 v r v v r v r v2  p   1   1  vr
2
  vr   vz     gr       rv r    2 2
 r r  z r  r  r  r r  r 
 2 v r 2 v 
 2  2 r  dir
z r  

 v v v v vv  1 p   1   1  v
2
  vr
r

r 
 vz   r 
z
   g 
r 
   r  r r     r 2  2
rv 
 r    
 2 v 2 v r 
 2  2   dir
z r  

 v z v v z v  p  1   v z  1  2 v z  2 v z 
  vr   v z z    gz     r  2  2  z  dir
 r r  z  z  r r  r  r  2
z 

 Continuity eq.
v r v r 1 v  v z
   0
r r r  z
 The stress components in cylindrical coordinate as;
v r  1 v  v r  v z
 rr  2  ,    2     and  zz  2 
r  r  r  z
   v  1 v r 
 r    r     
 r  r  r  
 v 1 v z 
 z     
 z r  
 v v 
 rz    r  z 
 z r 

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Axisymmetric Problems
Here, v = 0 and there is no variation with respect to  = 0. Equation of motion are;

 v r v  p   2 v 1 v r v r  2 v r 
  vr  v z r    gr     2r   2 2  r  dir
 r z  r   r r r r z 

 v z v z  p   2 v z 1 v z  2 v z 
  vr  vz    gz     2   2  z  dir
 r z  z   r r r z 

 Continuity eq.
v r v r v z
  0
r r z
 The stress components in cylindrical coordinate as;
v r v r  v z
 rr  2  ,    2    and  zz  2 
r r  z
 r  0
 z  0
 v v 
 rz    r  z 
 z r 

67