MECH 241

Formula Sheet

ONLINE-ONLY STUDY TOOL

Created by Anna Cooper
MECH 240: Formula Sheet

Contents
Symbols ....................................................................................................................................................................... 1
Common equations ............................................................................................................................................. 1
Terminology ........................................................................................................................................................... 1
Hydrostatic fluid ........................................................................................................................................................ 2
Force of pressure .................................................................................................................................................. 2
Specific gravity ...................................................................................................................................................... 2
Surface tension...................................................................................................................................................... 2
Buoyancy force ...................................................................................................................................................... 2
Rigid body motion ............................................................................................................................................... 3
Pressure ....................................................................................................................................................................... 3
Assumptions .......................................................................................................................................................... 3
Pitot tube ................................................................................................................................................................ 3
Fluid in motion .......................................................................................................................................................... 3
Reynold’s Transport Theorem .......................................................................................................................... 3
Cases ........................................................................................................................................................................ 3
Flow rates ................................................................................................................................................................ 4
Power ....................................................................................................................................................................... 4
Navier-Stokes ............................................................................................................................................................. 4
Assumptions .......................................................................................................................................................... 4
No slip condition .................................................................................................................................................. 4
Shear stress ............................................................................................................................................................ 4
Velocity in a certain direction ........................................................................................................................... 4
Divergence.............................................................................................................................................................. 4
Bernoulli....................................................................................................................................................................... 5
Assumptions .......................................................................................................................................................... 5
Hydraulic Grade Line ........................................................................................................................................... 5
Energy Grade Line ................................................................................................................................................ 5
Pipes ............................................................................................................................................................................. 5
Frictional head ....................................................................................................................................................... 5
Moody Chart .......................................................................................................................................................... 5

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MECH 240: Formula Sheet

Laminar flow........................................................................................................................................................... 5
Minor losses ........................................................................................................................................................... 6
Entrance length ..................................................................................................................................................... 6
Pipes in parallel ..................................................................................................................................................... 6
Pipes in series ........................................................................................................................................................ 6
Pumps........................................................................................................................................................................... 6
Efficiency ................................................................................................................................................................. 6
Pump diagrams ..................................................................................................................................................... 7
References ................................................................................................................................................................... 7

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MECH 240: Formula Sheet

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MECH 240: Formula Sheet

Symbols
𝑅𝑒 − 𝑅𝑒𝑦𝑛𝑜𝑙𝑑 ′ 𝑠 𝑁𝑢𝑚𝑏𝑒𝑟 [ ]

𝐶𝑑 − 𝐶𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑓 𝐷𝑟𝑎𝑔 [ ]
𝐷 − 𝑑𝑟𝑎𝑔 𝑓𝑜𝑟𝑐𝑒 [ 𝑁 ]

𝜇 − 𝑑𝑦𝑛𝑎𝑚𝑖𝑐 𝑣𝑖𝑠𝑐𝑜𝑠𝑖𝑡𝑦 [𝑃𝑎 ∗ 𝑠]

𝑚2
𝜈 − 𝑘𝑖𝑛𝑒𝑚𝑎𝑡𝑖𝑐 𝑣𝑖𝑠𝑐𝑜𝑠𝑖𝑡𝑦 [ ]
𝑠
𝑘𝑔
𝜌 − 𝑑𝑒𝑛𝑠𝑖𝑡𝑦 [ ]
𝑚3
𝑚
𝑢 − 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 [ ]
𝑠
𝐴 − 𝑐𝑟𝑜𝑠𝑠 𝑠𝑒𝑐𝑡𝑖𝑜𝑛𝑎𝑙 𝑎𝑟𝑒𝑎 [𝑚2 ]
𝐿 − 𝑙𝑒𝑛𝑔𝑡ℎ [𝑚]

𝑚 − 𝑚𝑎𝑠𝑠 [𝑘𝑔]

∀ − 𝐶𝑜𝑛𝑡𝑟𝑜𝑙 𝑉𝑜𝑙𝑢𝑚𝑒 [𝑚3 ]

𝑚3
𝑄 − 𝑓𝑙𝑜𝑤 𝑟𝑎𝑡𝑒 [ ]
𝑠
𝑘𝑔
𝑚̇ − 𝑚𝑎𝑠𝑠 𝑓𝑙𝑜𝑤 𝑟𝑎𝑡𝑒 [ ]
𝑠
𝑁 𝑘𝑔𝑚
𝑃𝑎 = ,𝑁 = 2
𝑚2 𝑠

Common equations
𝜌𝑢𝐿 2𝐷
𝑅𝑒 = 𝐶𝑑 = 𝜌𝑢2𝐴
𝜇

𝜇
𝜈=
𝜌

Terminology
Dimensional homogeneity- dimensionless or equal dimensions on both sides of ‘=’

Dynamic Similarity- when 𝑅𝑒𝑚𝑜𝑑𝑒𝑙 = 𝑅𝑒𝑝𝑟𝑜𝑡𝑜𝑡𝑦𝑝𝑒

VPIGS- Viscous, Pressure, Inertial, Gravitational, Surface forces acting on a body of fluid

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MECH 240: Formula Sheet

Hydrostatic fluid
Derived from Navier-Stokes

Σ𝑓⃑ = ⃑⃑⃑⃑
𝑓𝑝 + ⃑⃑⃑⃑
𝑓𝑔 + ⃑⃑⃑⃑
𝑓𝑣 = 𝜌𝑎⃑ = −∇𝑃 + 𝜌𝑔 + (𝜐 ≈ 0)

𝜌 ≈ 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝑒𝑥𝑐𝑒𝑝𝑡 𝑎𝑡 𝑙𝑎𝑟𝑔𝑒 𝑑𝑒𝑝𝑡ℎ𝑠, 𝑡ℎ𝑢𝑠

∇𝑃 = 𝜌(𝑔 − 𝑎⃑)

Force of pressure
𝑙
⃑⃑⃑⃑
𝐹𝑝 = ∫ (𝜌𝑔𝐿𝑐𝑜𝑠𝜃)𝑝𝑟𝑒𝑠𝑠𝑢𝑟𝑒 ∗ (𝑤𝑖𝑑𝑡ℎ ∗ 𝑑𝑒𝑝𝑡ℎ ∗ 𝑑𝑙)𝑎𝑟𝑒𝑎
0

Force of pressure acts on the center of pressure (𝐶𝑝 )

Center of pressure acts a distance 𝑦̅ away from the center of gravity on the contact surface
𝐼𝑥𝑥 ∗ 𝑠𝑖𝑛𝜃
𝑦̅ = , 𝑤ℎ𝑒𝑟𝑒 𝐼𝑥𝑥 𝑖𝑠 𝑡ℎ𝑒 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 , 𝐴 𝑖𝑠 𝑠𝑢𝑟𝑓𝑎𝑐𝑒 𝑎𝑛𝑑 ℎ 𝑖𝑠 𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙 ℎ𝑒𝑖𝑔ℎ𝑡 𝑜𝑓 𝐶𝑔
ℎ𝐶𝐺 𝐴

Specific gravity
𝛾𝑚𝑎𝑡𝑒𝑟𝑖𝑎𝑙
𝑆𝐺 =
𝛾𝑤𝑎𝑡𝑒𝑟

Surface tension
⃑⃑⃑⃑⃑
𝐹𝑇 = 𝑌 − 𝐿, 𝑤ℎ𝑒𝑟𝑒 𝑌 𝑖𝑠 𝑡ℎ𝑒 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑓 𝑡𝑒𝑛𝑠𝑖𝑜𝑛

Special Cases:

2 𝑝𝑙𝑎𝑡𝑒𝑠: 𝐿 = 2𝑑𝑐𝑜𝑠𝜃

𝑡𝑢𝑏𝑒: 𝐿 = 2𝜋𝑟𝑐𝑜𝑠𝜃

𝑠𝑡𝑎𝑡𝑖𝑐 𝑠𝑦𝑠𝑡𝑒𝑚: ⃑⃑⃑⃑⃑

𝐹𝑇 = ⃑⃑⃑⃑
𝐹𝑔 𝑓𝑜𝑟 𝑚𝑜𝑠𝑡 𝑐𝑎𝑠𝑒𝑠

Buoyancy force
Acts opposite gravity and is force of volume displaced by
an object in fluid, use density of displaced fluid

Acts on the center of pressure of body submerged,

contrary to gravity acting on center of whole body

Metacenter- Where ⃑⃑⃑⃑⃑

𝐹𝐵 intersects 𝐶𝑔 ,

if 𝑀 < 𝐶𝑔 then unstable

Fully submerged system- ⃑⃑⃑⃑⃑

𝐹𝐵 = 𝜌𝑔∀ Figure 1-Summary of hydrostatic variables [1]

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MECH 240: Formula Sheet

Rigid body motion

⃑⃑⃑⃑⃑⃑
𝑑𝑢 𝑜 𝑑𝜔
𝑎⃑ = ⃑⃑ × (𝜔
+𝜔 ⃑⃑ × 𝑟⃑⃑⃑⃑)
𝑜 + × 𝑟⃑⃑⃑⃑,
𝑜 𝑤ℎ𝑒𝑟𝑒 𝜔 𝑖𝑠 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑎𝑛𝑑 𝑟
⃑⃑⃑⃑
𝑜 𝑖𝑠 𝑟𝑎𝑑𝑖𝑢𝑠
𝑑𝑡 𝑑𝑡

Pressure
𝑃𝑏𝑜𝑡𝑡𝑜𝑚 − 𝑃𝑡𝑜𝑝 = 𝜌𝑔∆ℎ

(𝜌𝑚𝑎𝑛𝑜 − 𝜌𝑓𝑙𝑢𝑖𝑑 )𝑔∆ℎ = 𝜌𝑚𝑎𝑛𝑜 ℎ𝑚𝑎𝑛𝑜 − 𝜌𝑓𝑙𝑢𝑖𝑑 ℎ𝑓𝑙𝑢𝑖𝑑 + 𝜌𝑓𝑙𝑢𝑖𝑑 ∗ 𝑔∆𝑧

⃑⃑⃑⃑
𝐹𝑝
∆𝑃⃑⃑ = , 𝑎𝑛𝑑 𝑖𝑓 𝑠𝑡𝑎𝑡𝑖𝑐 ⃑⃑⃑⃑
𝐹𝑝 = ⃑⃑⃑⃑
𝐹𝑔
𝐴

Assumptions
Assume air is an ideal gas

𝑃 𝑚2
𝜌= , 𝑅𝑎𝑖𝑟 = 287
𝑅𝑇 𝑠∗𝐾
𝜌𝑎𝑖𝑟 ≪ 𝜌𝐻𝑔

Pitot tube
𝜌𝑉 2
𝑃𝑡𝑜𝑡𝑎𝑙 = 𝑃𝑠𝑡𝑎𝑡𝑖𝑐 + 𝑃𝑑𝑦𝑛𝑎𝑚𝑖𝑐 = 𝑃𝑠 +
2
Figure 2-Pitot tube [2]
Fluid in motion
Eularian- control volume (𝐶∀) is stationary, fluid is flowing through it

Lagrangian- 𝐶∀ is moving with respect to time

Streamline- tangent lines to velocity field

Streakline- all particles flow through a common point

Reynold’s Transport Theorem

⃑⃑
𝐷𝐵 𝑑 𝑎 𝑎
|𝑠𝑦𝑠𝑡𝑒𝑚 = ∫ 𝜌𝛽𝑑∀ + Σ𝐶𝑆 ∫ 𝜌𝛽(𝑢
⃑⃑ × 𝑛⃑⃑)𝑑𝐴
𝐷𝑡 𝑑𝑡 𝐶∀ 𝐶𝑆

𝐵
𝐵 = 𝑒𝑥𝑡𝑒𝑛𝑠𝑖𝑣𝑒 𝑝𝑟𝑜𝑝𝑒𝑟𝑡𝑦, 𝑎𝑛𝑑 𝛽 = 𝑖𝑛𝑡𝑒𝑛𝑠𝑖𝑣𝑒 𝑝𝑟𝑜𝑝𝑒𝑟𝑡𝑦 ( )
𝑚
𝑢
⃑⃑ 𝑖𝑠 𝒓𝒆𝒍𝒂𝒕𝒊𝒗𝒆 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑡ℎ𝑢𝑠 𝑢
⃑⃑𝑓𝑙𝑢𝑖𝑑 𝑡𝑜 𝐶∀ = 𝑢
⃑⃑𝑓𝑙𝑢𝑖𝑑 𝑡𝑜 𝑤𝑜𝑟𝑙𝑑 − 𝑢
⃑⃑𝐶∀ 𝑡𝑜 𝑤𝑜𝑟𝑙𝑑

Cases
Conservation of Mass- 𝐵 = 𝑚, 𝛽 = 1

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MECH 240: Formula Sheet

𝐷(𝑚𝑢 ⃑⃑)
Conservation of Linear Momentum- 𝐵 = 𝑚𝑢 ⃑⃑ ,
⃑⃑, 𝛽 = 𝑢 = Σ𝐹⃑
𝐷𝑡

𝐷(𝑟⃑×𝑚𝑢
⃑⃑)
Conservation of Angular Momentum-𝐵 = 𝑟⃑ × 𝑚𝑢
⃑⃑, 𝛽 = 𝑟⃑ × 𝑢
⃑⃑, ⃑⃑⃑𝑜
= Σ𝑀
𝐷𝑡

Flow rates
𝑄 = 𝐴 ∗ 𝑉, 𝑤ℎ𝑒𝑟𝑒 𝑉 𝑖𝑠 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑎𝑛𝑑 𝑚̇ = 𝜌𝑄, 𝑏𝑜𝑡ℎ 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑡ℎ𝑢𝑠 𝐴1 𝑉1 = 𝐴2 𝑉2

𝑄 = ∫ 𝑢 𝑑𝑦, 𝑓𝑙𝑜𝑤 𝑟𝑎𝑡𝑒 𝑝𝑒𝑟 𝑢𝑛𝑖𝑡 𝑙𝑒𝑛𝑔𝑡ℎ

Power
𝑃 = 𝑇 ∙ 𝜔 = 𝑄Δ𝑃

𝑇 = 𝑟 ∙ 𝐹⃑

Navier-Stokes
Known as the material derivative, the substantial derivative is applied to each 𝑢
⃑⃑ element

⃑⃑ = [𝑢, 𝑣, 𝑤]𝑖𝑛 𝑡ℎ𝑒 [𝑥, 𝑦, 𝑧] 𝑑𝑟𝑛

𝑢

𝐷𝑢 𝜌𝛿𝑢 𝑢𝛿𝑢 𝑣𝛿𝑢 𝑤𝛿𝑢 𝛿𝑃 𝛿 2𝑢 𝛿 2 𝑢 𝛿 2 𝑢

𝜌 = +𝜌 +𝜌 +𝜌 = 𝑝𝑔𝑥 − + 𝜇( 2 + 2 + 2 )
𝐷𝑡 𝛿𝑡 𝛿𝑥 𝛿𝑦 𝛿𝑧 𝛿𝑥 𝛿𝑥 𝛿𝑦 𝛿𝑧

Assumptions
𝑢 𝑖𝑠 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑤𝑖𝑡ℎ 𝑡𝑖𝑚𝑒, 𝑣 = 0, 𝑤 = 0, 𝑢 𝑜𝑛𝑙𝑦 𝑎𝑐𝑡𝑠 𝑖𝑛 𝑦 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛, 𝑡ℎ𝑒𝑛
𝜇𝛿2 𝑢 𝛿𝑃
= 𝜌𝑔𝑥 − 𝛿𝑥
𝑑𝑦2

TIP: integrate and use boundary conditions

No slip condition
𝑢𝑓𝑙𝑢𝑖𝑑 = 𝑢𝑐𝑜𝑛𝑡𝑎𝑐𝑡 𝑠𝑢𝑟𝑓𝑎𝑐𝑒

Shear stress
𝜇𝛿𝑢 𝜇𝛿𝑣
𝜏𝑥 = , 𝜏𝑦 =
𝛿𝑦 𝛿𝑥

Velocity in a certain direction

𝑣𝜃 = 𝑣⃑ ∙ ⃑⃑⃑⃑⃑
𝑛𝜃 = 𝑣⃑ ∙ (sin(𝜃) 𝑖̂ + cos(𝜃) 𝑗̂) Figure 3-Velocity profile of flow over a plate [3]

Divergence
Mass conservation yields divergence
𝜌𝛿𝑢 𝜌𝛿𝑣 𝜌𝛿𝑤
+ + =0
𝛿𝑥 𝛿𝑦 𝛿𝑧

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MECH 240: Formula Sheet

Bernoulli
𝑃1 𝑉12 𝑃2 𝑉22
+ + 𝑧1 = + + 𝑧2 + ℎ𝑓 − ℎ𝑝 , 𝑤ℎ𝑒𝑟𝑒 ℎ𝑓 𝑖𝑠 𝑡ℎ𝑒 ℎ𝑒𝑎𝑑 𝑙𝑜𝑠𝑠 𝑎𝑛𝑑 ℎ𝑝 𝑖𝑠 𝑡ℎ𝑒 𝑝𝑢𝑚𝑝 ℎ𝑒𝑎𝑑
𝜌𝑔 2𝑔 𝜌𝑔 2𝑔

Assumptions
Incompressible, along a
streamline, constant 𝜈, steady
state, energy is expressed in
m.

Hydraulic Grade Line

𝑃
𝐻𝐺𝐿 = +𝑧
𝜌𝑔

Energy Grade Line

𝑃 𝑉2
𝐸𝐺𝐿 = + +𝑧
𝜌𝑔 2𝑔

Figure 4-HGL versus EGL [4]

Pipes
Pipe head is a way of expressing losses

𝐻𝑝𝑖𝑝𝑒 = ℎ𝑓 + Σℎ𝑚

Frictional head
𝐿 𝑢2
ℎ𝑓 = 𝑓
𝑑 2𝑔

Moody Chart
𝜖
1 𝑑 2.51
= 2 log(𝑅𝑒√𝑓) − 0.8 = −2log( + )
√𝑓 3.7 𝑅𝑒√𝑓

TIP: To use moody chart, pipe roughness = 𝜖⁄𝑑 , and follow blue curve. This means even if 𝜖 = 0,
the frictional factor may not be zero

Laminar flow
64
𝑓= , 𝑅𝑒𝑤𝑎𝑡𝑒𝑟 ≈ 2300 𝑡𝑟𝑎𝑛𝑠𝑖𝑡𝑖𝑜𝑛𝑠 𝑡𝑜 𝑡𝑢𝑟𝑏𝑢𝑙𝑒𝑛𝑡
𝑅𝑒

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MECH 240: Formula Sheet

128𝐿𝜇𝑄
ℎ𝑓 =
𝜋𝐷2

Minor losses
𝑢2
Σℎ𝑚 = (Σ𝑘), 𝑤ℎ𝑒𝑟𝑒 𝑘 𝑖𝑠 𝑡ℎ𝑒 𝑙𝑜𝑠𝑠 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡
2𝑔

Entrance length
𝐿𝑒
= 0.06𝑅𝑒
𝑑 𝑙𝑎𝑚𝑖𝑛𝑎𝑟
𝐿𝑒
= 4.4𝑅𝑒1/6
𝑑 𝑡𝑢𝑟𝑏𝑢𝑙𝑒𝑛𝑡

Pipes in parallel
𝑄𝑖𝑛 = 𝑄1 + 𝑄2 + 𝑄3 …
Figure 5-Pipes in parallel [5]
ℎ𝑙𝑜𝑠𝑡 = ℎ1 = ℎ2 = ℎ3 …

Pipes in series
𝑄𝑖𝑛 = 𝑄1 = 𝑄2 = 𝑄3 …
Figure 6-Pipes in series [6]
ℎ𝑙𝑜𝑠𝑡 = ℎ1 + ℎ2 + ℎ3 …

Pumps
Cavitation- Area of low pressure in a pump causes damage

𝑊𝐻𝑃 = 𝜌𝑔𝑄ℎ𝑝 , 𝑒𝑛𝑒𝑟𝑔𝑦 𝑑𝑒𝑙𝑖𝑣𝑒𝑟𝑒𝑑 𝑡𝑜 𝑓𝑙𝑢𝑖𝑑 [𝐽]

𝜌𝑔𝑄ℎ ≈ ∆𝑃𝑄

𝐵𝐻𝑃 = 𝑇 ∙ 𝜔, 𝑒𝑛𝑒𝑟𝑔𝑦 𝑡𝑜 𝑝𝑜𝑤𝑒𝑟 𝑝𝑢𝑚𝑝 [𝐽]

Efficiency
𝑊𝐻𝑃 𝜌𝑔𝑄ℎ𝑝
𝜂= =
𝐵𝐻𝑃 𝑇∙𝜔
Efficiency may also be expressed as a sum of viscous, mechanical, and head efficiencies

𝑄 𝑃𝑤 ℎ𝑓
𝜂 = 𝜂𝑣 ∗ 𝜂𝑚 ∗ 𝜂𝐻 = ( ) (1 − ) (1 − )
𝑄 + 𝑄𝑙𝑜𝑠𝑡 𝑇∙𝜔 ℎ𝑙𝑜𝑠𝑡

6
MECH 240: Formula Sheet

Pump diagrams
Best Efficiency Point (BEP) - Where pump head intersects with BHP, denoted as 𝑄∗

𝐻 = 𝑓𝑛(𝑄2 )

Figure 7-Pump performance curve [1]

References

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rves.jpg.

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] KANPUR/FLUID-MECHANICS/lecture-5/images/fig5.1.gif.

[3 "UBC," [Online]. Available:

] http://c21.phas.ubc.ca/sites/default/files/imagecache/full_article/pitotcartoon.jpg.

[4 "Blogspot," [Online]. Available: http://2.bp.blogspot.com/-

] RJEIFgIxjY0/UrhGphkwo6I/AAAAAAAAABo/jN50-3Yvn7s/s1600/8.JPG.

[5 "Wikimedia," [Online]. Available:

] https://upload.wikimedia.org/wikipedia/commons/1/18/HGL_and_EGL.png.

[6 "Chegg," [Online]. Available: http://chegg-html-

7
MECH 240: Formula Sheet

] solutions.s3.amazonaws.com/9780470460641/6534-4.5-4P-i1.png.

[7 "Engineering References," [Online]. Available: http://engineering-

] references.sbainvent.com/fluid-mechanics/pictures/pipes-series.jpg.