Lecture 7: Fluid Kinematics :

Introduction

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Fluid Mechanics: Introduction
• Fluid Statics:
Study of fluid at rest & study of fluid in rigid body motion

• Fluid Kinematics:
Study of motion of fluid, regardless of the cause of motion

• Fluid Dynamics:
Study of motion of fluid, along with the force causing the flow

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Fluid Kinematics: Scalar and Vector Field
• Scalar :
any quantity which has only magnitude, e.g., mass, density and
temperature
• Vector:
any quantity is specified by both magnitude and direction, e.g., force,
velocity and displacement.
Scalar Field :
If at every point in a region, a scalar function has a defined value, e.g.,
temperature distribution in a rod
Vector Field :
If at every point in a region, a vector function has a defined value , e.g.,
force and velocity fields
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Flow Field
• A flow field is a region in which the flow (velocity) is defined at all points at any
instant of time.
• It should be noted that the velocity at a point is the velocity of the fluid particle
that occupies that point.
• To obtain a complete picture : fluid motion should be described mathematically.

https://www.karlsims.com/flow-momentum.gif

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Description of fluid motion
• Frame of Reference: Lagrangian vs. Eularian

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 Lagrangian Eulerian
• Each single fluid particle is observed • The description of flow is on fixed
over the flow field with respect to time. coordinate system based
• The co-ordinate system follow the • Flow variables are described with
particle. reference to location and time i.e.,V
• The flow description is particle based = V (x, y, z, t) and not with reference
and not space based.V = V (x0, y,0 z0, t) to a particular particle.
• Each individual particle is identified w.r.t • Such an analysis provides a picture of
identity, i.e., initial conditions
(coordinates at t=0) various parameters at all locations in
the flow field at different instants of
• A moving coordinate system has to be time
used.

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 Lagrangian or Eularian ?
Eularian
Lagrangian

https://media.istockphoto.com/id/185591884/photo/police-speed-gun-monitoring- https://dreamcivil.com/wp-content/uploads/2020/05/0_M-Q7WvfbP38gtn2H_-min.png
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Police Measure Speed With A Radar Gun Traffic Engineers Measure Traffic Flow And
Patterns
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Dimensions (Directions) of flow
• 1D – flow parameters vary in one direction only

• 2D

• 3D

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 Types of Flow
• Steady and Unsteady flows
A steady flow is one in which the conditions (velocity, pressure and cross- section) may differ from
point to point but DO NOT change with time. If at any point in the fluid, the conditions change
with time, the flow is described as unsteady.
• Uniform and Non-Uniform flows
In uniform flow if the velocity at a given instant of time is same in both magnitude and
direction at all points in the flow, the flow is said to be uniform flow.
When the velocity changes from point to point in a flow at any given instant of time, the
flow is described as non-uniform flow.
• Compressible and Incompressible flows
A compressible fluid can experience a density change during flow while an incompressible
fluid does not experience such a change.

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 Velocity field
y
u, 𝑣, w : scaler component of velocity
෡
𝑽 = 𝐮𝒊Ƹ + 𝑣𝒋Ƹ + 𝐰𝒌
V = function (x,y,z,t)
𝐯
𝑑𝑥 𝑑𝑦 𝑑𝑧
𝑢= 𝑣= 𝑤=
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝐳 𝐮 x

z
Magnitude of 𝑽
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 Acceleration field
y
෡
𝒂 = 𝒂𝒙 𝒊Ƹ + 𝒂𝒚 𝒋Ƹ + 𝒂𝒛 𝒌
𝒅𝒗
𝒂=
𝒅𝒕
𝒂𝒚

𝒂𝒛 𝒂𝒙 x

Magnitude of 𝑎Ԧ 11
Partial Derivative Chain Rule For
Independent Variables

𝜕𝑓 𝜕𝑓
𝑑𝑧 = 𝑑𝑥 + 𝑑𝑦
𝜕𝑥 𝜕𝑥

V = function (x,y,z,t) so derive dV

𝜕𝑉 𝜕𝑉 𝜕𝑉 𝜕𝑉
𝑑𝑉 = 𝑑𝑥 + 𝑑𝑦 + 𝑑𝑧 + 𝑑𝑡
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑡
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 Material Derivation and Acceleration
𝑫(𝒇(𝒙) )
is the material derivative of f(x)
𝑫𝒕

𝐷𝑉
Derive 𝑎Ԧ =
𝐷𝑡

Derive 𝑎𝑥 𝑎𝑦 𝑎𝑧

Derive convective and local (temporal)

acceleration

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Acceleration in different types of flow
• Steady:
only convective acceleration

• Uniform
only local acceleration

• Steady and Uniform flow

Acceleration = 0

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Lecture 8: Fluid Kinematics
Part 2: Different Fluid Lines
and Continuity Equation

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 Path-line Streamline
• Locus/path of the fluid particles • Imaginary line drawn in the flow field such
that tangent drawn at any point on this line
represents the direction of velocity vector
of the fluid particle at that point

Source:
https://upload.wikimedia.org/wikipedia/
commons/thumb/7/74/Streamline_strea
kline_pathline.jpg/1200px-
Streamline_streakline_pathline.jpg

Source: https://www.rgpvonline.com/answer/fluid-mechanics/img/7-1.jpg

Can they intersect each other or itself? Can they intersect each other or itself?

2 stream-lines
2 path-lines can intersect each other cannot
intersect other
Path-lines can intersect itself
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Streamline :Streamtube
• A streamtube consists of a bundle of streamlines, much like a
communications cable consists of a bundle of fiber-optic cables.

Can fluid cross (imaginary) streamtube?

• Since streamlines are everywhere parallel to the local velocity, fluid cannot
cross a streamline by definition.
• By extension, fluid within a streamtube must remain there and cannot
cross the boundary of the streamtube.
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Streamline:
Equation
Equation of streamline

Where streamlines crowd together, the fluid speed is

relatively high; where they open out, the fluid is
relatively still.

Source: Fluid Mechanics: Fundamentals and Applications: Textbook by John Cimbala and Yunus A Çengel
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Streakline
• A streakline is the locus of fluid particles that have passed sequentially
through a prescribed point in the flow.
A streakline is associated with a particular point P in space which has
the fluid moving past it. All points which pass through this point are said
to form the streakline of point P.

Source: https://encrypted-

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tbn0.gstatic.com/images?q=tbn:ANd9GcSL5ZL3NJeavDSWEZDxNrWR1oy6jVy_7TJunA&usqp=CAU
Timeline
• Timelines are the lines formed by a
set of fluid particles that were
marked at a previous instant in
time, creating a line or a curve that
is displaced in time as the particles
move.

Timelines are formed by marking a line of fluid particles, and then watching
that line move (and deform) through the flow field; timelines are shown at t =
0, t1, t2, and t3.
Source: Fluid Mechanics: Fundamentals and Applications: Textbook by John Cimbala and Yunus A Çengel

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In steady flow the streamlines, pathlines,
and streaklines coincide !
• Since, the velocity at each point in the flow field remains constant
with time, consequently streamline shapes do not vary.

• It implies that the particle located on a given streamline will always

move along the same streamline.

• Further, the consecutive particles passing through a fixed point in

space will be on the same streamline.

• Hence, all the lines are identical in a steady flow.

• They do not coincide for unsteady flows.
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Flow Visualization
Flow Visualization
• https://www.youtube.com/watch?v=nuQyKGuXJOs

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Numerical:
• Given the steady two-dimensional velocity distribution
u = Kx 𝑣 = −Ky w = 0
where K is a positive constant, compute and plot the streamlines of the
flow.

Source: Fluid Mechanics: Fundamentals and Applications: Textbook by John Cimbala and Yunus A Çengel
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General motion of fluid element
Translation Deformation Rotation

linear angular

Source: https://encrypted-tbn0.gstatic.com/images?q=tbn:ANd9GcTv82FaSbh1dR1EhCXYTFVGzo08crj4eB_UKukyBwZh2ZSJYaqWfVMoDP3ib_BjxEGhFts&usqp=CAU

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 Rotational flows
Rotation at a point is defined as the
arithmetic mean of angular velocities of u,v
two perpendicular line segments
meeting at that point

𝑑𝛼
angular velocity of AB =
𝑑𝑡
𝑑𝛽 Source: Introduction to Fluid Mechanics and Fluid Machines: S K Som,
angular velocity of AD = Gautam Biswas, S Chakraborty,
𝑑𝑡
However, directions are
opposite, take anticlockwise
For irrotational flows
as positive 1 𝜕𝑣 𝜕𝑢
𝜔𝑧 = − =0
2 𝜕𝑥 𝜕𝑦
1 𝑑𝛼 𝑑𝛽 1 𝜕𝑣 𝜕𝑢 𝜕𝑣 𝜕𝑢
𝜔𝑧 = − 𝜔𝑧 = − − =0
2 𝑑𝑡 𝑑𝑡 2 𝜕𝑥 𝜕𝑦 𝜕𝑥 𝜕𝑦
https://www.youtube.com/watch?v=TA72Q3fsvJo 25
Conservation Equations

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System: Closed / Open / Isolated
Boundary
Mass In Energy Out

Open
System
System
Energy In
Surroundings Mass Out

Boundary
No Mass Transfer Energy Out
No Mass
and Energy
Closed Transfer Isolated
System System
Energy In
Surroundings

Source: Introduction to Fluid Mechanics and Fluid Machines: S K Som, Gautam Biswas, S Chakraborty,
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Conservation laws
• In all the cases the fluid must satisfy the basic law of mechanics

1. Conservation of mass (Continuity Equation)

2. Conservation of momentum (Momentum Equation)

Newton’s
2nd law of
3. Conservation of energy (Energy Equation) motion

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1.Conservation of mass
(Continuity Equation)

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Mass Flow Rate
• The amount of mass flowing through a cross section per unit time is
called the mass flow rate and is denoted by 𝑚ሶ
𝐚𝐦𝐨𝐮𝐧𝐭 𝐨𝐟 𝐦𝐚𝐬𝐬 𝐟𝐥𝐨𝐰𝐢𝐧𝐠 𝐭𝐡𝐫𝐨𝐮𝐠𝐡 𝐚 𝐜𝐫𝐨𝐬𝐬 𝐬𝐞𝐜𝐭𝐢𝐨𝐧
𝐦ሶ =
𝐭𝐢𝐦𝐞
• The dot over a symbol is used to indicate time rate of change.
𝒎ሶ = 𝝆 𝑽𝒂𝒗𝒈 𝑨𝒄
where 𝐴𝑐 is the area of the cross section normal to the flow direction.
𝑉𝑎𝑣𝑔 is the average speed at the cross-section

Source: Fluid Mechanics: Fundamentals and Applications: Textbook by John Cimbala and Yunus A Çengel
30
 Conservation of mass (Continuity Equation)
Control Surface

Mass of fluid
entering Control Mass of fluid
Volume leaving control
volume

Fig. A control volume in flow environment

𝒎ሶ 𝒊𝒏 − 𝒎ሶ 𝒐𝒖𝒕 = 𝒎ሶ 𝒔𝒕𝒐𝒓𝒆𝒅 𝟎 = 𝒎ሶ 𝒔𝒕𝒐𝒓𝒆𝒅 + (𝒎ሶ 𝒐𝒖𝒕 − 𝒎ሶ 𝒊𝒏 )

𝟎 = 𝒎ሶ 𝒐𝒖𝒕 − 𝒎ሶ 𝒊𝒏 + 𝒎ሶ 𝒔𝒕𝒐𝒓𝒆𝒅

Net rate of mass efflux from in control volume Rate of accumulation of mass in the control volume

Source: Introduction to Fluid Mechanics and Fluid Machines: S K Som, Gautam Biswas, S Chakraborty,
31
 Derive Continuity equation differential form:
• Consider
elementary z
A E
control volume in
a cube or F
parellopied B

dz
D H
dx
C G x

control volume is an imaginary surface enclosing a volume of interest

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 Fluid density = ρ
Fluid enters x-side with u, y-side with v and z-side with w
dy

dz

dx

z
y

x 33
 Rate of mass leaving control
volume through face ABEF

A E

F
B
Rate of mass entering Rate of mass leaving control
control volume through volume through face EFGH

dz
face ABCD
D H
dx
C G

Rate of mass entering control

volume through face CDHG
34
Fluid density = ρ = function (x,y,z,t)

u = function (x,t)

𝑑𝑠 𝜕𝝆
𝝆 𝝆+ 𝑑𝑠
𝜕𝑠

𝑑𝑥 𝜕𝒖
𝒖 𝒖+ 𝑑𝑥
𝜕𝑥

𝑑y 𝜕𝒗
𝒗 𝒗+ 𝑑𝑦
𝜕𝑦
35
 z
A E

F
Rate of mass entering B
control volume through
Rate of mass leaving control
face ABCD y

dz
volume through face EFGH
𝒎ሶ 𝒊𝒏 = 𝝆𝒊𝒏 𝒖𝒊𝒏 𝑨𝑨𝑩𝑪𝑫 D H
𝒎ሶ 𝒊𝒏 = 𝝆 𝒖 𝒅𝒚 𝒅𝒛 dx
C G x
𝒎ሶ 𝒐𝒖𝒕 = 𝝆𝒐𝒖𝒕 𝒖𝒐𝒖𝒕 𝑨𝑬𝑭𝑮𝑯
𝜕𝝆 𝜕𝒖
𝒎ሶ 𝒐𝒖𝒕 = (𝝆 + 𝑑𝑥)(𝒖 + 𝑑𝑥)𝒅𝒚 𝒅𝒛
𝜕𝑥 𝜕𝑥
𝜕𝝆 𝜕𝒖
𝒎ሶ 𝒐𝒖𝒕 = 𝝆𝒖 + 𝒖 +𝝆 𝑑𝑥 𝒅𝒚 𝒅𝒛
𝜕𝑥 𝜕𝑥
𝜕(𝝆𝒖)
𝒎ሶ 𝒐𝒖𝒕 = 𝝆𝒖 + 𝑑𝑥 𝒅𝒚 𝒅𝒛
𝜕𝑥
36
 𝜕(𝝆𝒘)
𝒎ሶ 𝒐𝒖𝒕 = 𝝆𝒘 + 𝑑𝑧 𝒅𝒙 𝒅𝒚
𝜕𝑧

A E

F
B 𝜕(𝝆𝒖)
𝒎ሶ 𝒐𝒖𝒕 = 𝝆𝒖 + 𝑑𝑥 𝒅𝒚 𝒅𝒛
𝜕𝑥
𝒎ሶ 𝒊𝒏 = 𝝆 𝒖 𝒅𝒚 𝒅𝒛

dz
D H
dx
C G

𝒎ሶ 𝒊𝒏 = 𝝆 𝒘 𝒅𝒙 𝒅𝒚

37
 Net rate of mass efflux from
𝝏(𝝆𝒘) 𝝏(𝝆𝒘)
𝒎ሶ 𝒐𝒖𝒕 −𝒎ሶ 𝒊𝒏 = 𝒅𝒙 𝒅𝒚 𝒅𝒛 = 𝒅∀
𝝏𝒛 𝝏𝒛

A E

F
B

dz 𝝏(𝝆𝒖) 𝝏(𝝆𝒖)
D
𝒎ሶ 𝒐𝒖𝒕 −𝒎ሶ 𝒊𝒏 = 𝒅𝒙 𝒅𝒚 𝒅𝒛 = 𝒅∀
H 𝝏𝒙 𝝏𝒙
dx
C G

38
Rate of accumulation of mass

A E

F
B
dz

D H
dx
C G
𝝏(𝝆𝒅𝒙 𝒅𝒚 𝒅𝒛) 𝝏(𝝆𝒅∀) 𝝏𝝆
𝒎ሶ 𝒔𝒕𝒐𝒓𝒆𝒅 = = = 𝒅∀
𝝏𝒕 𝝏𝒕 𝝏𝒕
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Conservation of mass (Continuity Equation)
: Differential Form
𝟎 = 𝒎ሶ 𝒐𝒖𝒕 − 𝒎ሶ 𝒊𝒏 + 𝒎ሶ 𝒔𝒕𝒐𝒓𝒆𝒅

𝝏(𝝆𝒖) 𝝏(𝝆𝒗) 𝝏(𝝆𝒘) 𝝏𝝆

𝟎= 𝒅∀ + 𝒅∀ + 𝒅∀ + 𝒅∀
𝝏𝒙 𝝏𝒚 𝝏𝒛 𝝏𝒕

𝝏𝝆 𝝏(𝝆𝒖) 𝝏(𝝆𝒗) 𝝏(𝝆𝒘)

+ + + =𝟎 𝒅∀ ≠ 𝟎
𝝏𝒕 𝝏𝒙 𝝏𝒚 𝝏𝒛

𝝏𝝆
+ 𝛁. 𝝆𝑽 = 𝟎
𝝏𝒕 40
Continuity equation differential form
𝝏𝝆 𝝏(𝝆𝒖) 𝝏(𝝆𝒗) 𝝏(𝝆𝒘)
+ + + =𝟎
𝝏𝒕 𝝏𝒙 𝝏𝒚 𝝏𝒛

• Steady flow

• In-compressible

• Steady and In-compressible

• Steady and In-compressible (2D)

41
Continuity equation for 1D steady flow
z
A E
Rate of mass entering
control volume through B F
Rate of mass leaving control
face ABCD y volume through face EFGH
H
𝒎ሶ 𝒊𝒏 = 𝝆𝒊𝒏 𝒖𝒊𝒏 𝑨𝑨𝑩𝑪𝑫 D 𝒎ሶ 𝒐𝒖𝒕 = 𝝆𝒐𝒖𝒕 𝒖𝒐𝒖𝒕 𝑨𝑬𝑭𝑮𝑯
𝒎ሶ 𝒊𝒏 = 𝝆 𝒖 𝑨 dx 𝜕𝝆 𝜕𝒖
𝒎ሶ 𝒐𝒖𝒕 = 𝝆 + 𝑑𝑥 𝒖 + 𝑑𝑥 𝑨
C G x 𝜕𝑥 𝜕𝑥
𝟎 = 𝒎ሶ 𝒐𝒖𝒕 − 𝒎ሶ 𝒊𝒏 + 𝒎ሶ 𝒔𝒕𝒐𝒓𝒆𝒅 𝒎ሶ 𝒐𝒖𝒕 = 𝝆 + 𝑑𝝆 𝒖 + 𝑑𝒖 𝑨
𝟎 = 𝑑 𝝆𝒖 𝑨 + 0 𝒎ሶ 𝒐𝒖𝒕 = 𝝆𝒖 + 𝑑(𝝆𝒖) 𝑨
𝑑 𝝆𝒖 𝑨 = 0
𝑑 𝝆𝑨𝒖 = 0
𝝆𝑨𝒖 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕 𝝏(𝝆𝒅𝒙 𝑨)
𝒎ሶ 𝒔𝒕𝒐𝒓𝒆𝒅 = =𝟎
𝝏𝒕

42
Continuity equation for 1D steady flow
• Given Area =A
• v is the average velocity at a cross-section

ρAv = constant
for both compressible and incompressible flow

Av = constant
for incompressible flow

A1v1=A2v2

Source:https://www.vcalc.com/attachments/47d027da-53b3-11e8-abb7-bc764e2038f2/ContinuityEq.png

43
Stream Function 𝝍(𝒙, 𝒚)
• Defined as scalar function of space and time such that it always
satisfies continuity equation for 2D incompressible flow
+𝒗
𝝏𝒖 𝝏𝒗 +y
• Continuity Equation 2D incompressible + =𝟎
𝝏𝒙 𝝏𝒚
-x +x
-𝒖 +𝒖
𝝏𝝍 𝝏𝝍
𝒖= 𝒗=−
𝝏𝒚 𝝏𝒙 -y
-𝒗
• In stream function, its negative derivative w.r.t any direction,
gives velocity component perpendicular to that (anticlockwise)
direction.

44
Stream Function 𝝍 𝒙, 𝒚 for irrotational flows
𝜕𝜓 𝜕𝜓
𝑢= 𝑣=−
𝜕𝑦 𝜕𝑥
• For irrotational flows
𝜕𝑣 𝜕𝑢
− =0
𝜕𝑥 𝜕𝑦

For irrotational flows

∇2 𝜓 = 0

∇2 𝜓 is the Laplacian of 𝜓(the divergence of the gradient):∇. ∇𝜓 For rotational flows

∇2 𝜓 ≠ 0
Derive Laplacian Operator
45
 Conservative Vector Field
A conservative vector field is a vector field that is
1. the gradient of some scalar function
2. has the property that its line integral is path independent
(the choice of any path between two points does not change the value of the
line integral. Path independence of the line integral is equivalent to the vector
field under the line integral being conservative. )
3. is irrotational; in three dimensions, this means that it has vanishing
curl (curl of vector = 0 or ∇ × vector = 0).
Curl of vector 𝐹Ԧ

the curl is a vector operator that describes the

infinitesimal circulation of a vector field in
three-dimensional Euclidean space

47
If Velocity is a Conservative Vector Field
• Velocity can be represented as the gradient of some scalar function,
called potential function
𝑉 = ∇𝜙
potential function exists for conservative vector field only

• Also, vector (flow) is irrotational, i.e., curl of velocity vector = 0

∇ × 𝑉 = 0 (𝜙 exists)

Also remember for irrotational flow we derived ∇2 𝜓 = 0

48
Velocity Potential Function
𝑉 = ∇𝜙
Generally, convention is 𝜙 decreases in direction of velocity
𝑉 = −∇𝜙
So
What will be 𝐮, 𝑣, 𝐰: given 𝑉 = u𝑖Ƹ + 𝑣 𝑗Ƹ + w𝑘෠ and 𝜙 = f(x,y,z)

𝝏𝜙 𝝏𝜙 𝝏𝜙
𝒖=− 𝒗=− 𝒘=−
𝝏𝒙 𝝏𝒚 𝝏𝒛
• a function of space and time in flow such that the negative derivation of this
function with respect to any direction gives the velocity of the fluid in that
direction
49
Continuity Equation if flow is irrotational
𝜕𝜙
𝑢=−
• Continuity equation for Steady and In-compressible flow 𝜕𝑥
𝜕𝜌 𝜕(𝜌𝑢) 𝜕(𝜌𝑣) 𝜕(𝜌𝑤) 𝜕𝜙
𝑣=−
+ + + =0 𝜕𝑦
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝜙
𝑤=−
𝜕𝑢 𝜕𝑣 𝜕𝑤 𝜕𝑧
+ + =0
𝜕𝑥 𝜕𝑦 𝜕𝑧

∇2 𝜙 = 0

Potential function must satisfy Laplace Equation

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Equipotential Lines
• Lines joining same value of potential function
𝜙 = 𝑓(𝒙, 𝒚)
𝜙 = constant
Or
d𝜙 = 0

𝜕𝜙 𝜕𝜙
𝑑𝜙 = 𝑑𝑥 + 𝑑𝑦 = 0
𝜕𝑥 𝜕𝑦

𝑑𝑦 𝑢
=−
𝜕𝑥 𝑣

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 Relationship between Equipotential lines
and Equi-stream function lines 𝑑𝑦
=−
𝑢
𝜕𝑥 𝑣

Equipotential lines and Equi-stream function lines

are orthogonal to each other

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Conservation laws
• In all the cases the fluid must satisfy the basic law of mechanics

1. Conservation of mass (Continuity Equation)

2. Conservation of momentum (Momentum

Equation) Newton’s
2nd law of
motion

3. Conservation of energy (Energy Equation)

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Conservation of momentum (Momentum
Equation)
• Reynolds transport theorem

54