MCEN3002 Chapter 02

Differential Analysis of Fluid Flow:
Governing Equations
Chapter 2
MCEN3002 | Applied Fluid Mechanics Semester 2
School of Civil and Mechanical Engineering

Differential Analysis of Fluid Flow: Governing Equations 2 / 27
Main Concepts
Governing equations from differential analysis of flow
Derivation of the continuity equations

(conservation of mass)
Derivation of the equations of motion (momentum)
Examples of modelling using Navier–Stokes equations

Differential Analysis of Fluid Flow Differential Analysis of Fluid Flow: Governing Equations 3 / 27
Differential Analysis of Fluid Flow
à Basic conservation laws are applied to an infinitesimally small control

volume to derive differential equations
y
control
δ y volume
x =
z differential
element
δz
δx
Conservation of Mass à Continuity Equations

Conservation of Linear Momentum à Equations of Motion

Conservation of Mass Differential Analysis of Fluid Flow: Governing Equations 4 / 27
Conservation of Mass
v
δy
u
w ρ
δz
δx
Differential Element
volume: V = δ x δ y δ z
at the center of the element:
fluid density: ρ
velocity components: u in x-direction, v in y-direction and w in
z-direction

For a system, the conservation of mass principle is stated as:

dMsystem
time rate of change of the system mass = 0 à =0
dt
The system mass is given by:
Z
Msystem = ρ dV
system
If the system coincide at an instant of time with a fixed non-deforming

control volume, then:
d
Z Z Z
∂
ρ dV = ρ dV + ρ~u ·~nˆ dA
dt system ∂t CV CS
à the conservation of mass for a fixed non-deforming control volume:

Z Z
∂
ρ dV + ρ~u ·~nˆ dA = 0 (1)
∂t CV CS

v
Control Surface
=
δy Element Boundaries
u
w ρ
Control Volume
δz
δx
Z Z
∂
ρ dV + ρ~u ·~nˆ dA = 0
∂t CV CS
time rate of change of net mass flow rate ṁ
the instantaneous mass MCV through
inside the control volume the control surface
∂ MCV
+ ∑ ṁ − ∑ ṁ = 0
∂t out in

δy
u
w ρ
Control Volume
δz
δx
Time rate of change of the instantaneous mass inside the fluid element
The control volume is infinitesimally small

à The instantaneous mass inside the element can be assumed as:
MCV ≈ ρV = ρ δ x δ y δ z
à Its time rate of change can be assumed as:

∂ MCV ∂ρ
= δxδyδz (2)
∂t ∂t

v
Control Surface
=
δy Element Boundaries
u
w ρ
δz
δx
Net mass flow rate through the control surface
Sum of the mass flow rates across the 6 faces of the fluid element
The control volume is infinitesimally small
à The velocity U is assumed uniform over a face (surface area Aface )
à A Taylor series expansion of (ρU) can be used to evaluate the
mass flow rate across a face:
ṁ|face = (ρU)|face Aface


∂ (ρu) δ x
δy ∂ (ρu) δ x

ρu − δyδz ρu + δyδz
∂x 2 ρu ∂x 2
~nˆ ~nˆ
δz
δx
Net mass flow rate in the x-direction
At the center of the fluid element: mass rate of flow per unit area is ρu
∂ (ρu) δ x
on the left face: (ρU)|x− δ x = ρu − and Ax− δ x = δ y δ z
2 ∂x 2 2
∂ (ρu) δ x
on the right face: (ρU)|x+ δ x = ρu + and Ax+ δ x = δ y δ z
2 ∂x 2 2

∂ (ρu) δ x ∂ (ρu) δ x ∂ (ρu)
à ρu + δ y δ z − ρu − δyδz = δxδyδz
∂x 2 ∂x 2 ∂x

∂ (ρu)


 δxδyδz (net rate of mass flow in the x−direction)



 ∂x
 ∂ (ρv)
δxδyδz (net rate of mass flow in the y−direction)

 ∂y

 ∂ (ρw) δ x δ y δ z


(net rate of mass flow in the z−direction)

∂z
Net mass flow rate through the control surface

∂ (ρu) ∂ (ρv) ∂ (ρw)
∑ ṁ − ∑ ṁ = ∂x
+
∂y
+
∂z
δxδyδz (3)
out in
Using (2) and (3) in the mass conservation equation (1):

∂ MCV ∂ ρ ∂ (ρu) ∂ (ρv) ∂ (ρw)
+ ∑ ṁ − ∑ ṁ = + + + δxδyδz = 0
∂t out in ∂t ∂x ∂y ∂z

The Continuity Equation:
∂ ρ ∂ (ρu) ∂ (ρv) ∂ (ρw)

+ + + =0 (4)
∂t ∂x ∂y ∂z
∂ρ ∂ρ
or + div (ρ~u) = 0 or + ∇ · (ρ~u) = 0
∂t ∂t
0 For steady flow, the Continuity Equation becomes:
∂ρ ∂ (ρu) ∂ (ρv) ∂ (ρw)

=0 à + + = ∇ · (ρ~u) = 0 (5)
∂t ∂x ∂y ∂z
0 For incompressible flow, the Continuity Equation becomes:
∂u ∂v ∂w
ρ = ρ0 à + + = ∇ ·~u = 0 (6)
∂x ∂y ∂z

Conservation of Linear Momentum Differential Analysis of Fluid Flow: Governing Equations 12 / 27
Conservation of Linear Momentum

v
δy
u
w ρ
δz
δx
volume: V = δ x δ y δ z
at the center:
fluid density: ρ
velocity components: u in x-direction, v in y-direction and w in
z-direction

For a system, the conservation of linear momentum is stated as:
~
~F = d P
dt
system
Resultant force acting on a fluid mass: ~F

Linear momentum:
Z
~P = ~u dm
system
For the infinitesimally small, fixed non-deforming control volume, then:

d
Z Z
∑ ~FCV = dt ~u ρ dV + ~u ρ~u ·~nˆ dA
CV CS
d(δ m~u) d~u

à δ ~F = = δm = δ m~a
dt dt

δy
u
w ρ
δz
δx
Newton’s second law applied to the mass δ m:
δ ~F = δ m~a (7)
mass: δ m = ρ δ x δ y δ z
∂~u ∂~u ∂~u ∂~u
acceleration: ~a = +u +v +w
∂t ∂x ∂y ( ∂z
Body Forces
resultant force acting on δ m: δ ~F ←
Surfaces Forces

Forces Acting on the Differential Element Differential Analysis of Fluid Flow: Governing Equations 15 / 27
FBy
δy
FBx
FBz
δz
δx
Body Forces
Body forces are distributed throughout the fluid element

The only body force we consider here is the weight of the element:
δ ~FB = δ m~g (8)


δ FBx = δ m gx
 (x−direction)
à δ FBy = δ m gy (y−direction)

δ FBz = δ m gz (z−direction)


δ Fn
δ ~FS
arbitrary surface
δA δ F1
δ F2
Surface Forces
Surface forces act on the fluid element as a result of its interaction
with its surroundings:
δ ~FS = surface force acting on a small area δ A
δ Fn = component of the surface force normal to the area
δ F1 = component of the surface force parallel to the area
δ F2 = component of the surface force parallel to the area
δ F2 and δ F2 are orthogonal to each other

δ Fn
δ ~FS
arbitrary surface
δA δ F1
δ F2
Normal Stress σ
δ Fn
σn = lim
δ A →0 δA
Shear Stress τ

δ F1
τ1 = lim

δ A →0 δ A

 δ F2
τ2 = lim

δ A →0 A
δ

Surface Forces acting on a fluid element
18 Force Components
6 normal components
δy 12 tangential components
OR
6 x-components
6 y-components
δz 6 z-components
δx


∂ τzx δ z ∂ τyx δ y
τzx − δxδy τyx + δxδz
∂z 2 ∂y 2

∂ σxx δ x
δy ∂ σxx δ x

σxx − δyδz σxx + δyδz
∂x 2 ∂x 2

∂ τyx δ y ∂ τzx δ z
τyx − δxδz τzx + δxδy
∂y 2 ∂z 2
δz
δx
Summation of Surface Forces acting on a fluid element in the x-direction

∂ σxx δ x ∂ σxx δ x
δ FSx = σxx + δ y δ − σxx − δyδz
∂x 2 ∂x 2

∂ τyx δ y ∂ τyx δ y
+ τyx + δ x δ z − τyx − δxδz
∂y 2 ∂y 2

∂ τzx δ z ∂ τzx δ z
+ τzx + δ x δ y − τzx − δxδy
∂z 2 ∂z 2

∂ σxx ∂ τyx ∂ τzx
= + + δxδyδz
∂x ∂y ∂z

Similarly, the summation of the forces can be carried out for the y- and
z-directions to obtain the three components of the resultant surface force:
Surface Forces

∂ σxx ∂ τyx ∂ τzx
δ FSx =
 + + δ x δ y δ z (x−direction)
∂x ∂y ∂z





 ∂ σyy ∂ τxy ∂ τzy
δ FSy = + + δ x δ y δ z (y−direction)

 ∂y ∂x ∂z


 ∂ σzz ∂ τxz ∂ τyz
 δ FSz = + + δ x δ y δ z (z−direction)


∂z ∂x ∂y
which can be combined with the resultant body force:

Body Forces

δ FBx = δ m gx
 (x−direction)
δ FBy = δ m gy (y−direction)

δ FBz = δ m gz (z−direction)


So the combination of body and surface forces gives the resultant force
acting on the fluid element:
δ ~F = δ ~FB + δ ~FS (9)



δ Fx = δ FBx + δ FSx


 ∂ σxx ∂ τyx ∂ τzx
= m g + + + δ x δ y δ z (x−direction)


 δ x


 ∂x ∂y ∂z

δ Fy = δ FBy + δ FSy




∂ σyy ∂ τxy ∂ τzy
 = δ m g y + + + δ x δ y δ z (y−direction)
∂y ∂x ∂z





 δ Fz = δ FBz + δFSz





 ∂ σzz ∂ τxz ∂ τyz
= δ m gz + + + δ x δ y δ z (z−direction)



∂z ∂x ∂y

Equations of Motion Differential Analysis of Fluid Flow: Governing Equations 22 / 27
Equations of Motion
Using (9) in the conservation of linear momentum for the fluid element:
δ ~F = δ m~a (7)

∂~u ∂~u ∂~u ∂~u
=ρ +u +v +w δxδyδz
∂t ∂x ∂y ∂z
à General Equations of Motion for a fluid:

∂ σxx ∂ τyx ∂ τzx ∂u ∂u ∂u ∂u
ρgx + + + = ρ +u +v +w (10a)
∂x ∂y ∂z ∂t ∂x ∂y ∂z

∂ σyy ∂ τxy ∂ τzy ∂v ∂v ∂v ∂v
ρgy + + + = ρ +u +v +w (10b)
∂y ∂x ∂z ∂t ∂x ∂y ∂z

∂ σzz ∂ τxz ∂ τyz ∂w ∂w ∂w ∂w
ρgz + + + = ρ +u +v +w (10c)
∂z ∂x ∂y ∂t ∂x ∂y ∂z

Inviscid Flow
Under some circumstances, the effect of viscosity can be neglected
In such cases, flow fields are said to be inviscid or frictionless
à Shearing stresses can be neglected:
τxy = τyx = τxz = τzx = τyz = τzy = 0
à The pressure p can be defined as the negative of the normal stress:
−p = σxx = σyy = σzz
à Euler’s equations of motion:

∂p ∂u ∂u ∂u ∂u
ρgx − = ρ +u +v +w (11a)
∂x ∂t ∂x ∂y ∂z

∂p ∂v ∂v ∂v ∂v
ρgy − = ρ +u +v +w (11b)
∂y ∂t ∂x ∂y ∂z

∂p ∂w ∂w ∂w ∂w
ρgz − = ρ +u +v +w (11c)
∂z ∂t ∂x ∂y ∂z

Effect of Viscosity
For incompressible Newtonian fluids in motion, viscous effects give:
Normal Stresses Shear

 Stresses

∂u ∂u ∂v

 σxx = −p + 2µ 
 τxy = τyx = µ +
∂x ∂y ∂x

 


 

 ∂v 

∂v ∂w

σyy = −p + 2µ τyz = τzy = µ +

 ∂y  ∂z ∂y
 
 σzz = −p + 2µ ∂ w
 
∂w ∂u

 

 τzx = τxz = µ +


∂z ∂x ∂z
à The normal stresses are not the same in different directions
à Pressure is represented as equal to the average of the 3 normal stresses:
1
−p = (σxx + σyy + σzz )
3
0 For fluids at rest or inviscid flows:

the normal stresses are equal in all directions.
The Navier–Stokes Equations
If these terms are included in the General Equations of Motion (10) and
the Continuity Equation (6) for incompressible flow is used:
à Navier–Stokes Equations (incompressible flow)
2
∂ u ∂ 2u ∂ 2u

∂u ∂u ∂u ∂u ∂p
ρ +u +v +w =− + ρgx + µ + +
∂t ∂x ∂y ∂z ∂x ∂ x2 ∂ y2 ∂ z2
2
∂ v ∂ 2v ∂ 2v

∂v ∂v ∂v ∂v ∂p
ρ +u +v +w =− + ρgy + µ + +
∂t ∂x ∂y ∂z ∂y ∂ x2 ∂ y2 ∂ z2
2
∂ w ∂ 2w ∂ 2w

∂w ∂w ∂w ∂w ∂p
ρ +u +v +w =− + ρgz + µ + +
∂t ∂x ∂y ∂z ∂z ∂ x2 ∂ y2 ∂ z2

∂~u
à ρ + (~u · ∇)~u = −∇p + ρ~g + µ∇2~u (12)
∂t

Dimensional Governing Equation Differential Analysis of Fluid Flow: Governing Equations 26 / 27
Dimensional Governing Equation

The Navier–Stokes Equations (12), together with the Continuity Equation
(6), form the complete mathematical description of the flow of incompress-
ible Newtonian fluids
constant mass inside
∇ ·~u = 0 ≡
a fluid element
!
∂~u
ρ + (~u · ∇)~u = − ∇p + ρ~g + µ∇2~u
∂t
≡ ≡ ≡ ≡ ≡
local convective pressure field force viscous
acceleration acceleration gradient (gravity) friction

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Differential Analysis of Fluid Flow:

MCEN3002 | Applied Fluid Mechanics Semester 2

School of Civil and Mechanical Engineering

Governing equations from differential analysis of flow

Derivation of the continuity equations

Derivation of the equations of motion (momentum)

Examples of modelling using Navier–Stokes equations

MCEN3002 | Applied Fluid Mechanics Semester 2

Differential Analysis of Fluid Flow

à Basic conservation laws are applied to an infinitesimally small control

Conservation of Mass à Continuity Equations

MCEN3002 | Applied Fluid Mechanics Semester 2

MCEN3002 | Applied Fluid Mechanics Semester 2

For a system, the conservation of mass principle is stated as:

If the system coincide at an instant of time with a fixed non-deforming

à the conservation of mass for a fixed non-deforming control volume:

MCEN3002 | Applied Fluid Mechanics Semester 2

MCEN3002 | Applied Fluid Mechanics Semester 2

The control volume is infinitesimally small

à Its time rate of change can be assumed as:

MCEN3002 | Applied Fluid Mechanics Semester 2

Net mass flow rate through the control surface

MCEN3002 | Applied Fluid Mechanics Semester 2

Net mass flow rate in the x-direction

MCEN3002 | Applied Fluid Mechanics Semester 2

Net mass flow rate through the control surface

Using (2) and (3) in the mass conservation equation (1):

MCEN3002 | Applied Fluid Mechanics Semester 2

The Continuity Equation:

∂ ρ ∂ (ρu) ∂ (ρv) ∂ (ρw)

0 For steady flow, the Continuity Equation becomes:

∂ρ ∂ (ρu) ∂ (ρv) ∂ (ρw)

0 For incompressible flow, the Continuity Equation becomes:

MCEN3002 | Applied Fluid Mechanics Semester 2

Conservation of Linear Momentum

MCEN3002 | Applied Fluid Mechanics Semester 2

For a system, the conservation of linear momentum is stated as:

Resultant force acting on a fluid mass: ~F

For the infinitesimally small, fixed non-deforming control volume, then:

d(δ m~u) d~u

MCEN3002 | Applied Fluid Mechanics Semester 2

MCEN3002 | Applied Fluid Mechanics Semester 2

Body forces are distributed throughout the fluid element

δ ~FB = δ m~g (8)

MCEN3002 | Applied Fluid Mechanics Semester 2

MCEN3002 | Applied Fluid Mechanics Semester 2

MCEN3002 | Applied Fluid Mechanics Semester 2

Surface Forces acting on a fluid element

MCEN3002 | Applied Fluid Mechanics Semester 2

MCEN3002 | Applied Fluid Mechanics Semester 2

which can be combined with the resultant body force:

MCEN3002 | Applied Fluid Mechanics Semester 2

δ ~F = δ ~FB + δ ~FS (9)

MCEN3002 | Applied Fluid Mechanics Semester 2

à General Equations of Motion for a fluid:

MCEN3002 | Applied Fluid Mechanics Semester 2

à Euler’s equations of motion:

MCEN3002 | Applied Fluid Mechanics Semester 2

Normal Stresses Shear

0 For fluids at rest or inviscid flows:

The Navier–Stokes Equations

MCEN3002 | Applied Fluid Mechanics Semester 2

Dimensional Governing Equation