Chapter V: Rigid-Body Motion of Fluids: Relative Equilibrium

Intended Learning Outcome:

Upon completing this chapter and working through a problem sets at the end-of-module, you will be able to:
✓ Define the concept of relative equilibrium in fluid mechanics.
✓ Explain the stability of relative equilibrium and its importance in fluid flow behavior.
✓ Analyze the forces acting on a fluid element in relative equilibrium and their relationship with the fluid pressure.
✓ Apply the principles of relative equilibrium to real-world problems in fluid mechanics.

Chapter Overview:
Rigid-body motion is the type of motion where all parts of a body move together, much like a solid object. This type of
motion is also known as solid-body motion. In some instances, fluids can exhibit rigid-body motion, particularly when they are
confined in a container that is moving at a constant velocity, constant acceleration, or rotation. In this type of fluid motion, there
is no relative motion between fluid particles, and the fluids are in relative equilibrium. Examples of rigid-body motion of fluids
include the motion of fluids being transported in tanker trucks and the motion of fluids contained in rotating cylinders.
Discussion:
V.1 Pressure distribution in a liquid subject to constant acceleration
In the previous chapter, we assumed that containers holding liquids were stationary, and therefore the liquids were also
at rest. This allowed us to analyze the liquids in static equilibrium with respect to their containers. However, if the container is
subjected to a constant acceleration, the liquid particles will initially move in relation to each other. After some time, the liquid
particles will reach a state of relative equilibrium with the boundaries of the container, and the liquid will settle into a new position
due to the acceleration. Once at rest in this new position, the fluid mass will move as a single unit. Since the liquid is now in a static
state relative to the container, we can use the laws of hydrostatics to calculate the liquid pressure. Because there is no relative
movement between the liquid particles, there will be no shear forces or stresses between them. Therefore, the pressure on the
surface of the liquid will be normal to the surface in contact with it.

Dynamic Equilibrium:
When a container holding a fluid experiences a continuous acceleration, the liquid particles will initially move in relation to
one another. However, after some time has passed, the particles will eventually become motionless relative to both the
liquid container's walls and one another. Due to the acceleration imparted to the container, the fluid will take on a new
position. The container holding the fluid can undergo (i) translational acceleration in a vertical or horizontal direction, or
(ii) rotational motion at a constant acceleration. To change the dynamic equilibrium of a fluid mass that experiences
acceleration into a static equilibrium, d'Alembert's principle is used. The conditions for relative equilibrium of a fluid mass
experiencing acceleration are as follows: (i) there is no shear stress in the liquid, (ii) no motion exists between fluid particles,
and (iii) no motion exists between the fluid and its container.

✓ D’ Alembert’s Principle
According to D'Alembert's principle, it is possible to achieve a state of static equilibrium in a fluid mass that is in motion by
applying an imaginary force of inertia that is equal in magnitude to the accelerating force but in the opposite direction.
✓ What happens to the liquid when it is subjected to a horizontal acceleration?
When a liquid is subjected to a constant horizontal acceleration, the level of the liquid on the front side of tank falls while
the level of the liquid on the back side rises this makes the free liquid surface to slope upwards in the direction opposite
to the direction of constant acceleration as shown in the figure.

F h
= ma
F1 − F2 = ma
REF = ma
F1 − F2 − REF = 0

F1 = Ah =  ( h1 w ) h1 cos  = wh12 cos 

1
2
F2 = Ah =  ( h2 w ) h2 cos  = wh22 cos 
1
2
1 1
wh1 cos  − wh2 cos  − ma = 0
2 2

2 2
  1 
m = V =  ( h1 + h2 ) Lw  a
g g 2 
 1 
wh1 cos  − wh2 cos  −  ( h1 + h2 ) Lw  a = 0
1 2 1 2

2 2 g 2 
h12 − h22  cos  = ( h1 + h2 ) La
1
  g
( h1 − h2 )( h1 + h2 )cos  = ag ( h1 + h2 )L
( h1 − h2 )cos  = ag L
( h1 − h2 ) cos  = a
L g
( h1 − h2 ) = tan  + 
L
( )
tan (  +  ) cos  =
a
g
✓ What happens to the liquid when it is subjected to a constant vertical acceleration?
If a liquid is subjected to a constant vertical acceleration, the liquid's free surface will remain horizontal, as it was before
the acceleration was introduced. However, the pressure at any point within the liquid will increase from the static
pressure (ρgh) by an amount equal to (ρgh(a/g)), where a is the acceleration in the vertical direction.

Considering upward motion:

F v
= ma
Fv − W = ma
REF = ma
FV − W − REF = 0
W = Ah =  ( Lw ) h
 
REF = ma = Va = Lwh  a
g g

FV = Lwh  a +  ( Lw ) h
g
a 
FV =  Lwh   + 1  vertical upward force!
g 
a 
Pv = h  + 1  vertical upward pressure!
 g 
hence:
 a
FV =  Lwh  1 −   vertical downward force!
 g
 a
Pv = h 1 −   vertical downward pressure!
 g
✓ What happens when a liquid is subjected to constant acceleration while moving up along an inclined plane?
When a liquid container on a transport is standing on a inclined plane, the free surface of the liquid remains horizontal in
spite of the normal axis of the liquid sloping with angle (inclination angle) with the vertical.

From the force polygon:

ma x
tan  =
W + ma y
ma x
tan  =
mg + ma y
a
tan  = x  upward
g + ay
hence :
ax
tan  =  downward
g − ay
Examples:
Problem 5.1. An open tank 6 m long, 2.4 m deep and 3.6 m wide contains oil of specific gravity 0.85 to a depth of 1.2 m. If the tank
is accelerated along its length on a horizontal track at a constant acceleration 3.2 m/s2, determine (a) the angle position of the
water surface with the horizontal, (b) Pressures at the bottom of the tank at the front and rear edges, and (c) The amount of spill if
the tank is given a horizontal acceleration of 4.8 m/s2 instead of 3.2 m/s2.
Ans: 18.07o, 1.843 kPa, 18.169 kPa, 4.75 m3

Problem 5.2. An open rectangular tank mounted on a truck is 5 m long, 2m wide and 2.5 m high is filled with water to a depth of 2
m. (a) what maximum horizontal acceleration can be imposed on the tank without spilling any water and (b) determine the
accelerating force on the liquid mass? (c) if the acceleration is increased to 6 m/s 2, how much water is spilled out?
Ans: 1.962 m/s2, 39.24 kN, 9.78 m3

Problem 5.3. A closed cylindrical tank 1.5 m in diameter and 4 m long is completely filled with gasoline (sp.gr. = 0.82) and
accelerated horizontally at 3 m/s2. Find the total force acting at the rear wall and at the front wall of the tank. Also find the
accelerating force on the fluid mass?
Ans: 28.05 kN, 10.66 kN, 17.36 kN
Problem 5.4. A closed rectangular tank 4 m long, 2 m wide, and 2 m high is filled with water to a depth of 1.8 m. If the allowable
force at the rear wall of the tank is 200 kN, how fast can it be accelerated horizontally?
Ans: 13.72 m/s2

Problem 5.5. A cubical container 1m on an edge, open at the top and half filled with water is placed on an inclined plane making a
30o angle with the horizontal. The box alone has a gravity force of 500 N and has a coefficient of friction with the plane of 0.30.
Determine (a) the acceleration in horizontal direction, (b) the acceleration in vertical direction, and (c) the angle that the free-
water surface makes with the horizontal.
Ans: 2.04 m/s2, -1.18 m/s2, 13.3o