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Modern Fluid Dynamics
Second Edition
Modern Fluid Dynamics
Second Edition
By
Clement Kleinstreuer
MATLAB® and Simulink® are trademarks of the MathWorks, Inc. and are used with permission. The MathWorks
does not warrant the accuracy of the text or exercises in this book. This book’s use or discussion of MATLAB®
and Simulink® software or related products does not constitute endorsement or sponsorship by the MathWorks
of a particular pedagogical approach or particular use of the MATLAB® and Simulink® software.
CRC Press
Taylor & Francis Group
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Boca Raton, FL 33487-2742
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been made to publish reliable data and information, but the author and publisher cannot assume responsibility
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please write and let us know so we may rectify in any future reprint.
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Preface............................................................................................................................................ xiii
Author..............................................................................................................................................xv
vii
viii Contents
The second edition of Modern Fluid Dynamics (the first edition was published by Springer) has
been thoroughly revised and updated based on multi-year feedback from graduate students
as well as suggestions from colleagues. Specifically, the previous three book parts have been
reduced to a new, two-part, streamlined and reorganized version with a now even stronger
emphasis on the fundamentals, illustrative examples, and computer applications. As it is a
text for first-year graduate students and advanced seniors, the sections on compressible flow
and compartmental modeling have been deleted to provide extra space for more appropri-
ate topics, such as scale analysis, non-Newtonian fluid flow, surface coating, convection heat
transfer, fluid-particle dynamics, microfluidics, and microfluidics, and computational fluid
dynamics applications. Thus, the first part of the new edition, that is, Chapters 1 through 3, is
now easier to read, leading with the sample problem solutions and associated discussions to
an enhanced understanding of the principles of fluid dynamics. With the new knowledge base
gained and skill level acquired from studying Part A in conjunction with Appendix I, modern
fluid dynamics applications are discussed in Chapters 4 through 8 of the new Part B. After
basic introductions to real-world topics, such as mixture flows, lubrication systems, surface
coating, microfluidics, and fluid–structure interactions, representative sample applications are
discussed. Part B concludes with Chapter 9 on mathematical modeling and computer simula-
tion with examples, while Chapter 10 deals with the development and execution of course proj-
ects . Specifically, guidelines are provided for project report writing, followed by lists of tutorial
and numerical projects, both categories being illustrated with insightful project reports. The
necessary background material in engineering math is reviewed in Appendix I, that is, tensor
analysis, integration/differentiation, special integrals, ordinary differential equations, and all
conservation laws. Appendix I now also contains OpenFOAM commands, some of which have
been used in course-project solutions given in Chapters 9 and 10. Appendix II contains conver-
sion factors and fluid properties as well as the Moody chart and drag coefficients for spheres
and cylinders. While traditionally, fluid mechanics books present the material in progressive
order, that is, employing an inductive approach from the simple to the more difficult, the pres-
ent text adopts more of a deductive approach. Indeed, understanding the derivation of the basic
equations and then formulating the system-specific equations with suitable boundary condi-
tions are two key steps for proper problem solutions. Understanding of the fundamentals and
independent application skills are the main learning objectives. For students to gain confidence and
independence, an instructor may want to be less of a “sage on the stage” and more of a “guide
on the side.” Specifically, engaging students in “white-board performances,” that is, interest-
ing problem solutions, tutorial presentations of specific topics of Part B, and selected journal
articles is highly recommended. Requiring an in-depth course project and its associated report
(see Chapter 10) may be a crowning assignment or may even replace the final exam. The need
for the proposed text evolved primarily out of industrial demands and post-graduate expectations.
Clearly, industry and government recognized that undergraduate fluid mechanics edu-
cation had to change measurably due to the availability of powerful software that runs
on workstations and because of the shift toward more complicated and interdisciplinary
tasks that tomorrow’ s engineers are facing (see NAS “ The Engineers of 2020” at http://
national-academics.org). Also, an increasing number of engineering firms recruit only MS-
and PhD-holders, wondering whether BS-degree engineers are able to follow technical
directions, let alone build mathematical models and consequently analyze and improve/
xiii
xiv Preface
design devices related to fluid dynamics. In the academic environment, a fine knowledge
base and solid skill levels in modern fluid dynamics are important for success in more
advanced thermal sciences courses, in emerging departmental programs, and for new the-
sis/dissertation requirements responding to future educational needs. Building on intro-
ductory courses in thermodynamics, fluid mechanics, heat transfer, and solid mechanics
as prerequisites as well as on a junior-level math background, a differential approach is
most insightful to teach the fundamentals in fluid mechanics and convection heat trans-
fer. Pedagogical elements include a 50:50 physics-mathematics approach when introducing
new material, illustrating concepts, showing flow visualizations, and solving problems.
The problem solution format strictly follows the sequence System Sketch, Assumptions,
and Method — before starting the solution phase, which consists of symbolic math model
development (see Appendix I), numerical solution, graphs, and comments on “ physical
insight.” After some illustrative examples, most solved text examples have the same level
of difficulty as suggested assignments and/or exam problems. The ultimate goals are that
the more serious student will be able to solve basic fluid dynamics problems independently ,
provide physical insight , and suggest, via a course project, system design improvements . All
figures appearing in this book will be hosted on the CRC Press website: www.crcpress.
com/9781138198104. In addition, an updated and expanded solutions manual, previously
authored by post-doc Dr. Jie Li and now redeveloped by Curtis Promislow and Sriram
Chari, will be available later on for instructors adopting the textbook.
The new edition could not have been completed without the superb assistance provided
by Curtis Promislow in terms of text and equation typing, finalizing figures and tables,
and manuscript formatting. Also, the fine project contributions from Dr. Zelin (Luke) Xu
and Sriram Chari, as well as the professional help from editor Jonathan Plant and his team,
are gratefully acknowledged.
For technical correspondence, please contact the author via e-mail (ck@ncsu.edu).
Clement Kleinstreuer
North Carolina State University
Raleigh, NC
xv
12 Modern Fluid Dynamics, Second Edition
∂vi ∂v j 1
• The shear-rate tensor γ ij = + and hence the 1/2 in ε ij = γ ij is mathemati-
∂x j ∂x i 2
cally necessary to match Equation 1.21.
As mentioned, Stokes suggested that τ is a linear function of ε , which is not the case
for non-Newtonian fluids, rarefied gases, and some fluid flows in microscale devices, for
example, bioMEMS. Specifically, for Newtonian fluids, that is, air, water, and most oils,
τ = λ(∇ ⋅ v)I + 2µε (1.22)
where the viscosity coefficients λ and µ depend only on the thermodynamic state of the
fluid. For incompressible flow, ∇ ⋅ v = 0 (see Section 2.2.2), and the total stress tensor
reduces to
where
∂v ∂v j
2µε ij ≡ τ ij = µ i + := µγ ij (1.24)
∂x j ∂x i
Here, γ ij ≡ 2ε ij is called the shear-rate tensor (see Appendix AI.5.5 for all stress and shear-
rate components in rectangular, cylindrical, and spherical coordinates).
Of great importance are the wall shear stress vector (τ wall ≡ WSS) as a result of frictional
(or viscous) effects and the no-slip condition for macro-scale systems, that is, at any solid
surface:
v fluid = v wall (1.25)
Typically, v wall = 0; that is, the wall is stationary and impermeable. The experimentally
verified no-slip condition for macro-flow generates velocity gradients normal to the wall
at all axial flow speeds. As illustrated in Figure 1.2, the WSS-elements are:
Very high or low WSS values have been related to device malfunctions and arterial dis-
eases (Kleinstreuer, 2006). Integration of τ wall over the entire surface of a submerged body
or inside a conduit yields the frictional drag:
Fviscous =
∫τ
A
wall dA (1.26)
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spring is at hand. The great shiny hoods look more like snails than
like flowers; and indeed usually the flowers are not in sight at all, so
well are they shielded by these hood-like leaves.
But each little hidden flower has four flower leaves, four stamens,
and one pistil. When they have been dusted with pollen by fly
visitors, and are preparing to turn into fruit, the purple hoods wither
away. Then the plant sends up clusters of large bright green leaves.
In June you see these great leaves everywhere in the wet woods.
So if you wish to be on hand to welcome the very first flower of the
year, you must begin to keep your eyes open by the end of February.
You must visit the swamps each day, and look for the purple hoods
inside which are snugly hidden the little blossoms of the skunk
cabbage.
And I advise you now to take a sheet of paper and make a list of
the plants as you find them in flower. Put down the date of each
blossom as it appears, and the place where you find it. If you begin
to do this as children, and keep it up when you are older, you will
take real delight in the habit. Each year it will interest you more and
more to turn back to the old lists and discover whether the flowers
are on time, or whether they are late or early in making their first
appearance.
I hope your teacher will start you at once with such a list; for the
sooner you begin, the more complete will be your pleasure in this
delightful season.
PUSSY WILLOWS
S OON after the skunk cabbage has sent up its purple hoods
comes the pussy-willow season. But it is not every child who has
the luck to be in the country at this time.
There is a clean, sweet smell in the air. Down in the boggy
meadow, just before nightfall, the little frogs sing so loud that you
wonder if they are trying to make you believe the birds have come
back.
The brook is getting a bright green border. The buds on the trees
are so big that you feel sure in a few hours they must burst open.
And you know that each new day may bring with it some happy
surprise,—a bird, a leaf, or a flower that you have not seen for many
a long month.
So when you find the willow branches set thick with silken pussies,
you know that a happy time has begun, at least for you country
children.
And even the city children learn to love these soft pussies when
they are placed in tall vases on the teacher’s desk.
If you look carefully at the different branches, you see that they
bear different kinds of pussies; and your teacher will tell you, or
perhaps you will discover yourselves, that these different branches
were broken from different trees.
Fig. 197
Fig. 199
But on the same alder tree that bears these tassels with flowers
made up of stamens or dust boxes (Fig. 199, a), you find also the
tassels flowers made up of pistils (Fig. 199, b).
If you make a search, you will find the little upright clusters
composed of these flowers with pistils.
Late in the year, when these clusters have turned into fruit, they
look like this picture (Fig. 200).
Fig. 200
The pretty birches are cousins to the alders, and keep house in
much the same way, bearing the tassels with stamens (Fig. 201, a)
and the little clusters made up of flowers with pistils (Fig. 201, b) on
the same tree.
Fig. 201
The tassels on some of the birches are very beautiful. When full
grown, they are golden yellow, and so long and soft and graceful that
one feels like stroking them and playing with them as he would with
a kitten.
I hope every country child who reads this book and does not
already know the willows, the alders, and the birches, will make their
acquaintance this spring, and will examine their two kinds of flowers.
And I hope that branches from the different trees will be brought into
the city schoolroom, so that all can see these flowers, which are
among the very earliest of the year.
THE GREAT TREES
M OST people seem surprised to learn that all kinds of trees have
flowers. In March and April they go to the woods in search of
the trailing arbutus, the violet, the anemone; and when they have
picked a quantity of these, they come home and say, “These are the
only flowers we saw to-day.”
But if they had looked overhead, up into the trees, they would
have seen many more; for each tree has its own flower, and most of
the trees blossom very early in the year, before they put out their
leaves. There is a good reason for this, which I will tell you by and
by.
Fig. 202
Fig. 203
Fig. 202 shows you a blossom from the sugar maple. It has
stamens, but no pistils. Next you see what was once a flower
containing both stamens and pistils (Fig. 203). The withered stamens
can still be seen; and the pistil is turning into the well-known maple
key.
Fig. 204
Fig. 205
The great elms also put out their flowers before their leaves. Here
you see a flower cluster from the white elm (Fig. 204). Fig. 205
shows you one of these little flowers enlarged; and in Fig. 206 you
have the blossom cut open so as to display its pistil, which grows
into the winged fruit you saw on p. 62.
Fig. 206
In some of our city streets grows the poplar. Its flowers are
crowded into long green tassels. Many of these fall to the pavement
below, and lie there, looking like great caterpillars. These tassels are
those which bear the flowers with stamens. Now, if we were in the
woods, we should be pretty sure to find near by another poplar
whose tassels do not fall so quickly. This is because these are made
up of flowers with pistils. They cling to the tree not only till they have
been powdered with pollen from the neighboring poplar, but till their
tiny seeds have had time to ripen and are ready to start out on their
life journey.
THE UNSEEN VISITOR
I PROMISED to tell you why so many of the trees flower before they
leaf.
Many of these tree blossoms are neither bright enough to attract
the attention of the bees and butterflies, nor so fragrant as to tempt
the passing insects to visit them; for when the flower handkerchiefs
are not large and bright enough to signal the bees, the blossom often
gives notice of its presence by a strong perfume. How, then, is the
pollen from one flower to reach the pistil of another? And especially
how can this be arranged when the flowers with pollen may live quite
a way off—on another tree, in fact—from the flowers with pistils?
“Perhaps the birds carry it,” suggests some child.
But if these little flowers are not beautiful enough, or sweet-
smelling enough, to please the bees and butterflies, it is hardly
probable that the birds will pay them any attention.
So let us go out into the woods with our eyes and our ears wide
open, and see if we can discover some flower visitor that does not
ask for fine clothes and sweet smells.
Through the bushes comes the lisp of the song sparrow. From
overhead falls the note of the bluebird. The bees are buzzing about
the golden willow tassels. On the top of an old tree trunk a butterfly is
drowsing in the sun’s rays. But already we know that neither bird, nor
bee, nor butterfly will go out of its way to help our pale, scentless
little tree blossoms.
A squirrel darts from under cover, and runs along the stone wall.
Among the dead leaves at our feet a little striped snake lies in a
sluggish coil. But squirrel and snake would be alike useless as flower
visitors.
We are almost tempted to give up trying to guess the answer to
the riddle. Somewhat discouraged, we stop to rest on an old log
overgrown with delicate mosses.
A soft, sighing sound creeps through the pines at the foot of
yonder hill. Over the little hollow sweeps a gust of wind. A faint
cloud, as of dust, fills the air. One of the children begins to sneeze.
Where can the dust come from? The roads are still deep with mud.
And, besides, ordinary dust does not make us sneeze as though it
were pepper.
Ah, my friend, you are getting warm, very warm indeed; for this
dust is no dried earth from the highroad. No, it is made up instead of
golden grains from the dust boxes that are swaying in the wind on
yonder trees. And as the trees just now are bare of leaves, the
journey of the pollen through the air is an easy matter. It is carried
along by the wind, settling here, there, and everywhere, sometimes
in our throats and noses in such a fashion as to make us sneeze, but
also on the tops of many little pistils whose seeds cannot ripen
without its gift of new life.
And so, although we have not seen the visitor who befriends these
little flowers that are neither beautiful nor fragrant, we have heard his
voice as it came whispering through the pines; and we know that this
whisper is the gentle voice of the wind.
Now you understand that it is well for those trees whose flowers
depend upon the wind for their pollen, to blossom before their leaves
are out, and thus likely to interfere with the pollen in reaching its
destination.
PLANT PACKAGES
Fig. 207
O N your walks through the woods these spring days I want you to
notice the neat and beautiful way in which plants do their
packing; for the woods now are full of plant packages,—little bundles
of leaves and flowers, done up with the greatest care.
Some of these have just appeared above the ground. Others have
burst from the branches of the trees and shrubs.
Of course, a plant does not like to send its young, delicate leaves
and flowers into the cold world without wrapping them up, any more
than your mother would like to send your baby brother out for the
first time without a great deal of just such bundling-up.
Fig.
208
Fig.
209
And so well wrapped are many of these plant babies, that it is not
an easy matter to guess just what they are, what kinds of leaves and
flowers will appear when the wrappings have been thrown aside.
Fig. 211
Fig. 210
L ONG ago we learned that certain plants stow away the food
which they are not fitted to use at the time in those thick
underground stems which most people call roots.
This food they hold over till the next year.
It is often a surprise, these spring days, to see how suddenly a
little plant will burst into blossom. One does not understand how it
has had time to get up such a display. Had it been obliged to depend
for food upon new supplies taken in by its roots and leaves, the
flower would have put off its first appearance for many a day.
So when a plant surprises you with any such sudden and early
blossoms, you can be pretty sure that its food supply has been on
hand all winter.
Both in the garden and in the woods you can see for yourselves
that this is so. In the garden perhaps the earliest flower to appear is
the lovely little snowdrop. The snowdrop’s food is stored away in the
“bulb,” as we call its thick, underground stem, which lies buried in the
earth.
The other early garden flowers, such as the hyacinth, crocus,
daffodil, and tulip, are able to burst into beautiful blossoms only
because of the care and labor with which they laid by underground
provisions last year.
And in the woods at this season you find the yellow adder’s
tongue, spring beauty, anemone, wake-robin, Jack-in-the-pulpit, wild
ginger, and Solomon’s seal. Each of these plants has stores of food
hidden in its underground stem. This may take the shape of a bulb,
or a tuber, or a rootstock; but in any case it shows you at once that it
is a little storehouse of food.
A collection of the different kinds of underground stems which
serve as storehouses for the early-flowering plants would be quite as
interesting to work over as a collection of plant packages.
DIFFERENT BUILDING PLANS
T HIS morning let us take a stroll in the woods with the idea of
noticing the different building plans used by the early flowers.
First we will go to the spot where we know the trailing arbutus is
still in blossom. Pick a spray, and tell me the plan of its flower.
“There is a small green cup, or calyx, cut into five little points,” you
say; “and there is a corolla made up of five flower leaves.”
But stop here one moment. Is this corolla really made up of five
separate flower leaves? Are not the flower leaves joined in a tube
below? If this be so, you must say that this corolla is five-lobed, or
five-pointed, not that it has five flower leaves.
“And there are ten pins with dust boxes, or stamens.”
Yes, that is quite right.
“And there is one of those pins with a seedbox below, one pistil,
that is, but the top of this pistil is divided into five parts.”
Well, then, the building plan of the trailing arbutus runs as follows:
—
1. Calyx.
2. Corolla.
3. Stamens.
4. Pistil.
So far, it seems the same plan as that used by the cherry tree, yet
in certain ways this plan really differs from that of the cherry
blossom. The calyx of the cherry is not cut into separate leaves, as is
that of the arbutus; and its corolla leaves are quite separate, while
those of the arbutus are joined in a tube.
Fig. 212
The cherry blossom has more stamens than the arbutus. Each
flower has but one pistil. But the pistil of the arbutus, unlike that of
the cherry, is five-lobed.
So, although the general plan used by these two flowers is the
same, it differs in important details.
Above you see the flower of the marsh marigold (Fig. 212). Its
building plan is as follows:—
1. Flower leaves.
2. Stamens.
3. Pistils.
This, you remember, is something like the building plan of the
easter lily. The lily has a circle of flower leaves in place of calyx and
corolla. So has the marsh marigold. But the lily has six flower leaves,
one more than the marsh marigold, and only six stamens, while the
marsh marigold has so many stamens that it would tire one to count
them.
And the lily has but one pistil (this is tall and slender), while the
marsh marigold has many short, thick ones, which you do not see in
the picture.
So these two flowers use the same building plan in a general way
only. They are quite unlike in important details.
Fig. 213
The pretty little liverwort and the delicate anemone use the same
building plan as the marsh marigold. This is not strange, as all three
flowers belong to the same family.
The yellow adder’s tongue is another lily. It is built on the usual lily
plan:—
1. Six flower leaves.
2. Six stamens.
3. One pistil.
The wild ginger (Fig. 213) uses the lily plan, inasmuch as it has no
separate calyx and corolla; but otherwise it is quite different. It has
no separate flower leaves, but one three-pointed flower cup. It has
stamens, and one pistil which branches at its tip.
The next picture (Fig. 214) shows you the seedbox, cut open, of
the wild ginger.
Fig. 214