Differential Analysis of Fluid Flow

Part I
Governing Equations
 Chapter review

• Fluid element kinematics

– Velocity and acceleration fields
– Linear and angular motion and deformation
• Continuity equation
– Stream function
• Equation of motion
• Inviscid flow
– Euler equation of motion
– Bernoulli equation
– Irrotational flow. Velocity potential
– Some basic potential flow, plane potential flow
• Viscous flow
– Navier-Stokes equations.
– Simple solutions for viscous incompressible fluids
Fluid Element Kinematics

Types of motion and deformation for a fluid element

Fluid Element Kinematics

Types of motion and deformation for a fluid element

 Velocity and Acceleration Fields

Velocity

V  f  x, y , z , t 

V  u i  v j w k
Acceleration

DV
a
Dt
V
a   V  V
t
 Linear Motion and Deformation

Translation

Simplest type of motion

There are no velocity gradients

y

x
 Linear Motion and Deformation

Linear Deformation
is caused by variations
in the velocity in
direction of velocity
 Linear Motion and Deformation

Linear Deformation
is caused by variations
in the velocity in
direction of velocity

Volumetric dilatation rate is a rate of change of volume per unit volume (details)
 Linear Motion and Deformation

Linear Deformation
is caused by variations
in the velocity in
direction of velocity

Volumetric dilatation rate is a rate of change of volume per unit volume (details)

1 d   V  u v w
      V  div V
 V dt x y z

For incompressible fluid VDR equals zero

Does it mean that if VDR is zero then fluid is incompressible?

 Angular Motion and Deformation

Rotation vector

Vorticity
 Angular Motion and Deformation

1  v u 
z    
2  x y 
1  w v 
x    
2  y z 
1  u w 
y    
2  z x 

1 1
Rotation vector ω  curl V    V
2 2

Vorticity ξ  2ω    V
Angular Motion and Deformation

Analyze

1  v u 
z    
2  x y  x
 Angular Motion and Deformation

Analyze

1  v u 
z    
2  x y  x

u v
Fluid element will rotate about axis z as an undeformed block only when 
y x
Otherwise the rotation will be associated with angular deformation

u v
When  the rotation about z axis is zero
y x

If vorticity is zero flow field is termed as irrotational

Example: For a certain two dimensional flow field the velocity vector is given by
equation

 
V  4 xy i  2 x 2  y 2 j

Is this flow irrotational?

 Rate of Shearing Strain

Angular deformation results in a change in a shape of element

The change in the original right angle formed by the line OA

and OB is termed the shearing strain, 
    
 is positive when original right angle is decreasing

The rate of change of  is called the rate of shearing strain or the rate of angular
deformation

 v  t  u  t 
 x y 
  lim  lim 
 t 0  t  t 0  t 
 
v u
  
x y
Conservation of Mass
 Conservation of Mass

Conservation of mass requires that the mass of a system remain constant

DM sys
0
Dt

For control volume


t cv
 dV    V nˆ dA  0
cs

We apply the last equation to the infinitesimal control volume to obtain the differential form
of the continuity equation
Differential Form of Continuity Equation
 Differential Form of Continuity Equation


t cv
 dV    V nˆ dA  0
cs

For infinitesimal control

volume
 
t cv
 dV   x y z
t

Net rate of mass    u   x     u   x    u 

  u    y z    u    y z   x y z
outflow in x direction  x 2   x 2  x

Net rate of   u    v     w 

   
mass outflow  x y z 
figure
 Continuity Equation
    u     v     w 
Differential form of continuity equation    0
t x y z


In vector notation  V  0
t

Continuity equation is one of the fundamental equations of fluid mechanics and is valid
for steady or unsteady flow, and compressible or incompressible fluids

For steady flow of compressible fluids

  u    u    u 
 V  0 or   0
x y z
For incompressible fluids

u v w
V  0 or   0
x y z
Example: The velocity components for a certain incompressible, steady flow field are
u  x2  y 2  z 2
v  xy  yz  z
w?

Determine the form of the z component, w, required to satisfy the continuity equation
Example: The velocity components for a certain incompressible, steady flow field are
u  x2  y 2  z 2
v  xy  yz  z
w?

Determine the form of the z component, w, required to satisfy the continuity equation
Solution:
u v w
Continuity equation for steady, incompressible flow   0
x y z

u v
For given velocity distribution  2x and  xz
x y

w
so that  2 x   x  z   3x  z
z

z2
Integration gives w  3 xz   f  x, y 
2

The third velocity component cannot be explicitly determined since the function f(x,y)
can have any form and conservation of mass will still be satisfied.
Cylindrical Polar Coordinates
 Cylindrical Polar Coordinates

Velocity vector in cylindrical polar coordinates

V  vr eˆ r  v eˆ   vz eˆ z

Continuity equation in cylindrical polar coordinates

 1   r  vr  1    v     vz 
   0
t r r r  z
Stream Function. Definition
 Stream Function. Definition
Introduction of a stream function is just a mathematical trick of replacing two variables (u and
v) by a single higher-order function
For steady, incompressible, plane (two-dimensional) flow the continuity equation reduces to

u v
 0
x y
Velocity components in plane flow field can be expressed in terms of a stream function,
(x,y), which relates the velocities as
 
u , v
y x

In cylindrical coordinate continuity equation for incompressible, plane flow

1   rvr  1 v
 0
r r r 
and velocity components
1  
vr  , v  
r  r
 Stream Function. Properties

• Whenever the velocity components are defined in terms of the stream function
we know that conservation of mass will be satisfied.

• Lines along which  is constant are streamlines (details). If stream function is

known one can plot family of streamlines to visualize the flow pattern.

• The change in the value of the stream function is related to the volume rate of
flow
 Stream Function. Properties

Consider two closely spaced streamlines

 Stream Function. Properties

Consider two closely spaced streamlines

Volume flow rate per unit width

 
dq  udy  vdx  dy  dx  d
y x

Volume flow rate between two streamlines 1 and 2

2
q   d   2  
1

If the 2 > 1, then q is positive, flow is from left to right

If the 2 < 1, then q is negative, flow is from right to left

Example: The velocity components in a steady, incompressible, two-dimensional flow
field are u  2 y; v  4 x
Determine the corresponding stream function and show on a sketch several
streamlines. Indicate the direction of flow along the streamlines
Example: The velocity components in a steady, incompressible, two-dimensional flow
field are u  2 y; v  4 x
Determine the corresponding stream function and show on a sketch several
streamlines. Indicate the direction of flow along the streamlines
Solution: From definition of stream function:

 
u  2 y; v  4x
y x

Integration gives

  2x 2  y 2  C
Example: The velocity components in a steady, incompressible, two-dimensional flow
field are u  2 y; v  4 x
Determine the corresponding stream function and show on a sketch several
streamlines. Indicate the direction of flow along the streamlines
Solution:
Integration gives   2x 2  y 2  C

set C = 0, then   2x 2  y 2

for  0 y   2x

y2 x2
 0  1
for   2

Streamlines are a family of hyperbolas

with the  = 0 streamlines as asymptotes
Example: In a certain steady, two-dimensional flow field the fluid density varies
linearly with respect to the coordinate x; that is , ρ = Ax where A is a constant. If the x
component of velocity u is given by equation u = y determine the expression for v
Example: In a certain steady, two-dimensional flow field the fluid density varies
linearly with respect to the coordinate x; that is , ρ = Ax where A is a constant. If the x
component of velocity u is given by equation u = y determine the expression for v

y2
Answer: v    f  x
2x
 Conservation of Linear Momentum

Resultant force acting on a fluid mass is equal to the time rate of change of linear momentum
of the mass
D  V  m
F
Dt

To develop the differential, linear momentum equations apply Newton’s second law of motion
to the mass m

 F   ma
 Forces Acting on the Differential Element

Body forces are distributed through the element.

We consider weight only.

 Fb   m g

In component form
 Forces Acting on the Differential Element

Body forces are distributed through the element.

We consider weight only.

 Fb   m g

In component form

 Fbx   mg x
 Fby   mg y
 Fbz   mg z
 Forces Acting on the Differential Element

Surface forces – result of interaction

with surroundings.

Surface forces acting on a fluid

element can be described in terms of
normal and shearing stresses.

Normal stress

Shearing stresses
 Forces Acting on the Differential Element

Surface forces – result of interaction

with surroundings.

Surface forces acting on a fluid

element can be described in terms of
normal and shearing stresses.

Normal stress

 Fn
 n  lim
 A 0  A

Shearing stresses
 F1  F2
 1  lim and  2  lim
 A 0  A  A 0  A
 Stresses Notation and Sign Convention

Stresses act on the planes parallel to coordinate plains

First subscript – direction of normal to the plain on which stress acts

Second subscript – direction of action of the stress

Positive direction of the stress is defined as the positive coordinate direction on the surfaces
for which the outward normal is in the positive coordinate direction . IF the outward normal
points in the negative coordinate direction then the stresses are considered positive if
directed in the negative coordinate direction. (All stresses shown are positive)
Surface
Forces
 Surface
Forces

  xx  yx  zx 
Surface forces acting on a  Fsx       x y z
  x  y z 
small cubical fluid element
    
 Fsy   xy  yy  zy   x y z
 x y z 
    
 Fsя   xz  yz  zz   x y z
 x y z 

Resultant surface force  Fs   Fsx  ˆi   Fsy  ˆj  Fsz  kˆ

 Equations of Motion
The resultant force acting on a fluid element must equal the mass times the
acceleration of the element

Equations of motion

 xx  yx  zx  u u u u 
 gx      u v w 
x y z  t x y z 
 xy  yy  zy  v v v v 
gy      u v  w 
x y z  t x y z 
 xz  yz  zz  w w w w 
 gz      u v w 
x y z  t x y z 

These are the general differential equations of motion for a fluid. They apply for any
continuum (solid of fluid) in motion or at rest

There are more unknowns than equations. Some additional information of stresses must be
obtained
 Inviscid Flow
Shearing stresses develop in a moving fluid because of the viscosity of a fluid

For inviscid or frictionless flow there are no shearing stresses and normal stress at a point is
independent of direction, that is

 xx   yy   zz

Pressure is a negative of the normal stress

 p   xx   yy   zz

Negative sign is used so that a compressive normal stress gives positive value of pressure
 Euler’s Equations of Motion
For inviscid flow all shearing stresses are zero, normal stresses are replaced by –p

Then general equation of motion reduce to: Euler’s equations of motion

p  u u u u 
 gx    u v w 
x  t x y z 
p  u u u u 
gy    u v w 
y  t x y z 
p  u u u u 
 gz    u v w 
z  t x y z 

In vector form
 Euler’s Equations of Motion
For inviscid flow all shearing stresses are zero, normal stresses are replaced by –p

Then general equation of motion reduce to: Euler’s equations of motion

p  u u u u 
 gx    u v w 
x  t x y z 
p  u u u u 
gy    u v w 
y  t x y z 
p  u u u u 
 gz    u v w 
z  t x y z 

In vector form
 V 
 g  p      V  V 
 t 

This is still unsolvable due to nonlinearity. But integrating these we can obtain Bernoulli
equation
 Bernoulli Equation
For steady flow
 g  p    V  V

Select coordinate system with z axis vertical. Then

g   g z
Use vector identity
1
 V  V    V V   V    V 
2
Then 
  g z  p    V V     V    V  
2

Rearranging we have
p 1
 
  V 2  gz  V    V 
 2
 Bernoulli Equation
Take the dot product of each term with a
differential length d s along a streamline

p 1
 2
 
d s  V 2  d s  g z  d s   V    V    d s (a)

Since d s has a direction along a streamline d s and V are parallel. However the vector
V   isVperpendicular
 to . SoV

 V    V    d s  0

And

d s  dx  ˆi  dy  ˆj dz  kˆ

Then
p p p
p  d s  dx  dy  dz  dp
x y z
 Bernoulli Equation
Thus equation (a) becomes (with    
 V 2 d s  d V 2 and gz  d s  gdz )

dp 1
 
 d V 2  gdz  0
 2
Integration gives
dp V 2
   2  gz  constant
For incompressible, inviscid, steady flow along a streamline (ideal fluid)

p V2
  gz  constant
 2

In term of heads
p1 V12 p2 V22
  z1    z2
 2g  2g

Bernoulli equation is restricted to inviscid, steady, incompressible flow along a streamline

End
Supplementary slides
 Linear Motion and Deformation

Linear Deformation

The difference in velocity in x direction causes a “stretching” of volume element

 u 
Change in  V    x   y z t
 x 
Rate of change of volume per unit volume due to gradient u/x
1 d  V    u x   t  u
 lim  
 V dt  t  x back
Differential Form of Continuity Equation

back
 Stream Function. Properties

Lines along which  is constant are streamlines

Equation of a streamline:
dy v

dx u

Change in the value of  as we move from point (x,y) to point (x+dx,y+dy)

 
d  dx  dy  vdx  udy
x y
Along line of constant  we have

d  vdx  udy  0

Therefore, along a line of constant 

dy v

dx u
which is defining equation of a streamline
back
Example: The stream function for an incompressible flow field is given by the equation

  3x 2 y  y 3
where the stream function has the units of m2/s with x and y in meters. (a) Sketch the
streamlines passing through the origin. (b) Determine the rate of flow across the
straight path AB shown in Figure