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This document provides a step-by-step guide to deriving the NS equation using cylindrical co-ordinates. The steps have been collected from different documents available on the web; frankly speaking, this document just assembles them into a single file. Although the derivation is not the most detailed one can go for, it certainly helps the user to have a feel of the derivation process and proceed in a more detailed fashion if one decides to. Thank You :-)
NOTE: The derivation has been divided into five steps, with each step collected from a different pdf, the necessary pages of which have been attached herein and the required figures and terms either clouded out or highlighted in yellow. Remember, no detailed calculations have been shown in this document, only the superficial things necessary for one to derive the NS equation!!! U r highly encouraged to do the detailed derivation and share it on the web for others to learn and use. Cheers
STEP I (Pgs. 3-5) Using the figures highlighting stresses in r, and z directions, we find out the equilibrium equations in terms of normal and shear stresses.
STEP II (Pgs 6-8) The material derivative or acceleration terms are derived in terms of cylindrical coordinates (r, , z).
STEP III (Pg. 9) Substituting the acceleration terms from step II in the equilibrium equations calculated in step I, we find out the r, and z components of the momentum equation.
STEP IV (Pg. 10) The normal and shear stresses are shown in cylindrical coordinates; no derivation has been done over here!
STEP V (Pg. 11) Substituting the normal and shear stresses from step IV into the momentum equation derived in step III and using the continuity equation (in cylindrical coordinates) for simplification, we finally get the NavierStokes equation in r, and z directions
Page 3
16 2. Governing Equations
r +
r r + r r r rr + rr r r
rr r r
zr +
zr z z
of stress, strain, and displacement in cylindrical coordinates. The following sections provide a succinct review of essential topics needed for the establishment of the governing elasto-dynamic equations.
Page 4
2. Governing Equations 17
z
rr z
zz +
zz z z z + z zr + zr r r Fr rr + rr r r
r r z
r
FIGURE 2.3. Stresses in the plane perpendicular to r and z direction.
order terms are very small, they can be neglected. Therefore, the change in stress across the element is considered very small.
Page 5
18 2. Governing Equations
Canceling appropriate terms from both sides of the equation and after simplifying, it yields: 1 r rz rr rr + + + + Fr = 0 r r z r Similarly, the equilibrium equation for the direction yields: 1 z 2 r + + + r + F = 0 r r z r and nally, for the z direction one may write: 1 z zz 1 rz + + + rz + Fz = 0 r r z r (2.4) (2.3) (2.2)
In the above simplications, due to very small angle of , the following approximations were used: cos 1 2 sin 2 2 (2.5)
In addition to the stresses, body forces acting throughout the element have been considered for each direction. These are denoted by Fr , F , and Fz which are introduced as forces in the r, , and z direction per unit of volume. Due to the cancellation of the moments about each of the three perpendicular axes, the relations among the six shear stress components are presented by the following three equations: r = r z = z zr = rz (2.6)
Therefore, the stress at any point in the cylinder may be accurately described by three direct stresses and three shear stresses.
Page 6
(Eq. 1) and the material derivative is written as (with the capital D symbol to distinguish it from the total and partial derivatives)
(Eq. 2) Special attention must be made in evaluating the time derivative in Eq. 2. In dynamics, when differentiating the velocity vector in cylindrical coordinates, the unit vectors must also be differentiated with respect to time. In this case, the partial derivative is computed at a fixed position and therefore, the unit vectors are "fixed" in time and their time derivatives are identically zero. Then, we have
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(Eq. 4) and
(Eq. 5) finally
Page 8
(Eq. 6) When these are put together, the material derivative in cylindrical coordinates becomes
Page 9
143
x2 Component:
U2 U2 U2 U2 P + U2 + U2 + U3 = t x1 x2 x3 x2 2 U2 2 U2 2 U2 + + + + g2 x2 x2 x2 1 2 3 (5.110) U3 U3 U3 U3 P + U1 + U2 + U3 = t x1 x2 x3 x3 2 U3 2 U3 2 U3 + + + + g3 x2 x2 x2 1 2 3 (5.111)
x3 Component:
rComponent:
P r
1 1 r rz (rrr ) + + r r r r z
+ gr (5.112)
Component:
zComponent:
rComponent: =
(5.115)
P + r r
1 1 2 Ur 2 U 2 Ur (rUr ) + 2 2 + + gr 2 r r r r z 2
Page 10
26
2 2 1 vy vz 1 v x vz . + + + + 2 z x 2 z y
FLUID MECHANICS
(2.141)
whereas the equations of compressible uid ow become D Dt Dvr v2 Dt r = = , + Dv vr v + Dt r = + Dvz Dt 1 D p D 1 Dt Dt where = D Dt 2 = = 1 (r vr ) 1 v vz + + , r r r z v + vr + + vz , t r r z 1 1 2 2 r + 2 2 + 2, r r r r z (2.153) (2.154) (2.155) = = 1 p r r 2 vr 2 v 1 vr 2 2 + , r r 3 r 1 p 1 r r 2 2 vr v 1 v + 2 + , r r2 3r 1 p 2 1 + vz + , z z 3 z M 2 p , R (2.150) (2.151) (2.152) (2.149) (2.148)
Page 11
Navier - Stokes equation:
We consider an incompressible , isothermal Newtonian flow (density =const, viscosity r =const), with a velocity field V = (u ( x,y,z) , v( x,y,z) , w ( x,y,z)) Incompressible continuity equation: u v w + + =0 eq1. x y z
r r DV = P + g + 2 V Dt eq2.
eq3.
eq4.
Cylindrical coordinates (r , , z ) :
We consider an incompressible , isothermal Newtonian flow (density =const, viscosity r =const), with a velocity field V = (u r , u , u z ). Incompressible continuity equation: 1 (ru r ) 1 (u ) u z + + =0 eq a) r r r z r-component: u u u u2 u u r + ur r + r + u z r t r r r z eq b) 1 u r u r P 1 2ur 2 u 2 u r = + g r + + r 2 + 2 r r 2 r 2 z 2 r r r r
-component:
u u uu u u u + ur + + r + u z r r r z t 1 u u 2 u 1 P 1 2 u 2 u + 2 r + + g + = r 2 + 2 r z 2 r 2 r r r r r
eq c)
z-component: u u u u u z + ur z + z + u z z r z r t 1 u z 1 2 u z 2 u z P + g z + + = r + 2 2 z z 2 r r r r
eq d)