FUNDAMENTALS OF FLUID MECHANICS Chapter 6 Flow Analysis Using Differential Methods

Jyh-Cherng Shieh
Department of Bio-Industrial Mechatronics Engineering National Taiwan University 12/24/2007 1

MAIN TOPICS
Fluid Element Kinematics Conservation of Mass Conservation of Linear Momentum Inviscid Flow Some Basic, Plane Potential Flow

Motion of a Fluid Element

Fluid Translation: The element moves from one point to another. Fluid Rotation: The element rotates about any or all of the x,y,z axes. Fluid Deformation: BAngular Deformation:The elements angles between the sides change. BLinear Deformation:The elements sides stretch or contract.

Fluid Translation velocity and acceleration

The velocity of a fluid particle can be expressed
r r r r v V = V ( x , y, z , t ) = u i + v j + wk

Velocity field

The total acceleration of the particle is given by

r r r r r r DV V V dx V dy V dz a= = + + + Dt t x dt y dt z dt dx dy dz = u, = v, = w dt dt dt r r r r r r DV V V V V +v +w a= = +u Dt r t x y z

Acceleration field

r DV a= is called the material , or substantial derivative. Dt

Physical Significance
r r r r r r DV V V V V a= +v +w + =u Dt x y z t
Total Acceleration Of a particle Local Acceleration Convective Acceleration

r r r V v r DV a= = (V )V + Dt t

Scalar Component
ax = u u u u +u +v +w z t x y v v v v ay = +u +v +w t x y z w w w w az = +u +v +w t x y z

Rectangular coordinates system

Vr Vr V Vr V 2 V ar = + Vr + + Vz r t r r r z V V V V Vr V V a = + Vr + + + Vz t r r r z Vz V Vz Vz Vz az = + Vr + + Vz r t r z

Cylindrical coordinates system

6

Linear Translation
All points in the element have the same velocity (which is only true if there are o velocity gradients), then the element will simply translate from one position to another.

Linear Deformation 1/2

The shape of the fluid element, described by the angles at its vertices, remains unchanged, since all right angles continue to be right angles. A change in the x dimension requires a nonzero value of

u / x
A y v / y A z w / z

Linear Deformation 2/2

The change in length of the sides may produce change in volume of the element. The change in
u V = x ( yz )( t ) x

The rate at which the V is changing per unit volume due to gradient u/ x
1 d (V ) u = V dt x

If v/ y and w/ z are involved

r 1 d (V ) u v w = + + = V V dt x y z

Volumetric dilatation rate

Angular Rotation 1/4

= The angular velocity of line OA OA lim t t 0
v xt v x For small angles tan = = t & = x x

OA

v = CCW x

OB
CW

u = y

- for CCW

10

Angular Rotation 2/4

The rotation of the element about the z-axis is defined as the average of the angular velocities OA and OB of the two mutually perpendicular lines OA and OB.
1 1 v u z = (OA + OB ) = 2 2 x y
1 w v x = 2 y z
In vector form

1 u w y = 2 z x

r v v r = x i + y j + z k
11

Angular Rotation 3/4

1 u w 1 w v 1 v u = x = z = y 2 z x 2 y z 2 x y r 1 w v r u w r v u r = i + k j+ 2 z x x y y z
r 1 r 1 w v r 1 u w r 1 v u r r 1 j + k = curlV = V = i + 2 2 2 y z 2 z x 2 x y

Defining vorticity

r r = 2 = V
12

r Defining irrotation V = 0

Angular Rotation 4/4

r i r 1 r 1 r 1 = curlV = V = 2 2 2 x u r j y v r k z w

1 w v r 1 u w r 1 v u r j + k = i + 2 y z 2 z x 2 x y

13

Vorticity
Defining Vorticity which is a measurement of the rotation of a fluid element as it moves in the flow field:

r r r r = 2 = curl V = V

r r 1 w v r u w r v u r 1 i + k = V = j+ 2 z x x y y z 2

In cylindrical coordinates system:

r r 1 Vz V r Vr Vz r 1 rV 1 Vr V = er + e + ez r z r z r r r

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Angular Deformation 1/2

Angular deformation of a particle is given by the sum of the two angular deformation
= +
u u u y t u t = + = y t y y v v xt = v + x t vt = x x
XiEta

= / x

= / y

Rate of shearing strain or the rate of angular deformation v x u y t + t x x y y v u + & = lim = lim = ... = + t 0 t 0 t t x y 15

Angular Deformation 2/2

The rate of angular deformation in xy plane
v u x + y

The rate of angular deformation in yz plane

w v y + z

The rate of angular deformation in zx plane

w u + x z

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Example 6.1 Vorticity

z For a certain two-dimensional flow field th evelocity is given by
r r r 2 2 V = 4 xy i + 2 ( x y ) j

Is this flow irrotational?

17

Example 6.1 Solution

u = 4 xy
x =

v = x2 y2

w=0

1 w v =0 2 y z 1 u w y = =0 2 z x

This flow is irrotational

1 v u z = =0 2 x y

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Conservation of Mass 1/5

With field representation, the property fields are defined by continuous functions of the space coordinates and time. To derive the differential equation for conservation of mass in rectangular and in cylindrical coordinate system. The derivation is carried out by applying conservation of mass to a differential control volume.
With the control volume representation of the conservation of mass

v r CV d V + CS V n dA = 0 t
The differential form of continuity equation???
19

Conservation of Mass 2/5

The CV chosen is an infinitesimal cube with sides of length x, y, and z.

xyz CV dV = t t
(u ) x u | dx = u + x + x 2 2
Net rate of mass Outflow in x-direction

u |

x 2

= u x

(u ) x x 2

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Conservation of Mass 3/5

Net rate of mass Outflow in x-direction

(u ) x (u ) x (u ) = u + yz u yz = xyz x 2 x 2 x
(v ) xyz = = y (w ) = = xyz z

Net rate of mass Outflow in y-direction Net rate of mass Outflow in z-direction

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Conservation of Mass 4/5

Net rate of mass Outflow
(u ) (v ) (w ) x + y + z xyz

The differential equation for conservation of mass

r (u ) (v ) (w ) + + + = + V = 0 Continuity equation t x y z t

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Conservation of Mass 5/5

Incompressible fluid

r u v w + + = V = 0 x y z
Steady flow
r (u ) (v ) (w ) + + = V = 0 x y z

23

Example 6.2 Continuity Equation

z The velocity components for a certain incompressible, steady flow field are
u = x 2 + y2 + z2 v = xy + yz + z w=?

Determine the form of the z component, w, required to satisfy the continuity equation.

24

Example 6.2 Solution

The continuity equation

u v w + =0 + x y z

u = 2z x v =x+z y w = 2 x ( x + z ) = 3x z z z2 w = 3xz + f (x, y) 2

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Conservation of Mass
Cylindrical Coordinate System 1/3

The CV chosen is an infinitesimal cube with sides of length dr, rd, and dz. The net rate of mass flux out through the control surface
Vr V Vz Vr + r + +r r z r z

The rate of change of mass inside the control volume

rd drdz t
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Conservation of Mass
Cylindrical Coordinate System 2/3

The continuity equation

1 ( r Vr ) 1 ( V ) ( Vz ) + + + =0 t r r r z

By Del operator
r r 1 r = er + e +k r r z

The continuity equation becomes

r + V = 0 t
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Conservation of Mass
Cylindrical Coordinate System 3/3

Incompressible fluid r 1 ( rVr ) 1 ( V ) ( Vz ) + + = V = 0 r r r z Steady flow

r 1 ( r Vr ) 1 ( V ) ( Vz ) + + = V = 0 r r r z

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Stream Function 1/6

Streamlines ? Lines tangent to the instantaneous velocity vectors at every point. Stream function (x,y) [Psi] ? Used to represent the velocity component u(x,y,t) and v(x,y,t) of a two-dimensional incompressible flow. Define a function (x,y), called the stream function, which relates the velocities shown by the figure in the margin as

u= y

v= x
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Stream Function 2/6

The stream function (x,y) satisfies the two-dimensional form of the incompressible continuity equation
u v 2 2 + =0 =0 x y x y y x

(x,y) ? Still unknown for a particular problem, but at least we have simplify the analysis by having to determine only one unknown, (x,y) , rather than the two function u(x,y) and v(x,y).

30

Stream Function 3/6

Another advantage of using stream function is related to the fact that line along which (x,y) =constant are streamlines. How to prove ? From the definition of the streamline that the slope at any point along a streamline is given by
dy v = dx streamline u

Velocity and velocity component along a streamline

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Stream Function 4/6

The change of (x,y) as we move from one point (x,y) to a nearly point (x+dx,y+dy) is given by
d = dx + dy = vdx + udy x y >> d = 0 >> vdx + udy = 0
Along a line of constant

dy v = dx streamline u
This is the definition for a streamline. Thus, if we know the function (x,y) we can plot lines of constant to provide the family of streamlines that are helpful in visualizing the pattern of flow. There are an infinite number of streamlines that make up a particular flow field, since for each constant value assigned to a streamline can be drawn.

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Stream Function 5/6

The actual numerical value associated with a particular streamline is not of particular significance, but the change in the value of is related to the volume rate of flow. For a unit depth, the flow rate across AB is y2 y 2 2 q = udy = dy = d = 2 1 y1 y1 y 1 For a unit depth, the flow rate across BC is x x q = vdx = dx = d = 2 1
2 2 1

x1

x1

33

Stream Function 6/6

Thus the volume flow rate between any two streamlines can be written as the difference between the constant values of defining two streamlines. The velocity will be relatively high wherever the streamlines are close together, and relatively low wherever the streamlines are far apart.

34

Stream Function
Cylindrical Coordinate System

For a two-dimensional, incompressible flow in the r plane, conservation of mass can be written as:

( rv r ) v + =0 r
The velocity components can be related to the stream function, (r,) through the equation

1 vr = r

and

v = r
35

Example 6.3 Stream Function

z The velocity component in a steady, incompressible, two dimensional flow field are

u = 2y

v = 4x

Determine the corresponding stream function and show on a sketch several streamlines. Indicate the direction of glow along the streamlines.

36

Example 6.3 Solution

From the definition of the stream function

u= = 2y y
= y 2 + f1 (x)

v= = 4x x
= 2 x 2 + f 2 (y)
2 2

= 2 x + y
2
=0

= 2 x + y + C
For simplicity, we set C=0

y x =1 /2

0
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Conservation of Linear Momentum

Applying Newtons second law to control volume

r r DP r r r F= Psystem = Vdm = Vd V M ( system ) V ( system ) Dt SYS

r r r r r r D V m V V V V +w F = = m +u +v Dt x y z t r r DV = m = m a Dt

For a infinitesimal system of mass dm, whats the The differential form of linear momentum equation?

38

Forces Acting on Element 1/2

The forces acting on a fluid element may be classified as body forces and surface forces; surface forces include normal forces and tangential (shear) forces.

r r r F = FS + FB r r r = Fsx i + Fsy j + Fsz k r r r + Fbx i + Fby j + Fbz k

Surface forces acting on a fluid element can be described in terms of normal and shearing stresses.

F1 Fn F2 1 = lim 2 = lim n = lim t 0 A 0 t t 0 A A

39

Forces Acting on Element 2/2

xx yx zx Fsx = xyz x + y + z xy yy zy Fsy = x + y + z xyz xz yz zz Fsz = xyz x + y + z Fbx = g x xyz Fby = g y xyz Fbz = g z xyz
40

Equation of Motion

Equation of Motion
Fx = ma x Fy = ma y Fz = ma z

u xx yx zx u u u + + = +u +v +w g x + x y z y z t x xy yy zy v v v v g y + + + = +u +v +w x y z x y z t w xz yz zz w w w g z + + + = +u +v +w x y z x y z t

These are the differential equations of motion for any fluid satisfying the continuum assumption. How to solve u,v,w ?
41

Double Subscript Notation for Stresses

xy
The direction of the normal to the plane on which the stress acts

The direction of the stress

42

Inviscid Flow
Shearing stresses develop in a moving fluid because of the viscosity of the fluid. For some common fluid, such as air and water, the viscosity is small, and therefore it seems reasonable to assume that under some circumstances we may be able to simply neglect the effect of viscosity. Flow fields in which the shearing stresses are assumed to be negligible are said to be inviscid, nonviscous, or frictionless.
Define the pressure, p, as the negative of the normal stress

p = xx = yy = zz
43

Eulers Equation of Motion

Under frictionless condition, the equations of motion are reduced to Eulers Equation:
u p u u u g x = +u +v +w t x y z x v p v v v g y = +u +v +w y x y z t g z w w w p w = + + + u v w z x y z t

r r r V r g p = + ( V ) V t

44

Bernoulli Equation 1/3

Eulers equation for steady flow along a streamline is

r r r g p = ( V ) V
r g = gz

Selecting the coordinate system with the z-axis vertical so that the acceleration of gravity vector can be expressed as

r r 1 r r r r V V = VV V V 2

Vector identity .

g z p =

r r r r (V V ) (V V )
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Bernoulli Equation 2/3

r r p 1 2 + (V ) + gz = V V 2

r r r V V perpendicular to V

r r d s p r 1 r r v r 2 d s + (V ) d s + gz d s = V V d s 2

[ (

)]

With

s r r r d s = dx i + dy j + dzk

r p p p p d s = dx + dy + dz = dp x y z

46

Bernoulli Equation 3/3

r r p r 1 2 d s + (V ) d s + gz d s = 0 2

dp 1 + d (V 2 ) + gdz = 0 2

dp V 2 + + gz = cons tan t Integrating 2

For steady inviscid, incompressible fluid ( commonly called ideal fluids) along a streamline

p V2 + + gz = cons tan t 2

Bernoulli equation
47

Irrotational Flow 1/4

Irrotation ? The irrotational condition is

r V = 0
>In rectangular coordinates system
v u w v u w = = =0 x y y z z x

>In cylindrical coordinates system

1 Vz V Vr Vz 1 rV 1 Vr = = =0 r r r r z z r
48

Irrotational Flow 2/4

A general flow field would not be irrotational flow. A special uniform flow field is an example of an irrotation flow

49

Irrotational Flow 3/4

A general flow field A solid body is placed in a uniform stream of fluid. Far away from the body remain uniform, and in this far region the flow is irrotational. The flow around the body remains irrotational except very near the boundary. Near the boundary the velocity changes rapidly from zero at the boundary (no-slip condition) to some relatively large value in a short distance from the boundary. Chapter 9
50

Irrotational Flow 4/4

A general flow field Flow from a large reservoir enters a pipe through a streamlined entrance where the velocity distribution is essentially uniform. Thus, at entrance the flow is irrotational. (b) In the central core of the pipe the flow remains irrotational for some distance. The boundary layer will develop along the wall and grow in thickness until it fills the pipe. Viscous forces are dominant

Chapter 8
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Bernoulli Equation for Irrotational Flow 1/3

The Bernoulli equation for steady, incompressible, and inviscid flow is

p V2 + + gz = cons tan t 2

The equation can be applied between any two points on the same streamline. In general, the value of the constant will vary from streamline to streamline. Under additional irrotational condition, the Bernoulli equation ? Starting with Eulers equation in vector form

r 1 r r r r r r 1 ( V ) V = p gk = V V V V 2

)
52

ZERO Regardless of the direction of ds

Bernoulli Equation for Irrotational Flow 2/3

With irrotaional condition
r 1 r r r r r r 1 ( V ) V = p gk = V V V V 2 r 1 1 1 r r 2 V V = V = p gk 2 2

r V = 0

( )

r dr

r v 1 1 v v 2 (V ) d r = p d r gk d r 2 1 dp dp 1 2 >> d (V ) = gdz >> + d (V 2 ) + gdz = 0 2 2

53

Bernoulli Equation for Irrotational Flow 3/3

Integrating for incompressible flow
2

dp V + 2 + gz = con tan t

p V2 + + gz = cons tan t 2

This equation is valid between any two points in a steady, incompressible, inviscid, and irrotational flow.

p1 V1 p 2 V2 + + z1 = + + z2 2g 2g

54

Velocity Potential (x,y,z,t) 1/4

The stream function for two-dimensional incompressible flow is (x,y) which satisfies the continuous condtions For an irrotational flow, the velocity components can be expressed in terms of a scalar function (x,y,z,t) as

u= x

v= y

w= z

where (x,y,z,t) is called the velocity potential.

55

Velocity Potential (x,y,z,t) 2/4

In vector form

r V = For an incompressible flow r V = 0

called a potential flow

For incompressible, irrotational flow 2 2 2 r r 2 V = V = = 2 + 2 + 2 = 0 z y x

Laplaces equation Laplacian operator
56

Velocity Potential (x,y,z,t) 3/4

Inviscid, incompressible, irrotational fields are governed by Laplaces equation. This type flow is commonly called a potential flow. To complete the mathematical formulation of a given problem, boundary conditions have to be specified. These are usually velocities specified on the boundaries of the flow field of interest.

57

Velocity Potential (x,y,z,t) 4/4

In cylindrical coordinate, r, , and z 1 vz = vr = v = r z r

1 1 2 2 + 2 =0 r + 2 2 r r r r z

58

Potential Flow Theory

Velocity potential (x,y,z,t) exists only for irrotational flow. Irrotationality may be a valid assumption for those regions of a flow in which viscous forces are negligible. In an irrotational flow, the velocity field may be defined by the potential function, (x,y,z,t), the theory is often referred to as potential flow theory.

59

Laplaces Equation 1/2

For two-dimensional, incompressible flow
u= y v= x (1)

For two-dimensional, irrotational flow

u= x v= y (2)

u v 2 2 (1) + irrotational condition y x = 0 x 2 + y 2 = 0

(2) + continuity equation

u v 2 2 + =0 + 2 =0 2 x y x y
60

Laplaces Equation 2/2

For a two-dimensional incompressible flow, we can define a stream function ; if the flow is also irrotational, will satisfy Laplaces equation. For an irrotational flow, we can define a velocity potential ; if the flow is also incompressible, will satisfy Laplaces equation. Any function or that satisfies Laplaces equation represents a possible two-dimensional, incompressible, irrotational flow field.
61

 and 1/2
For =constant, d =0 and
dy / x v = = dx / y u

The slope of a streamline a line of constant

d = dx + dy = 0 x y

Along a line of constant , d =0 and d =

dy / x u = = dx / y v

The slope of a potential line a line of constant

dx + dy = 0 x y

Line of constant and constant are orthogonal.

62

 and 2/2
The lines of constant (called equipotential lines) are orthogonal to lines of constant (streamlines) at all points where they intersect.. For any potential flow a flow net can be drawn that consists of a family of streamlines and equipotential lines. Velocities can be estimated from the flow net, since the velocity is inversely proportional to the streamline spacing
Flow net for 90 bend
63

Example 6.4 Velocity Potential and Inviscid Flow Pressure 1/2

z The two-dimensional flow of a nonviscous, incompressible fluid in the vicinity of the 90 corner of Figure E6.4a is described by the stream function
= 2 r 2 sin 2

Where has units of m2/s when r is in meters. (a) Determine, if possible, the corresponding velocity potential. (b) If the pressure at point (1) on the wall is 30 kPa, what is the pressure at point (2)? Assume the fluid density is 103 kg/m3 and the x-y plane is horizontal that is, there is no difference in elevation between points (1) and (2).

64

Example 6.4 Velocity Potential and Inviscid Flow Pressure 2/2

65

Example 6.4 Solution1/2

vr = 1 = 4r cos 2 r v = = 4 r sin 2 r
vr = v = = 4 r cos 2 = 2 r 2 cos 2 + f1 ( ) r 1 = 4 r sin 2 = 2 r 2 cos 2 + f 2 ( r ) r

= 2 r 2 cos 2 + C
Let C=0

= 2 r cos 2

66

Example 6.4 Solution2/2

Bernoulli equation between points (1) and (2) with no elevation change

p1 V12 p 2 V2 2 + = + p 2 = p1 + ( V12 V2 2 ) 2g 2g 2

V 2 = v r 2 + v 2 V12 = ... = 16m 2 / s 2 V2 2 = ... = 4 m 2 / s 2

p 2 = ... = 36kPa

= 2 r 2 cos 2 = 4 r 2 cos sin = 4 xy

67

Some Basic, Plane Potential Flow

Since Laplaces equation is linear, various solutions can be added to obtain other solution that is , if 1(x,y,z) and 2(x,y,z) are two solutions to Laplaces equation, then = 1 + 2 is also solution. The practical implication of this result is that if we have certain basic solution we can combine them to obtain more complicated and interesting solutions. Several basic velocity potentials, which describe some relatively simple flows, will be determined. These basic velocity potential will be combined to represent complicate flows.

68

Uniform Flow 1/2

A uniform flow is a simplest plane flow for which the streamlines are all straight and parallel, and the magnitude of the velocity is constant. u=U and v=0
= U, x =0 y = Ux + C

= U, y

=0 x

= Uy

69

Uniform Flow 2/2

For a uniform flow of constant velocity V, inclined to an angle to the x-axis.
= ( V cos ) y ( V sin ) x = ( V sin ) y ( V cos ) x

70

Source and Sink 1/2

For a source flow ( from origin radially) with volume flow rate per unit depth m (m=2 r vr )

m vr = 2 r

m v= 0 = 2

m = ln r 2

1 vr = and v = r r 1 vr = and v = r r
71

Source and Sink 2/2

For a sink flow (toward origin radially) with volume flow rate per unit depth m
m vr = 2r m v = 0 = 2 m = ln r 2

1 vr = and v = r r 1 vr = and v = r r

72

Example 6.5 Potential Flow - Sink

z A nonviscous, incompressible fluid flows between wedge-shaped walls into a small opening as shown in Figure E6.5. The velocity potential (in ft2/s), which approximately describes this flow is

= 2 ln r
Determine the volume rate of flow (per unit length) into the opening.

73

Example 6.5 Solution

The components of velocity

2 vr = = r r

1 =0 v = r

The flowrate per unit width

q = v r Rd = ... = = 1.05ft 2 / s 3 0

/6

74

Vortex
A vortex represents a flow in which the streamlines are concentric circles. Vortex motion can be either rotational or irrotational. For an irrotational vortex (ccw, center at origin) with vortex strength K At r=0, the velocity

K vr= 0 v = r = K ln r = K

At r=0, the velocity becomes infinite.

singularity

75

Free Vortex 1/2

Free (Irrotational) vortex (a) is that rotation refers to the orientation of a fluid element and not the path followed by the element. A pair of small sticks were placed in the flow field at location A, the sticks would rotate as they as they move to location B.

76

Free Vortex 2/2

One of the sticks, the one that is aligned the streamline, would follow a circular path and rotate in a counterclockwise direction The other rotates in a clockwise direction due to the nature of the flow field that is, the part of the stick nearest the origin moves faster than the opposite end. The average velocity of the two sticks is zero.
77

Forced Vortex
If the flow were rotating as a rigid body, such that v=K1r where K1 is a constant. Force vortex is rotational and cannot be described with a velocity potential. Force vortex is commonly called a rotational vortex.

78

Combined Vortex
A combine vortex is one with a forced vortex as a central core and a velocity distribution corresponding to that of a free vortex outside the core.

K v = r v = r

r > r0 r r0

79

Circulation 1/3
Circulation is defined as the line integral of the tangential velocity component about any closed curve fixed in the flow: r r r = V d s = 2 Z dA = ( V ) Z dA

where the is an element vector tangent to the curve and having length ds of the element of arc. Its positive corresponds to a c.c.w. direction of integration around the curve.

r ds

80

Circulation 2/3
For irrotational flow , =0

r r = V ds =
c

r r ( V ) dA = d s = d = 0
c c

For irrotational flow , =0

The The circulation circulation around around any any path path that that does does not not include include the the singular singular point point at at the the origin origin will will be be zero. zero.

81

Circulation 3/3
For free vortex
2

K ( rd) = 2K = 0 r K = /2

K v = r

= ln r 2

= 2

The The circulation circulation around around any any path path that that encloses encloses singularities singularities will will be be nozero. nozero.
82

Example 6.6 Potential Flow Free Vortex

z A liquid drains from a large tank through a small opening as illustrated in Figure E6.6. A vortex forms whose velocity distribution away from the tank opening can be approximated as that of a free vortex having a velocity potential

= 2
Determine an expression relating the surface shape to the strength of the vortex as specified by the circulation .
83

Example 6.6 Solution

Since the free vortex represents an irrotational flow field, the Bernoulli equation

p1 V12 p 2 V2 2 + + z1 = + + z2 2g 2g

At free surface p 1 = p 2 = 0

V1 V2 = + zs 2g 2g
1 v = = r 2r

Far from the origin at point (1), V1=v=0

2 zs = 2 2 2 r g
84

Doublet 1/2
For a doublet ( produced mathematically by allowing a source and a sink of numerically equal strength to merge) with a strength m
The combined stream function for the pair is m = (1 2 ) 2
tan 1 tan 2 2 tan = tan (1 2 ) = 1 + tan 1 tan 2 m

tan 1 =

r sin (r cos a )

and

tan 2 =

r sin (r cos + a )

m 2 2ar sin 1 2ar sin tan tan = = 2 2 2 2 ( ) m r a 2 r a

85

Doublet 2/2
a 0

m 2ar sin mar sin = = 2 2 2 2 2 r a (r a )

The so-called doublet is formed by letting a0m

r 1 2 2 r a r

K sin = r ma K=

K cos = r
86

Streamlines for a Doublet

Plots of lines of constant reveal that the streamlines for a doublet are circles through the origin tangent to the x axis.

87

Summary

88

Superposition of Elementary Plane Flows 1/2

Potential flows are governed by Laplaces equation, which is a linear partial differential equation. Various basic velocity potentials and stream function, and , can be combined to form new potentials and stream functions.

3 = 1+ 2

3 = 1 + 2

89

Superposition of Elementary Plane Flows 2/2

Any streamline in an inviscid flow field can be considered as a solid boundary, since the conditions along a solid boundary and as streamline are the same that is, there is no flow through the boundary or the streamline. We can combine some of the basic velocity potentials or stream functions to yield a streamline that corresponds to a particular body shape of interest, that combination can be used to describe in detail the flow around that body. Methods of superposition
90

Half-Body : Uniform Stream + Source 1/4

= uniform flow + source = Ur sin + m 2 m = uniform flow + source = Ur cos+ ln r 2
1 m vr = = U cos + r 2r v = = U sin r

The stagnation point occurs at x=-b

m m vr = U + =0b= 2b 2U
The combination of a uniform flow and a source can be used to describe the flow around a streamlined body placed in a uniform stream.

91

Half-Body : Uniform Stream + Source 2/4

The value of the stream function at the stagnation point can be obtained by evaluating at r=b = m m stagnation = = bU 2 2 The equation of the streamline passing through the stagnation point is

bU = Ur sin + bU b( ) The streamline can be replaced by a solid boundary. r= The body is open at the downstream end, and thus is sin called a HALF-BODY. The combination of a uniform

called a HALF-BODY. The combination of a uniform flow and a source can be used to describe the flow around a streamlined body placed in a uniform stream.
92

Half-Body : Uniform Stream + Source 3/4

b ( ) r= y = b ( ) sin
As 0 or = the half-width approaches b. The width of the half-body asymptotically approach 2b. The velocity components at any point

m 1 vr = = U cos + r 2 r

v = = U sin r
b=
2

m 2 U

Um cos m b b2 2 2 2 2 2 V = v r + v = U + 1 + 2 cos + 2 + =U r r r 2r

93

Half-Body : Uniform Stream + Source 4/4

With the velocity known, the pressure at any point can be determined from the Bernoulli equation 1 1 2 2 p 0 + U = p + V 2 2
Far from the body

Where elevation change have been neglected.

94

Example 6.7 Potential Flow Half-Body

z The shape of a hill arising from a plain can be approximated with the top section of a half-body as is illustrated in Figure E6.7a. The height of the hill approaches 200 ft as shown. (a) When a 40 mi/hr wind blows toward the hill, what is the magnitude of the air velocity at a point on the hill directly above the origin [point (2)]? (b) What is the elevation of point (2) above the plain and what is the difference in pressure between point (1) on the plain far from the hill and point (2)? Assume an air density of 0.00238 slugs/ft3?

95

Example 6.7 Solution1/2

The velocity is
b b2 V = U 1 + 2 cos + 2 r r
2 2

At point (2), =/2

b ( ) b r= = sin 2
4 b2 2 V = U 1+ = U 1 + 2 = ... = 47.4mi / hr ( b / 2) 2
2 2

b 200ft = = 100ft The elevation at (2) above the plain is y 2 = 2 2

96

Example 6.7 Solution2/2

From the Bernoulli equation
p1 V12 p 2 V2 2 + + z1 = + + z2 2g 2g 2 p1 p 2 = ( V2 V12 ) + ( y 2 y1 ) = ... = 9.31lb / ft 2 = 0.0647 psi 2
5280ft / mi V1 = ( 40mi / hr ) = 58.7ft / s 3600 s / hr 5280ft / mi V2 = ( 47.4 mi / hr ) = 69.5ft / s 3600 s / hr

97

Rankine Oval: Uniform Stream + Doublet 1/3

m = Ur sin (1 2 ) 2 m = Ur cos (ln r1 ln r2 ) 2
= Ur sin m 2ar sin tan 1 2 2 2 r a

m 2ay 1 tan = Uy 2 2 2 2 x +y a

The corresponding streamlines for this flow field are obtained by setting =constant. It is discovered that the streamline forms a closed body of length 2l and width 2h. Rankine ovals

98

Rankine Oval: Uniform Stream + Doublet 2/3

The stagnation points occur at the upstream and downstream ends of the body. These points can be located by determining where along the x axis the velocity is zero. The stagnation points correspond to the points where the uniform velocity, the source velocity, and the sink velocity all combine to give a zero velocity. The locations of the stagnation points depend on the value of a, m, and U. Dimensionless The body half-length 2l

ma 2 l= +a U

1/ 2

l m = + 1 a Ua

1/ 2

99

Rankine Oval: Uniform Stream + Doublet 3/3

The body half-width, h, can be obtained by determining the value of y where the y axis intersects the =0 streamline. Thus, with =0, x=0, and y=h.

The body half-width 2h

2 Ua h h2 a2 2Uh h 1 h h= tan = 1 tan 2 2a m a 2 a m a

Dimensionless

100

Flow around a Circular Cylinder 1/4

When the distance between the source-sink pair approaches zero, the shape of the rankine oval becomes more blunt and in fact approaches a circular shape. 2 a K sin = Ur = Ur sin 1 r 2 sin r 2 K cos a = Ur cos + = Ur 1 + r 2 cos r In order for the stream =constant for r=a function to represent flow around a circular cylinder =0 for r=a K=Ua2

101

Flow around a Circular Cylinder 2/4

The velocity components
a2 1 = U cos vr = = 1 2 r r r a2 1 = U sin = 1+ 2 v = r r r

On the surface of the cylinder (r=a)

vr = 0 v = 2 U sin

The pressure distribution on the cylinder surface can be obtained from the Bernoulli equation

1 2 1 2 p 0 + U = p s + v s 2 2 2
Far from the body

1 p s = p 0 + U 2 (1 4 sin 2 ) 2
v = 2 U sin
102

Flow around a Circular Cylinder 3/4

On the upstream part of the cylinder, there is approximate agreement between the potential flow and the experimental results. Because of the viscous boundary layer that develops on the cylinder, the main flow separates from the surface of the cylinder, leading to the large difference between the theoretical, frictionless solution and the experimental results on the downstream side of the cylinder.
103

Flow around a Circular Cylinder 4/4

Fx = ps cos ad Fy
0 2 s

= p sin ad
0

104

Flow around a Circular Cylinder + Free Vortex 1/4

Adding a free vortex to the stream function or velocity potential for the flow around a cylinder.
a2 = Ur 1 r 2 sin 2 ln r a2 = Ur 1 + r 2 cos + 2

The circle r=a will still be a streamline, since the streamlines for the added free vortex are all circular.
The tangential velocity on the surface of the cylinder

v = r

r =a

= 2 U sin + 2a
105

Flow around a Circular Cylinder + Free Vortex 2/4

This type of flow could be approximately created by placing a rotating cylinder in a uniform stream. Because of the presence of viscosity in any real fluid, the fluid in contacting with the rotating cylinder would rotate with the same velocity as the cylinder, and the resulting flow field would resemble that developed by the combination of a uniform flow past a cylinder and a free vortex.

106

Flow around a Circular Cylinder + Free Vortex 3/4

A variety of streamline patterns can be developed, depending on the vortex strength . The location of stagnation points on a circular cylinder (a) without circulation; (b, c, d) with circulation.

sin stag
v = 0

= 4Ua
= stag
107

Flow around a Circular Cylinder + Free Vortex 4/4

For the cylinder with circulation, the surface pressure, ps, is obtained from the Bernoulli equation
1 2 1 p 0 + U = ps + 2U sin + 2 2 2a
2

2 1 2 2 sin 2 2 2 2 p s = p 0 + U 1 4 sin + aU 2 4 a U

Drag Lift

Fx = ps cos ad = 0
0

Fy = ps sin ad = UT
0
108

Example 6.8 Potential Flow Cylinder 1/2

z When a circular cylinder is placed in a uniform stream, a stagnation point is created on the cylinder as is shown in Figure E6.8a. If a small hole is located at this point, the stagnation pressure, pstag, can be measured and used to determine the approach velocity, U. (a) Show how pstag and U are related. (b) If the cylinder is misaligned by an angle (Figure E6.8b), but the measured pressure still interpreted as the stagnation pressure, determine an expression for the ratio of the true velocity, U, to the predicted velocity, U. Plot this ratio as a function of for the range -20 20.

109

Example 6.8 Potential Flow Cylinder 2/2

110

Example 6.7 Solution1/2

The Bernoulli equation between a point on the stagnation streamline upstream from the cylinder and the stagnation point
p 0 U 2 pstag + = 2g
The difference between the pressure at the stagnation point and the upstream pressure
1/ 2

2 U = ( pstag p 0 )

If the cylinder is misaligned by an angle, , the pressure actually measured, pa, will be different from the stagnation pressure.
2 U ' = ( p a p 0 )
1/ 2

pstag p 0 U(true) = U' (predicted ) p a p 0

1/2

111

Example 6.7 Solution2/2

On the surface of the cylinder (r=a) v = 2U sin The Bernoulli equation between a point upstream if the cylinder and the point on the cylinder where r=a, =.
1 2 1 p 0 + U = p a + ( 2U sin ) 2 2 2

1 p a p 0 = U 2 (1 4 sin 2 ) 2 1 p stag p 0 = U 2 2 U = (1 4 sin 2 )1 / 2 U'

112

Viscous Flow
To incorporate viscous effects into the differential analysis of fluid motion
General equation of motion
u xx yx zx u u u + + = +u +v +w g x + x y z t x y z xy yy zy v v v v u v g y + + + = w + + + x y z x y z t w xz yz zz w w w g z + + + = +u +v +w t x x y z y z

;Stress-Deformation Relationship DDD

113

Stress-Deformation Relationship 1/2

The stresses must be expressed in terms of the velocity and pressure field.
Cartesian coordinates
r u 2 xx = p V + 2 x 3 r v 2 yy = p V + 2 y 3 r w 2 zz = p V + 2 z 3 v u xy = yx = x + y xz = zx yz = zy w u = + x z w v = y + z

114

Stress-Deformation Relationship 2/2

v r rr = p + 2 r 1 v v r + = p + 2 r r v z zz = p + 2 z v 1 v r r = r = r r r + r v 1 v z + z = z = r z v r v z rz = zr = + r z

Cylindrical polar coordinates Introduced into the differential equation of motion.

115

The Navier-Stokes Equations 1/5

These obtained equations of motion are called the NavierStokes Equations. Cartesian coordinates
r u v Du p u 2 + V + = g x + + 2 Dt x x x 3 y y x r p u v v 2 Dv + = g y + V 2 + + y x Dt y x y y 3 z z w u + x z

v w z + y r w u v w w 2 p Dw = g z + + + z + y + z 2 z 3 V z x x zx y Dt

116

The Navier-Stokes Equations 2/5

Cylindrical polar coordinates
2 v r v v v v v r r + vr + + vz r t r r r z

1 v r v r 1 2v r 2 v 2 v r p = + g r + 2 + r 2 + 2 2 2 r r r r r r r z v v v v v v v + v r + + r + v z r r r z t 1 v v 1 2 v 2 v r 2 v 1 p + 2 + = + g + r 2 + 2 2 2 r r r r r r z r v v v v v z + v r z + + z + v z z r r z t 1 v z P = + g z + r z r r r
2 2 1 vz vz + + 2 2 2 z r

117

The Navier-Stokes Equations 3/5

Under incompressible flow with constant viscosity conditions, the Navier-Stokes equations are reduced to:
2u 2u 2u u u u u p + 2 t + u x + v y + w z = x + g x + 2 + 2 z y x 2v 2v 2v v v v v p + t + u x + v y + w z = y + g y + 2 + 2 2 z y x 2w 2w 2w w w w w p + + t + u x + v y + w z = z + g z + 2 2 2 z y x

118

The Navier-Stokes Equations 4/5

Under frictionless condition, the equations of motion are reduced to Eulers Equation:
u p u u u + g x = +u +v +w x x y z t v v v v p t + u x + v y + w z = y + g y w w w w p t + u x + v y + w z = z + g z

r r DV = g p Dt

119

The Navier-Stokes Equations 5/5

The Navier-Stokes equations apply to both laminar and turbulent flow, but for turbulent flow each velocity component fluctuates randomly with respect to time and this added complication makes an analytical solution intractable. The exact solutions referred to are for laminar flows in which the velocity is either independent of time (steady flow) or dependent on time (unsteady flow) in a welldefined manner.
120

Some Simple Solutions for Viscous, Incompressible Fluids

A principal difficulty in solving the Navier-Stokes equations is because of their nonlinearity arising from the convective acceleration terms. There are no general analytical schemes for solving nonlinear partial differential equations. There are a few special cases for which the convective acceleration vanishes. In these cases exact solution are often possible.

121

Steady, Laminar Flow between Fixed Parallel Plates 1/6

Consider flow between the two horizontal, infinite parallel plate. For this geometry the fluid particle move in the x direction parallel to the pates, and there is no velocity in the y or z direction that is, v=0 and w=0.

122

Steady, Laminar Flow between Fixed Parallel Plates 2/6

From the continuity equation that u/x=0. There would be no variation of u in the z direction for infinite plates, and for steady flow so that u=u(y). The Navier-Stokes equations reduce to

2u p 0= + 2 x y p p g 0= 0= z y
123

Steady, Laminar Flow between Fixed Parallel Plates 3/6

p g y p 0= z 2u p + 2 0= y x 0=

Integrating

p = gy + f1 (x )

Integrating

1 p 2 u= y + c1 y + c 2 2 x

c1 ?

c2 ?
124

Steady, Laminar Flow between Fixed Parallel Plates 4/6

With the boundary conditions u=0 at y=-h u=0 at y=h
1 p 2 c 2 = 0, c1 = h 2 x
Velocity distribution

1 p 2 2 u= y h 2 x

)
125

Steady, Laminar Flow between Fixed Parallel Plates 5/6

Shear stress distribution
yx
p = y x
h

Volume flow rate

q=

udy =

1 p 2 2h 3 2 ( y h ) dy = 2 x 3

p x

2 h 3p >> q = 3 l

p p1 p p = cons tan t = 2 = x l l

126

Steady, Laminar Flow between Fixed Parallel Plates 6/6

Average velocity
Vaverage q h 2 p = = 2h 3 l

Point of maximum velocity

du =0 dy

at y=0

u = u max

h 2 p 3 =U= = Vaverage 2 x 2
127

Couette Flow 1/3

Since only the boundary conditions have changed, there is no need to repeat the entire analysis of the both plates stationary case.
1 p 2 u= y + c1 y + c 2 2 x c1 ? c2 ?

128

Couette Flow 2/3

The boundary conditions for the moving plate case are u=0 at y=0 u=U at y=b
U 1 p c1 = b b 2 x c2 = 0

Velocity distribution
b2 P= 2 U p x

Uy 1 p 2 1 p + u= by y b 2 x 2 x u y b2 = U b 2 U p y b 1 x b y
129

Couette Flow 3/3

Simplest type of Couette flow
y p =0 u=U x b

U = ri

b = ro ri

= ri /( ro r )

This flow can be approximated by the flow between closely spaced concentric cylinder is fixed and the other cylinder rotates with a constant angular velocity. Flow in the narrow gap of a journal bearing.
130

Example 6.9 Plane Couette Flow

z A wide moving belt passes through a container of a viscous liquid. The belt moves vertically upward with a constant velocity, V0, as illustrated in Figure E6.9a. Because of viscous forces the belt picks up a film of fluid of thickness h. Gravity tends to make the fluid drain down the belt. Use the Navier Stokes equations to determine an expression for the average velocity of the fluid film as it is dragged up the belt. Assume that the flow is laminar, steady, and fully developed.
131

Example 6.9 Solution1/2

Since the flow is assumed to be fully developed, the only velocity component is in the y direction so that u=w=0. From the continuity equation v = 0 , and for steady flow, so that v=v(x) y p p =0 =0 dv x z = x + c1 2

0 = g +

d v
2

dx

Integrating

dx

xy

dv = dx
132

Example 6.9 Solution2/2

xy = 0 at x = h
c1 = h

Integrating

2 h v= x x + c2 2 2

v = V0 at x = 0

2 h v= x x + V0 2 2

133

Steady, Laminar Flow in Circular Tubes 1/5

Consider the flow through a horizontal circular tube of radius R. v z v r = 0, v = 0 = 0 v z = v z (r ) z

134

Steady, Laminar Flow in Circular Tubes 2/5

Navier Stokes equation reduced to
p 0 = g sin r 1 p 0 = g sin r 1 v z p 0= + r z r r r
p = g (r sin ) + f1 (z )
Integrating

p = gy + f1 (z )

Integrating

1 p 2 vz = r + c1 ln r + c 2 4 z

c1 ?

c2 ?
135

Steady, Laminar Flow in Circular Tubes 3/5

At r=0, the velocity vz is finite. At r=R, the velocity vz is zero.
1 p 2 c1 = 0, c 2 = R 4 z
Velocity distribution

1 p 2 2 vz = r R 4 z

)
136

Steady, Laminar Flow in Circular Tubes 4/5

The shear stress distribution
rx du r p = = dr 2 x
R

Volume flow rate

R 4 p Q = u z 2 rdr = ..... = 8 z 0

R 4 p R 4 p pD 4 >> Q = = = 8 z 8 l 128 l

p 2 p1 p = cons tan t = = p / l l z

137

Steady, Laminar Flow in Circular Tubes 5/5

Average velocity
Vaverage Q Q R 2 p = = = 2 A R 8 l

Point of maximum velocity

dv z =0 dr

at r=0
2 2

v max

vz R p r = = 2 Vaverage =1 4 l v max R

138

Steady, Axial, Laminar Flow in an Annulus 1/2

For steady, laminar flow in circular tubes
1 p 2 vz = r + c1 ln r + c 2 4 z c1 ? c2 ?

Boundary conditions vz = 0 , at r = ro vz = 0 , at r = ri

139

Steady, Axial, Laminar Flow in an Annulus 2/2

The velocity distribution
2 ri2 ro 1 p 2 2 r vz = ln r ro + 4 z ln( ro / ri ) ro

The volume rate of flow

2 ri2 ) 2 p 4 4 ( ro Q = v z ( 2r )dr = ro ri 8 z ln( ro / ri ) ri

ro

The maximum velocity occurs at r=rm

v z =0 r
rm = 2 ln( ro / ri )
2 ro

ri2

1/ 2

140