Chapter 09m

Chapter 9: Differential Analysis of
Fluid Flow
Ibrahim Sezai
Department of Mechanical Engineering
Eastern Mediterranean University
Spring 2005-2006
Objectives
1. Understand how the differential equations of
mass and momentum conservation are
derived.
2. Calculate the stream function and pressure
field, and plot streamlines for a known velocity
field.
3. Obtain analytical solutions of the equations of
motion for simple flows.
ME353 : Fluid Mechanics 2 Chapter 9: Differential Analysis
1
Introduction
Recall
Chap 5: Control volume (CV) versions of the laws of conservation of
mass and energy
Chap 6: CV version of the conservation of momentum
CV, or integral, forms of equations are useful for determining
overall effects
However, we cannot obtain detailed knowledge about the flow
field inside the CV motivation for differential analysis
Introduction
Example: incompressible Navier-Stokes equations
We will learn:
Physical meaning of each term
How to derive
How to solve
2
Introduction
For example, how to solve?
Step Analytical Fluid Dynamics Computational Fluid Dynamics
(Chapter 9) (Chapter 15)
1 Setup Problem and geometry, identify all dimensions and
parameters
2 List all assumptions, approximations, simplifications, boundary
conditions
3 Simplify PDEs Build grid / discretize PDEs
4 Integrate equations Solve algebraic system of

equations including I.C.s and
5 Apply I.C.s and B.C.s to solve B.Cs
for constants of integration
6 Verify and plot results Verify and plot results
Conservation of Mass
Recall CV form (Chap 5) of the conservation of
mass equation from Reynolds Transport
Theorem (RTT)
Well examine two methods to derive differential

form of conservation of mass
Divergence (Gausss) Theorem
Differential CV and Taylor series expansions
3
Conservation of Mass: Divergence Theorem
Divergence theorem allows us to transform a
volume integral of the divergence of a vector
into an area integral over the surface that
defines the volume.
G G G
Divergence of G is defined as G
Divergence theorem:
Conservation of Mass: Divergence Theorem

Rewrite conservation of mass
Using divergence theorem, replace area integral with

volume integral and collect terms
Integral holds for ANY CV, therefore:
4
Conservation of Mass: Differential CV and Taylor series
First, define an
infinitesimal control
volume dx dy dz
Next, we approximate
the mass flow rate into
or out of each of the 6
faces using Taylor
series expansions
around the center point,
e.g., at the right face Ignore terms higher than order dx
Infinitesimal control volume

of dimensions dx, dy, dz Area of right
face = dy dz
Mass flow rate through

the right face of the
control volume
5
Now, sum up the mass flow rates into and out
of the 6 faces of the CV
Net mass flow rate into CV:
Net mass flow rate out of CV:
Plug into integral conservation of mass equation

After substitution,
( u) ( ) ( w)
dxdydz = dxdydz dxdydz dxdydz
t x y z
Dividing through by volume dxdydz

( u ) ( ) ( w)
+ + + =0
t x y z
Or, using the definition of the divergence of a vector
6
Conservation of Mass: Alternative form
Use product rule on divergence term
Conservation of Mass: Cylindrical coordinates

There are many problems which are simpler to solve if
the equations are written in cylindrical-polar
coordinates
Easiest way to convert from Cartesian is to use vector
form and definition of divergence operator in
cylindrical coordinates
7
Conservation of Mass: Cylindrical coordinates
Conservation of Mass: Special Cases

Steady compressible flow
Cartesian
Cylindrical
8
Conservation of Mass: Special Cases
Incompressible flow
and = constant
Cartesian
Cylindrical
Conservation of Mass
In general, continuity equation cannot be used
by itself to solve for flow field, however it can
be used to
1. Determine if velocity field is incompressible
2. Find missing velocity component
9
The Stream Function
Consider the continuity equation for an incompressible 2D
flow
u
+ =0
x y
Substituting the clever transformation
Gives
This is true for any smooth

function (x,y)
The Stream Function

Why do this?
Single variable replaces (u,v). Once is
known, (u,v) can be computed.
Physical significance
1. Curves of constant are streamlines of the flow
2. Difference in between streamlines is equal to volume
flow rate between streamlines
10
The Stream Function: Physical Significance
Recall from Chap. 4 that
along a streamline
Change in along
streamline is zero
The Stream Function: Physical Significance
Difference in between
streamlines is equal to
volume flow rate between
streamlines
11
Proof:
Consider the CV shown in the figure:
Unit normal vector is
G dy G dx G
n= i j
ds ds
Volume flow rate per unit width
through ds is
G G G G dy G dx G
N = ( ui + vj ) . i
dV = V . n dA j ds
ds ds ds

dV = udy vdx = dy + dx = d
y x
Flow rate through slice B is
G G = 2
VB = V . n dA = dV = d = 2 1
B B =1
Left Side Convention for Streamlines
The value of increases to the left of the direction

of flow in the xy-plane.
12
The Stream Function in Cylindrical Coordinates
Continuity eq. for incompressible flow in 3D is
1 (ru r ) 1 (u ) (u z )
+ + =0
r r r z
For 2D flow in r-plane:
(ru r ) (u )
+ =0
r
We define the stream function as:
Incompressible, planar stream function in cylindrical
coordinates:
1
ur = u =
r r
For 2D flow in rz-plane: (axisymmetric flow)

The continuity eqn is
1 (ru r ) (u z )
+ =0
r r z
The stream function is
defined as:
Incompressible, planar stream
function in cylindrical coordinates:
1 1
ur = and uz =
r z r r
13
The Compressible Stream Function
Steady, compressible, 2D continuity equation is:

( u ) ( u )
+ =0
x y
Steady, compressible, two- dimensional stream
function in Cartesian coordinates is defined as:

u = and v =
y x
Difference in between streamlines is equal to mass
flow rate between streamlines rather than volume
flow rate.
Conservation of Linear Momentum

Recall CV form from Chap. 6
Body Surface
Force Force
ij = stress tensor
Using the divergence theorem to convert area

integrals
14
Substituting volume integrals gives,
Recognizing that this holds for any CV, the

integral may be dropped
This is Cauchys Equation

Can also be derived using infinitesimal CV and Newtons 2nd Law (see text)
Derivation Using an Infinitesimal Control Volume
x-momentum equation:
G G
F =F
x x , body
+ F x , surface =
CV t
( u )dV + mu
out
mu
in
(9-38)

As the CV shrinks to a point: ( u ) dV ( u ) dx dy dz (9-39)
t t

m u m u x (uu ) + y (vu ) + z (wu ) dx dy dz (9-40)
out in
15
Next, we sum all the forces acting
in x-direction:
Only body force is gravity force
If coordinate system is not aligned
with z-axis, then
G G G G
g = g xi + g y j + g z k
F x , body = Fx , gravity g x dx dy dz
(9-41)
Net surface force in x-direction:

F x , surface x x + y x + z x dx dy dz
x y z
(9-42)
Substituting eqns 9-39 through 9-42 into eq 9-38

16
We obtain the x-momentum equation:
( u ) ( uu ) ( vu ) ( wu )
+ + + = gx + xx + yx + zx
t x y z x y z
Similarly y- and z-momentum equations becomes:
(v ) (uv ) (vv ) (wv )
+ + + = g y + x y + y y + z y
t x y z x y z
(w) (uw) (vw) (ww)
+ + + = g z + x z + y z + z z
t x y z x y z
Above 3 eqns can be shown in vector form as

G G G

t
( )
G GG
( )
V + . VV = g + . i j
which is the Cauchys equation.


Alternate form of the Cauchy Equation can be derived
by introducing
(Chain Rule)
Inserting these into Cauchy Equation and rearranging

gives
(9-50)
17
Expanding the last term of eq 9-50, the 3 components of
the Cauchys equation in Cartesian coordinates are
Du x x y x z x
x-component: = g x + + +
Dt x y z
Dv x y y y z y
y-component: = g y + + +
Dt x y z
Dw x z y z z z
z-component: = g z + + +
Dt x y z

Unfortunately, this equation (Cauchys
equation) is not very useful
10 unknowns
Stress tensor, ij : 6 independent components
Density
Velocity, V : 3 independent components
4 equations (continuity + momentum)
6 more equations required to close problem!
18
Navier-Stokes Equation
First step is to separate ij into pressure and
viscous stresses
xx xy xz p 0 0 xx xy xz

ij = yx yy yz = 0 p 0 + yx yy yz

0 p zx
zx zy zz 0 zy zz
Viscous (Deviatoric)
Stress Tensor. It is
Situation not yet improved zero for a fluid at rest
6 unknowns in ij 6 unknowns in ij + 1 in P,
which means that weve added 1!
Reduction in the number
(toothpaste)
of variables is achieved
by relating shear stress
to strain-rate tensor.
(paint)
For Newtonian fluid with

constant properties
(quicksand)
Newtonian closure is
analogous
Newtonian fluid includes most common
to Hookes Law for elastic
fluids: air, other gases, water, gasoline
solids
19
Navier-Stokes Equations
Substituting Newtonian closure into stress
tensor gives
ij = strain rate tensor.

Using the definition of ij (Chapter 4)
Substituting ij into Cauchys equation gives the
Navier-Stokes equations
Incompressible NSE
written in vector form
This results in a closed system of equations!

4 equations (continuity and momentum equations)
4 unknowns (U, V, W, p)
20
In addition to vector form, incompressible N-S
equation can be written in several other forms
Cartesian coordinates
Cylindrical coordinates
Tensor notation
Navier-Stokes Equations: Cartesian Coordinates
Continuity
X-momentum
Y-momentum
Z-momentum
21
Navier-Stokes Equations: Cylindrical Coordinates
Continuity equation: 1 (ru r ) 1 (u ) (u z )
+ + =0
r r r z
u u u u r u2 u
r-component r + ur r +
t r r
+ uz r
r z
P 1 u r u r 1 2 u r 2 u 2 u r
= + g r + r 2 + 2 + 2
r r r r r r 2 r 2 z
u u u u u u u
-component + u r + r + u z
t r r r z
1 P 1 u u 1 2 u 2 u r 2 u
= + g + r 2 + 2 + 2
r r r r r r 2 r 2 z
u u u u z u
z-component z + ur z +
t r r
+ uz z
z
P 1 u z 1 2 u r 2 u z
= + g z + r + 2 + 2
z r r r r
2
z
Viscous Stress Tensor in Cylindrical Coordinates
r r r rz

i j = r z
z z z
zr
u u 1 u r u u
2 r r + r + z
r r r r z r
u 1 u 1 u u r u 1 u z
= r + r
2 + +
r r r r r z r
u u u 1 u z u
r + z + 2 z
z r z r z

22
Navier-Stokes Equations: Tensor and Vector Notation
Tensor and Vector notation offer a more compact form of the
equations.
Continuity
Tensor notation Vector notation
Conservation of Momentum
Tensor notation Vector notation
Repeated indices are summed over j

(x1 = x, x2 = y, x3 = z, U1 = U, U2 = V, U3 = W)
Differential Analysis of Fluid Flow Problems

Now that we have a set of governing partial
differential equations, there are 2 problems we
can solve
1. Calculate pressure (P) for a known velocity field
2. Calculate velocity (U, V, W) and pressure (P) for
known geometry, boundary conditions (BC), and
initial conditions (IC)
23
Exact Solutions of the NSE
There are about 80 Solutions can also be
known exact solutions to classified by type or
geometry
the NSE
1. Couette shear flows
They can be classified 2. Steady duct/pipe flows
as: 3. Unsteady duct/pipe flows
Linear solutions where 4. Flows with moving boundaries
the convective 5. Similarity solutions
term is zero 6. Asymptotic suction flows
7. Wind-driven Ekman flows
Nonlinear solutions
where convective term is
not zero
Exact Solutions of the NSE
Procedure for solving continuity and NSE

1.Set up the problem and geometry, identifying all
relevant dimensions and parameters
2.List all appropriate assumptions, approximations,
simplifications, and boundary conditions
3.Simplify the differential equations as much as
possible
4.Integrate the equations
5.Apply BC to solve for constants of integration
6.Verify results
24
Boundary conditions
Boundary conditions are critical to exact,
approximate, and computational solutions.
Discussed in Chapters 9 & 15
BCs used in analytical solutions are discussed
here
No-slip boundary condition
Interface boundary condition
These are used in CFD as well, plus there are
some BCs which arise due to specific issues in
CFD modeling. These will be presented in Chap.
15.
Inflow and outflow boundary conditions
Symmetry and periodic boundary conditions
No-slip boundary condition

For a fluid in contact with
a solid wall, the velocity
of the fluid must equal
that of the wall
25
When two fluids meet at
an interface, the velocity
and shear stress must
be the same on both
sides
If surface tension effects

are negligible and the
surface is nearly flat
Degenerate case of the interface BC occurs at the free

surface of a liquid.
Same conditions hold
Since air << water,
As with general interfaces, if surface

tension effects are negligible and
the surface is nearly flat Pwater = Pair
26
Example (Ex. 9-15): Fully Developed Couette Flow
For the given geometry and BCs, calculate the
velocity and pressure fields, and estimate the shear
force per unit area acting on the bottom plate
Step 1: Geometry, dimensions, and properties

Step 2: Assumptions and BCs
Assumptions
1. Plates are infinite in x and z
2. Flow is steady, /t = 0
3. Parallel flow, V=0
4. Incompressible, Newtonian,
laminar, constant properties
5. No pressure gradient
6. 2D, W=0, /z = 0 G
G
7. Gravity acts in the -y direction, g = gj , g y = g
Boundary conditions
1. Bottom plate (y=0) : u=0, v=0, w=0
2. Top plate (y=h) : u=V, v=0, w=0
27
Step 3: Simplify
Note: these numbers refer
to the assumptions on the
3 6 previous slide
Continuity
This means the flow is fully developed

or not changing in the direction of flow
X-momentum
2 Cont. 3 6 5 7 Cont. 6

Step 3: Simplify, cont.
Y-momentum
2,3 3 3 3,6 3 3 3
p
= g
y
Z-momentum
2,6 6 6 6 7 6 6 6
p p = p( y)
=0
z
28
Step 4: Integrate
X-momentum
integrate integrate
Y-momentum
dp
= g
integrate
p = gy + C3
dy

Step 5: Apply BCs
y=0, u=0=C1(0) + C2 C2 = 0
y=h, u=V=C1h C1 = V/h
This gives
For pressure, no explicit BC, therefore C3 can remain an

arbitrary constant (recall only P appears in NSE).
Let p = p0 at z = 0 (C3 renamed p0)
p( y ) = po gy 1. Hydrostatic pressure
2. Pressure acts independently of flow
29
Step 6: Verify solution by back-substituting into
differential equations
Given the solution (u,v,w)=(Vy/h, 0, 0)
Continuity is satisfied
0+0+0=0
X-momentum is satisfied

Finally, calculate shear force on bottom plate
Shear force per unit area acting on the wall
Note that w is equal and opposite to the

shear stress acting on the fluid yx
(Newtons third law).
30

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Chapter 9: Differential Analysis of

ME353 : Fluid Mechanics 2 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 3 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 4 Chapter 9: Differential Analysis

4 Integrate equations Solve algebraic system of

ME353 : Fluid Mechanics 5 Chapter 9: Differential Analysis

Well examine two methods to derive differential

ME353 : Fluid Mechanics 6 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 7 Chapter 9: Differential Analysis

Conservation of Mass: Divergence Theorem

Using divergence theorem, replace area integral with

Integral holds for ANY CV, therefore:

ME353 : Fluid Mechanics 8 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 9 Chapter 9: Differential Analysis

Conservation of Mass: Differential CV and Taylor series

Infinitesimal control volume

Mass flow rate through

ME353 : Fluid Mechanics 10 Chapter 9: Differential Analysis

Net mass flow rate out of CV:

Plug into integral conservation of mass equation

ME353 : Fluid Mechanics 11 Chapter 9: Differential Analysis

Conservation of Mass: Differential CV and Taylor series

Dividing through by volume dxdydz

ME353 : Fluid Mechanics 12 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 13 Chapter 9: Differential Analysis

Conservation of Mass: Cylindrical coordinates

ME353 : Fluid Mechanics 14 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 15 Chapter 9: Differential Analysis

Conservation of Mass: Special Cases

ME353 : Fluid Mechanics 16 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 17 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 18 Chapter 9: Differential Analysis

This is true for any smooth

ME353 : Fluid Mechanics 19 Chapter 9: Differential Analysis

The Stream Function

ME353 : Fluid Mechanics 20 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 21 Chapter 9: Differential Analysis

The Stream Function: Physical Significance

ME353 : Fluid Mechanics 22 Chapter 9: Differential Analysis

ME353 : Fluid Mechanics 23 Chapter 9: Differential Analysis

Left Side Convention for Streamlines

The value of increases to the left of the direction

For 2D flow in rz-plane: (axisymmetric flow)

Steady, compressible, 2D continuity equation is:

Conservation of Linear Momentum

Using the divergence theorem to convert area

ME353 : Fluid Mechanics 28 Chapter 9: Differential Analysis

Recognizing that this holds for any CV, the

This is Cauchys Equation

ME353 : Fluid Mechanics 29 Chapter 9: Differential Analysis

Derivation Using an Infinitesimal Control Volume

ME353 : Fluid Mechanics 31 Chapter 9: Differential Analysis

Net surface force in x-direction:

Substituting eqns 9-39 through 9-42 into eq 9-38

Above 3 eqns can be shown in vector form as

which is the Cauchys equation.

Conservation of Linear Momentum

Inserting these into Cauchy Equation and rearranging

ME353 : Fluid Mechanics 35 Chapter 9: Differential Analysis

Conservation of Linear Momentum

ME353 : Fluid Mechanics 36 Chapter 9: Differential Analysis

For Newtonian fluid with

ij = strain rate tensor.

ME353 : Fluid Mechanics 39 Chapter 9: Differential Analysis