Chapter 4: Fluid Kinematics

Ibrahim Sezai
Department of Mechanical Engineering
Eastern Mediterranean University
Fall 2005-2006

Overview

Fluid Kinematics deals with the motion of fluids

without considering the forces and moments
which create the motion.
Items discussed in this Chapter.
Material derivative and its relationship to Lagrangian
and Eulerian descriptions of fluid flow.
Flow visualization.
Plotting flow data.
Fundamental kinematic properties of fluid motion and
deformation.
Reynolds Transport Theorem

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 Lagrangian Description
Lagrangian description of fluid flow tracks the
position and velocity of individual particles.
Based upon Newton's laws of motion.
Difficult to use for practical flow analysis.
Fluids are composed of billions of molecules.
Interaction between molecules hard to
describe/model.
However, useful for specialized applications
Sprays, particles, bubble dynamics, rarefied gases.
Coupled Eulerian-Lagrangian methods.
Named after Italian mathematician Joseph Louis
Lagrange (1736-1813).

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Eulerian Description
Eulerian description of fluid flow: a flow domain or control volume
is defined by which fluid flows in and out.
We define field variables which are functions of space and time.
Pressure field, P=P(x,y,z,t)
r r
Velocity field, V = V ( x, y , z , t )
r r r r
V = u ( x , y , z , t ) i + v ( x, y , z , t ) j + w ( x , y , z , t ) k
r r
Acceleration field, a = a ( x, y, z , t )
r r r r
a = a x ( x , y , z , t ) i + a y ( x , y , z , t ) j + a z ( x, y , z , t ) k
These (and other) field variables define the flow field.
Well suited for formulation of initial boundary-value problems
(PDE's).
Named after Swiss mathematician Leonhard Euler (1707-1783).

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 Example: Coupled Eulerian-Lagrangian
Method
Global Environmental
MEMS Sensors (GEMS)
Simulation of micron-
scale airborne probes.
The probe positions are
tracked using a
Lagrangian particle
model embedded within a
flow field computed using
an Eulerian CFD code.

http://www.ensco.com/products/atmospheric/gem/gem_ovr.htm
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Example: Coupled Eulerian-Lagrangian

Method

Forensic analysis of Columbia accident: simulation of

shuttle debris trajectory using Eulerian CFD for flow field
and Lagrangian method for the debris.
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 Acceleration Field
Consider a fluid particle and Newton's second law,
r r
Fparticle = m particle a particle

The acceleration of the particle is the time derivative of

the particle's velocity. r
r dV particle
a particle =
dt
However, particle r velocity
r at a point is the same as the
fluid velocity, V particle = V ( x particle ( t ) , y particle ( t ) , z particle ( t ) )
To take the time derivative of, chain rule must be used.
r r r r
r V dt V dx particle V dy particle V dz particle
a particle = + + +
t dt x dt y dt z dt

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Acceleration Field
dx particle dy particle dz particle
Since = u, = v, =w
dt dt dt
r r r r
r V V V V
a particle = +u +v +w
t x y z
In vector form, the acceleration can be written as
r r
r dV V rr r
a ( x, y , z , t ) = = + (V .)V
dt t
First term is called the local acceleration and is nonzero only for
unsteady flows.
Second term is called the advective acceleration and accounts for
the effect of the fluid particle moving to a new location in the flow,
where the velocity is different.

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 Material Derivative
The total derivative operator d/dt is call the material
derivative and is often given special notation, D/Dt.
r r r
r DV dV V rr r
a ( x, y , z , t ) = = = + (V .)V
Dt dt t
Advective acceleration is nonlinear: source of many
phenomenon and primary challenge in solving fluid flow
problems.
Provides ``transformation'' between Lagrangian and
Eulerian frames.
Other names for the material derivative include: total,
particle, Lagrangian, Eulerian, and substantial
derivative.

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Flow Visualization
Flow visualization is the visual examination of
flow-field features.
Important for both physical experiments and
numerical (CFD) solutions.
Numerous methods
Streamlines and streamtubes
Pathlines
Streaklines
Timelines
Refractive techniques
Surface flow techniques

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 Streamlines
A Streamline is a curve that is
everywhere tangent to the
instantaneous local velocity
vector.
Consider an arc length
r r r r
dr = dxi + dyj + dzk
r
dr must be parallel to the local
velocity vector
r r r r
V = ui + vj + wk
Geometric arguments results
in the equation for a streamline
dr dx dy dz
= = =
V u v w
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Streamlines
Airplane surface pressure contours,
NASCAR surface pressure contours volume streamlines, and surface
and streamlines streamlines

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 A stream tube consists of a
bundle of individual
streamlines.

A streamtube decreases in
diameter if the flow
accelerates or vice versa.

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Pathlines
A Pathline is the actual path
traveled by an individual fluid
particle over some time period.
Same as the fluid particle's
material position vector
(x particle ( t ) , y particle ( t ) , z particle ( t ) )
Particle location at time t:
t
r r r
x = xstart +
t start
Vdt

Particle Image Velocimetry

(PIV) is a modern experimental
technique to measure velocity
field over a plane in the flow
field.

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 A streakline is formed by
continuous introduction of
dye or smoke from a point in
the flow.
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Streaklines

A Streakline is the
locus of fluid particles
that have passed
sequentially through a
prescribed point in the
flow.
Easy to generate in
experiments: dye in a
water flow, or smoke
in an airflow.

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 Comparisons

For steady flow, streamlines, pathlines, and

streaklines are identical.
For unsteady flow, they can be very different.
Streamlines are an instantaneous picture of the flow
field
Pathlines and Streaklines are flow patterns that have
a time history associated with them.
Streakline: instantaneous snapshot of a time-
integrated flow pattern.
Pathline: time-exposed flow path of an individual
particle.

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Timelines

A Timeline is the
locus of fluid particles
that have passed
sequentially through a
prescribed point in the
flow.
Timelines can be
generated using a
hydrogen bubble wire.

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 Plots of Data

A Profile plot indicates how the value of a

scalar property varies along some desired
direction in the flow field.
A Vector plot is an array of arrows
indicating the magnitude and direction of a
vector property at an instant in time.
A Contour plot shows curves of constant
values of a scalar property for magnitude
of a vector property at an instant in time.
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Streamline Plot

Streamline
Plot

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 Velocity Vector Plot

Velocity Vector
Plot

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Velocity Vector Plot

Velocity
Vector Plot

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 Contour Plot

Filled gray scale contour

plot of pressure

Contour line plot of pressure

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Kinematic Description
In fluid mechanics, an element
may undergo four fundamental
types of motion.
a) Translation
b) Rotation
c) Linear strain
d) Shear strain
Because fluids are in constant
motion, motion and
deformation is best described
in terms of rates
a) velocity: rate of translation
b) angular velocity: rate of
rotation
c) linear strain rate: rate of linear
strain
d) shear strain rate: rate of
shear strain

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 Rate of Translation and Rotation

To be useful, these rates must be

expressed in terms of velocity and
derivatives of velocity
The rate of translation vector is described
as the velocity vector. In Cartesian
coordinates:
r r r r
V = ui + vj + wk

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Rate of rotation
Rate of rotation, , at a point is
defined as the average rotation
rate of two initially perpendicular
lines that intersect at that point.
d a + b 1 v u
= =
dt 2 2 x y

Rate of rotation vector in

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

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 r 1 w v r 1 u w r 1 v u r
= i + j + k
2 y z 2 z x 2 x y
r r r r
= xi + y j + z k
r r r
i j k
v 1r r 1 r 1
= V = curl(V) =
2 2 2 x y z
u v w
r r r r r r r r
=i +j +k V = ui + vj + wk
x y z
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Linear Strain Rate

Linear Strain Rate is defined as the
rate of increase in length per unit length.
PQ Initial length
P`Q` Final length
Linear strain rate in -direction:
d P' Q' PQ
=
dt PQ
64Length
44of4 47444448 Length of PQ in the x direction
P 'Q ' in the x direction
}
u + u dx dt + dx u dt

dx
d


x

u
=
dt dx
{ x
Length of PQ in the x direction


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 Linear Strain Rate
Linear strain rate in Cartesian coordinates is
u v w
xx = yy = zz =
x y z
Consider an square fluid element.
If the fluid is incompressible, the
volume of the element must
remain constant. If it stretches in
the horizontal direction it will
shrink in vertical direction.
Thus, the linear strain rate is positive horizontally and
negative vertically.
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Volumetric Strain Rate

Consider an air parcel of constant
mass in a cylinder.
The volume of the fluid element
decreases while its density
increases.
The rate of increase of volume of a fluid element per unit
volume is called volumetric strain rate.
Volumetric strain rate in Cartesian coordinates:
1 DV 1 dV u v w
= = xx + yy + zz = + +
V Dt V dt x y z

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 Shear Strain Rate
Shear Strain Rate at a point is defined as half
of the rate of decrease of the angle between two
initially perpendicular lines that intersect at a
point.
Shear strain rate, at point P, for
initially perpendicular lines in the
x- and y- directions is:
1 d 1 u v
xy = a b = +
2 dt 2 y x

Shear strain rate in Cartesian coordinates:

1 u v 1 w u 1 v w
xy = + zx = + yz = +
2 y x 2 x z 2 z y
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Strain Rate Tensor

We can combine linear strain rate and shear strain

rate into one symmetric second-order tensor called
the strain-rate tensor.

u 1 u v 1 u w
+ +
x 2 y x 2 z x
xx xy xz
1 v u v 1 v w
ij = yx yy yz = + +
2 x y y 2 z y

zx zy zz
1 w + u 1 w v w
2 x z +
2 y z z

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 Strain

A fluid element illustrating:

Translation
Rotation
Linear strain
Shear strain
Volumetric strain

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Shear Strain Rate

Purpose of our discussion of fluid element
kinematics:
Better appreciation of the inherent complexity of fluid
dynamics
Mathematical sophistication required to fully describe
fluid motion
Strain-rate tensor is important for numerous
reasons. For example,
Develop relationships between fluid stress and strain
rate.
Feature extraction and flow visualization in CFD
simulations.

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 Shear Strain Rate
Example: Visualization of trailing-edge turbulent eddies
for a hydrofoil with a beveled trailing edge

Feature extraction method is based upon eigen-analysis of the strain-rate tensor.

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Vorticity and Rotationality

The vorticity
r r rvector is defined as the curl of the velocity
vector = V
Vorticity is
r equal
r
to twice the angular velocity of a fluid
particle. = 2
Cartesian coordinates
r w v r u w r v u r
= i + j + k
y z z x x y
Cylindrical coordinates
r 1 u z u r ur u z r 1 (ru ) ur r
= er + e + e
r z z r r r
In regions where = 0, the flow is called irrotational.
Elsewhere, the flow is called rotational.

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 Vorticity and Rotationality

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Comparison of Two Circular Flows

Special case: consider two flows with circular streamlines

Rotational Flow

ur = 0, u = r
r 1 ( ru ) ur r 1 ( r ) r
2
r
= e
z = 0 ez = 2ez
r r r r

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 Irrotational Flow

K
ur = 0, u =
r
r 1 ( ru ) ur r 1 ( K ) r r
= ez = 0 e z = 0e z
r r r r
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ReynoldsTransport Theorem (RTT)

A system is a quantity of matter of fixed identity. No
mass can cross a system boundary.
A control volume is a region in space chosen for study.
Mass can cross a control surface.
The fundamental conservation laws (conservation of
mass, energy, and momentum) apply directly to
systems.
However, in most fluid mechanics problems, control
volume analysis is preferred over system analysis (for
the same reason that the Eulerian description is usually
preferred over the Lagrangian description).
Therefore, we need to transform the conservation laws
from a system to a control volume. This is accomplished
with the Reynolds transport theorem (RTT).

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 ReynoldsTransport Theorem (RTT)

There is a direct analogy between the transformation from

Lagrangian to Eulerian descriptions (for differential analysis
using infinitesimally small fluid elements) and the
transformation from systems to control volumes (for integral
analysis using large, finite flow fields).

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ReynoldsTransport Theorem (RTT)

Consider a diverging section of a
flow field
System moving
Control volume (CV) fixed
At t = 0 both the system and the
CV coincides.
dBsys dBCV &
= Bin + B& out
dt dt
B any extensive property
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 ReynoldsTransport Theorem (RTT)

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ReynoldsTransport Theorem (RTT)

Material derivative (differential analysis):
Db b r r
=
Dt t
+ V b ( )
General RTT, nonfixed CV (integral analysis):
dBsys r
= (b )dV + CS bV nrdA
dt CV t
Mass Momentum Energy Angular
momentum
r r
B, Extensive properties m mV E H
r r r
b, Intensive properties 1 V e r V ( )
In Chaps 5 and 6, we will apply RTT to conservation of
mass, energy, linear momentum, and angular momentum.

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 ReynoldsTransport Theorem (RTT)

Interpretation of the RTT:

Time rate of change of the property B of the
system is equal to (Term 1) + (Term 2)
Term 1: the time rate of change of B of the
control volume
Term 2: the net flux of B out of the control
volume by mass crossing the control surface
dBsys r r
= (b )dV + CS bV ndA
dt CV t

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RTT Special Cases

For moving and/or deforming control volumes,

dBsys r r
=
CV t
(b )dV + CS bVr ndA
dt
Where the absolute velocity V in the second term
is replaced by the relative velocity
Vr = V -VCS
Vr is the fluid velocity expressed relative to a
coordinate system moving with the control
volume.
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 RTT Special Cases

For steady flow, the time derivative drops out,

dBsys 0 r r
= (b )dV + CS bVr nrdA = CS bVr nrdA
dt CV t

For control volumes with well-defined inlets and

outlets
dBsys
= (b )dV + avg bavgVr ,avg A avg bavgVr ,avg A
dt CV t out in

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