Chapter 5 FM WDH - 2011-2

William Dhaeseleer - 2011
Fluidummechanic
1
Chapter 5
Introduction to
Differential Analysis of
Fluid Motion
Fluidummechanic
2
Main Topics
Conservation of Mass

Stream Function for Two-Dimensional
Incompressible Flow

Motion of a Fluid Particle (Kinematics)

Momentum Equation
Fluidummechanic
3
Main Topics

Incompressible Flow


Momentum Equation
Fluidummechanic
4

Fluidummechanic
5
Basic Law for a Control Volume
Rate or change of mass Net rate of mass flux out
inside the control volume through the control surface
+
0 =
Fluidummechanic
6
Basic Law for a Control Volume
(1)
Fluidummechanic
7
Infinitesimal Control Volume;
Rectangular Coordinate System
At center O,
density and
velocity

Use Taylor series expansion
and neglect higher order
terms.

V ui v j wk = + +
Fluidummechanic
8
Evaluate density and velocity at faces of cube
Fluidummechanic
9
Evaluate density and velocity at faces of cube
Similarly for y and z faces;
Velocity components assumed to be in
positive coordinate direction;
The area normal is positive on each
face.
Must then evaluate in- and
outflow through 6 faces of
mass flux density
. V V dA
Fluidummechanic
10
Examples of fluxes
( )
2 2
dx u dx
Left x u dydz
x x
( ( c c
| | | |
=
| | ( (
c c
\ . \ .

1
2
u
udydz u dxdydz
x x

( c c
| | | |
= + +
| | (
c c
\ . \ .

( )
2 2
dx u dx
Right x u dydz
x x
( ( c c
| | | |
+ = + +
| | ( (
c c
\ . \ .

1
2
u
u dydz u dxdydz
x x

( c c
| | | |
= + +
| | (
c c
\ . \ .

Fluidummechanic
11
Leads to, for sum of all 6 faces:
u v w
u v w dxdydz
x x y y z z

(
| | | | ( ( c c c c c c | | | | | | | |
= + + + + +
` ` ` ( | | | | | | ( (
c c c c c c
\ . \ . \ . \ .
\ . \ . ) )
)
u v w
dxdydz
x y z
( c c c
= + +
(
c c c

.
small CV
V dA
}
(1)
Fluidummechanic
12
Recall, Basic Law for a Control Volume
(2)
Fluidummechanic
13
Rate of change of mass
in small Control Volume
(2)
Fluidummechanic
14
Continuity Equation
Fluidummechanic
15
Del Operator or Nabla
Fluidummechanic
16
Vector form (all coordinate systems)
Fluidummechanic
17
Rectangular Coordinate System &
Vector Form
Incompressible Fluid:
Steady Flow:
Fluidummechanic
18
Cylindrical system

r r z z r z
V e V e V e V rV V zV
0 0 u
0 = + + = + +
1
r z
r r z
0
0
c c c
= + +
c c c
Fluidummechanic
19
Cylindrical system; Note on del operator
1

V V V
V r z with V V
r r z
0
0
c c c
V = + + =
c c c
( )
1 1
z
r
V V
V rV
r r r z
0
0
c c c
V = + +
c c c

r
and r
0
0
0 0
c c
= =
c c
Must distinguish between grad, div and dyadic product
Recall that:
1
... ...
r r z
V V V V
V rr r zz
r r r z
0
0
0
c c c
| |
V = + + + +
|
c c c
\ .
Fluidummechanic
20
Result for Cylindrical Coordinate System
Fluidummechanic
21
Cylindrical Coordinate System
Incompressible Fluid:
Steady Flow:
Fluidummechanic
22
Fluidummechanic
23
Main Topics

Incompressible Flow


Momentum Equation
Fluidummechanic
24

Stream Function for
Two-Dimensional
Incompressible Flow

Fluidummechanic
25
Stream Function for
Two-Dimensional Incompressible Flow
Consider incompressible flow in 2D

Concept of Stream Function

Allows to represent the two velocity components
u(x,y,t) and v(x,y,t) by a single function

Stream function defined by
( , , ) x y t
u and v
y x
c c

c c
Fluidummechanic
26
Stream Function for
Consider the continuity equation for
incompressible 2D flow

Substituting a clever transformation

Gives
This is true for any smooth
function (x,y)
. 0 V V =
0
u v
x y
c c
+ =
c c
Fluidummechanic
27
Stream Function for
Why do this?
Mathematically
Single variable replaces (u,v). Once is
known, (u,v) can be computed

Physical significance
Curves of constant are streamlines of the flow
Difference in between streamlines is equal to
volume flow rate between streamlines
Fluidummechanic
28
Stream Function for
Recall from earlier that
along a streamline
Change in along
streamline is zero
Physical Significance
Fluidummechanic
29
Stream Function for
Difference in between streamlines is equal
to volume flow rate between streamlines

Note on notation: Recall
. .
A A
m V dA and Q V dA = =
} }
Fluidummechanic
30
Stream Function for
Consider cut AB

Along AB, x=const, or

Therefore
2 2
1 1
y y
y y
A
Q V dA udy dy
y
c
= = =
c
} } }
d dy
y
c
=
c
2
1
2 1
Q d
= =
}
No flow across streamline
Fluidummechanic
31
Stream Function for
Likewise consider cut BC

Along BC, y=const, or

Again:
1
2
2 1
Q d
= =
}
2 2
1 1
x x
x x
A
Q V dA vdx dx
x
c
= = =
c
} } }
d dx
x
c
=
c
Fluidummechanic
32
Stream Function for
Since flow rate is constant between two streamlines

Velocity will be high when streamlines are close together

and conversely

Fluidummechanic
33
Stream Function for
Cylindrical Coordinates
Stream Function (r,u)
0 V or V =
Fluidummechanic
34
Stream Function for Steady
Two-Dimensional Compressible Flow
For 2D steady compressible flow:

And then:
. 0 V so that u and v
y x

c c
V =
c c
2 1
m =
Fluidummechanic
35
Fluidummechanic
36
Main Topics

Incompressible Flow


Momentum Equation
Fluidummechanic
37

Motion of a Fluid Particle
(Kinematics)

Fluidummechanic
38
- Consider finite fluid element, with infinitesimally-
small element dm and volume dxdydz at time t
- After time duration dt finite element has moved
and changed shape (severe distortion possible)
- But changes of elementary fluid particle limited to
stretching & shrinking and rotation of sides

Because of infinitesimal
particle and time dt, the
sides remain straight!
Fluidummechanic
39
Elementary particles motion can be decomposed
into four fundamental components:

translation
rotation
linear deformation
angular deformation
Fluidummechanic
40
Fluidummechanic
41
Important distinction between rotation and
angular deformation!
Pure rotation does not involve deformation;
angular deformation does. And fluid deformation
generates shear stresses and thus viscosity.
Fluidummechanic
42
1) Fluid Translation:
Acceleration of a Fluid Particle in a Velocity Field

2) Fluid Rotation

3) Fluid Deformation
Angular Deformation
Linear Deformation
Organisation of Section:
Fluidummechanic
43

2) Fluid Rotation

Angular Deformation
Linear Deformation
Fluidummechanic
44
Acceleration of a Fluid Particle
in a Velocity Field
( , , ; ) V V x y z t =
Fluidummechanic
45
Following Newtons law, one might think:
( , , ; ) V V x y z t =
V
a
t
c
=
c
Since is a field

it describes motion of
whole flow and not just of
particle
V
Fluidummechanic
46
Need to keep the field description for fluid properties
and obtain expression for acceleration of fluid
particle as it moves in a flow field.

Given flow field:

To find acceleration of fluid particle:
( , , ; ) V V x y z t =
p
a
Fluidummechanic
47
At time t, particle is at x,y,z and has velocity
corresponding to the velocity of the field
at that point:

( , , ; )
p
t
V V x y z t =
At time t+dt particle has
moved to new position, where
a different velocity applies:
( , , ; )
p
t dt
V V x dx y dy z dz t dt
+
= + + + +
Fluidummechanic
48
At time t+dt, particle is at x+dx,y+dy,z+dz and has
velocity

p p
V dV +
p p p p
V V V V
dV dx dy dz dt
x y z t
c c c c
= + + +
c c c c
p p p p
p
dV dx dy dz
V V V V dt
a
dt x dt y dt z dt t dt
c c c c
= + + +
c c c c
p p p
dx dy dz
u v w
dt dt dt
= = =
But
p
p
dV
V V V V
a u v w
dt x y z t
c c c c
= + + +
c c c c
Fluidummechanic
49

To stress the acceleration in a velocity field,
special notation:
DV
Dt
Fluidummechanic
50
Substantial Derivative or Material Derivative

Physical Interpretation:
Fluidummechanic
51
Substantial Derivative or Material Derivative

Physical Interpretation:

Measure fish concentration in a river; since fish are
moving: C=C(x,y,z;t)

- at fixed place on a bridge

- moving in a motor boat with velocity

- moving along in a floating boat, with velocity
C
t
c
c
U
V
DC
Dt
dC
dt
Fluidummechanic
52

In vector notation:
( ) ( )
. .
DC C D
V C V
Dt t Dt t
c c
= + V = + V
c c
( ) ( )
. .
dC C d
U C U
dt t dt t
c c
= + V = + V
c c
Fluidummechanic
53

Total fluid particle acceleration
in vector notation:
( )
.
DV V
V V
Dt t
c
= + V
c
Applies anywhere in a velocity field (function
of x,y,z and t) Eulerian description method
Fluidummechanic
54

Even in steady (non time-dependent) flow,

Particle may undergo convective acceleration,
even in a steady velocity field,
because of its motion to locations where a
different velocity applies.
( )
.
p
DV
a V V
Dt
= = V
Fluidummechanic
55
Fluid Translation: Particle Acceleration
In Cartesian Coordinates
Fluidummechanic
56
Fluid Translation: Particle Acceleration
In Cylindrical Coordinates
Fluidummechanic
57
Fluidummechanic
58
Recall the four components of motion:
Fluidummechanic
59

2) Fluid Rotation

Angular Deformation
Linear Deformation
Fluidummechanic
60
2) Fluid Rotation:

Rotation of a Fluid Particle characterized by

x y z
i j k e e e e = + +
is rotation about x axis etc
x
e
Fluidummechanic
61
Fluid Rotation about z-axis (in x-y plane):

(a): fluid particle at time t sides oa & ob; lengths x & y
(b): fluid particle at time t+t rotated and deformed

Fluidummechanic
62
Fluid Rotation:

(b)= result of (c) + (d)
(c): pure rotation
(d): pure angular deformation

Fluidummechanic
63
Fluid Rotation:
Define rotation as average of angular motions
of edges oa & ob
Leads to: Note that is in negative
direction

( )
1
2
o | A A
Fluidummechanic
64
Fluid Rotation:
For small angles:

Also in time t:
Pt o moves ut and vt;
Pts a & b move a bit further:
see figure below.

x and y q o | A = A A A = A A
u u
u y t u t y t
y y
| | c c
A = + A A A = A A
|
c c
\ .
v v
v x t v t x t
x x
q
c c
| |
A = + A A A = A A
|
c c
\ .
Figure on left taken from
Munson et al; with symbols A
and B, and instead of .
Fluidummechanic
65
Fluid Rotation:
Angular velocity about z axis defined becomes:
( )
0 0 0
1 1
1
2 2
2
lim lim lim
z
t t t
v u
t t
x y x y
t t t
q
o |
e
A A A
| | | | A A c c
A A
| | A A
A A c c
\ . \ .
= =
A A A
1
2
z
v u
x y
e
| | c c
=
|
c c
\ .
Fluidummechanic
66
Fluid Rotation:
Similarly for rotation about x & y axes; such that:
1
2
z
v u
x y
e
| | c c
=
|
c c
\ .
1
2
x
w v
y z
e
| | c c
=
|
c c
\ .
1
2
y
u w
z x
e
c c
| |
=
|
c c
\ .
}
1
2
V e = V
Fluidummechanic
67
Fluid Rotation:
Similarly for rotation about x & y axes; such that:
1
2
z
v u
x y
e
| | c c
=
|
c c
\ .
1
2
x
w v
y z
e
| | c c
=
|
c c
\ .
1
2
y
u w
z x
e
c c
| |
=
|
c c
\ .
}
With

sometimes written as:

1 2 3
( , , ) ( , , ) ( )
i
V u v w V V V V V V
1
, ,
2
j
k
i
j k
V
V
i j k cyclic
x x
e
|
|
c
c
=
|
|
c c
.
\
Fluidummechanic
68
Fluid Rotation:

Define vorticity

Define circulation

ds elemental element of arc along curve C

, 2 V , e = V
C
V ds I
}
I
( )
:
C A A
Stokes V ds V dA dA with Aarea within C , = V =
} } }
Fluidummechanic
69
Fluid Rotation
In Cartesian coordinates:

In Cylindrical coordinates:
1 1 1 1

2
z r z r
r
V rV V V V V
e e k
r z z r r r r
u u
u
e
u u
( c c c c c c
| | | | | |
= + +
| | | (
c c c c c c
\ . \ . \ .

Fluidummechanic
70
Fluid Rotation: Physical Interpretation

For rotational flow
For irrotational flow

Rotational flow differs from motion with circular field
lines (vortex flow);
fluid particles can rotate in circular motion, but do
not have to!
0 e , = =
0 e , = =
Fluidummechanic
71

Consider two circular streamline flows: (Ex 5.6)

- solid rotation (rigid body motion; forced vortex):

- irrotational motion (free vortex or line vortex)
0
r
V
z
const or V r r const
u
e e e = = = =
0
const
or rV const V
r
u u
e = = =
Fluidummechanic
72

z
u
e e e = = = = 0
const
or rV const V
r
u u
e = = =
: notation u V
u u

Fluidummechanic
73

z
u
e e e = = = = 0
const
or rV const V
r
u u
e = = =
Fluidummechanic
74
Fluidummechanic
75

2) Fluid Rotation

Angular Deformation
Linear Deformation
Fluidummechanic
76

2) Fluid Rotation

Angular Deformation
Linear Deformation
Fluidummechanic
77
Recall:
combined rotation and angular deformation

(a): fluid particle at time t sides oa & ob; lengths x & y
(b): fluid particle at time t+t rotated and deformed

Fluidummechanic
78
Fluid Rotation:

(b)= result of (c) + (d)
(c): pure rotation
(d): pure angular deformation

Fluidummechanic
79
Fluid Rotation:
Define rotation as average of angular motions
of edges oa & ob
direction

( )
1
2
o | A A
Fluidummechanic
80
Fluid Angular Deformation:
Define angular deformation as complement to
rotation to obtain picture (b)
direction

( )
1
2
o | A + A
Fluidummechanic
81
Fluid Angular Deformation: (identical as before)
For small angles:

Also in time t:
Pt o moves ut and vt;
Pts a & b move a bit further:
see figure below.
x and y q o | A = A A A = A A
v v
v x t v t x t
x x
q
c c
| |
A = + A A A = A A
|
c c
\ .
u u
u y t u t y t
y y
| | c c
A = + A A A = A A
|
c c
\ .
Figure on left taken from
Munson et al; with symbols A
and B, and instead of .
Fluidummechanic
82
Angular Deformation Rate (a.d.r.) in xy plane becomes:
( )
0 0 0
1
2
2 lim lim lim
t t t
v u
t t
x y x y
t t t
q
o |
A A A
| | | | A A c c
+ A + A
| | A +A
A A c c
\ . \ .
= =
A A A
v u
x y
| | c c
= +
|
c c
\ .
Fluidummechanic
83
Similarly for deformation in yz and zx planes; such that:
. . .
v u
a d r in xy plane
x y
| | c c
= +
|
c c
\ .
. . .
w v
a d r in yz plane
y z
| | c c
= +
|
c c
\ .
. . .
u w
a d r in zx plane
z x
c c
| |
= +
|
c c
\ .
These expressions will later
be used for generalization of
the viscous stresses;
recall from before for
Newtonian fluid:

yx
du
dy
t =
Fluidummechanic
84
Fluidummechanic
85
Recall the four components of motion:
Fluidummechanic
86

2) Fluid Rotation

Angular Deformation
Linear Deformation
Fluidummechanic
87
Linear Fluid Deformation:
Angles now remain unchanged;
only changes of length

Element can change in x direction only if

Similarly for other directions. Hence:

0
u
x
c
=
c
Fluidummechanic
88
Fluidummechanic
89
Main Topics

Incompressible Flow


Momentum Equation
Fluidummechanic
90
Momentum Equation

Up to the Navier-Stokes Equation
Fluidummechanic
91
Momentum Equation
Newtons Second Law
Apply Newtons second law to infinitesimal fluid
particle of mass dm

Recall for system:

But for acceleration fluid particle in a velocity
field; must use the substantial derivative D/Dt

( )
system
mass system
system system
dP dV
F with P Vdm or dF dm
dt dt
| |
= = =
| |
. .
}
Fluidummechanic
92
Momentum Equation
Newtons Second Law
For fluid particle in velocity field
( )
.
V
dF dm V V
t
(
c
= + V
(
c

Fluidummechanic
93
Momentum Equation
Newtons Second Law
For fluid particle in velocity field

Need to find expression for forces on fluid
particle:
S B
dF dF dF = +
Fluidummechanic
94
Momentum Equation
Forces Acting on a Fluid Particle
Volume element
Stresses at center of small cube in
the x direction:

Net force in x direction is sum of all
(stresses).(dydz or dxdz or dxdy)
shown in figure
, ,
xx yx zx
o t t
dV dxdydz =
Fluidummechanic
95
Momentum Equation
2 2
x
xx xx
S xx xx
dx dx
dF dydz dydz
x x
o o
o o
c c
| | | |
= +
| |
c c
\ . \ .
2 2
yx yx
yx yx
dy dy
dxdz dxdz
y y
t t
t t
c c
| | | |
+ +
| |
c c
\ . \ .
2 2
zx zx
zx zx
dz dz
dxdy dxdy
z z
t t
t t
c c
| | | |
+ +
| |
c c
\ . \ .
Fluidummechanic
96
Momentum Equation

After simplification:

x
yx
xx zx
S
dF dxdydz
x y z
t
o t
c
| |
c c
= + +
|
c c c
\ .
Fluidummechanic
97
Momentum Equation

Also for other directions such that together:

x
yx
xx zx
S
dF dxdydz
x y z
t
o t
c
| |
c c
= + +
|
c c c
\ .
y
xy yy zy
S
dF dxdydz
x y z
t o t c c c
| |
= + +
|
c c c
\ .
z
yz
xz zz
S
dF dxdydz
x y z
t
t o
c
| |
c c
= + +
|
c c c
\ .
Fluidummechanic
98
Momentum Equation

Define Stress Tensor
xx xy xz xx xy xz
yx yy yz yx yy yz ii ii
zx zy zz zx zy zz
as
t t t o t t
t t t t t o t t o
t t t t t o
| | | |
| |

| |
| |
\ . \ .
,

ij i j i
i j
e e with e unit vector t t =

Fluidummechanic
99
Momentum Equation

Define Divergence of a Tensor:
, , , ,

.
ij
ij i j k ij i j k i j
i j k i j i j k
k k
e e e e e e e e
x x
t
t t t
c | | | |
c
V = V = =
| |
c c
\ . \ .

,

ij ij
j ki j
j k i j i
k i
e e
x x
t t
o
c c | | | |
= =
| |
c c
\ . \ .

ij
i
i
x
t c
c
Vector with components

Fluidummechanic
100
Comment on Notation (for later convenience)
Momentum Equation

ij i j
ee I o o
Unit tensor
ij
o
With the Kronecker delta
Fluidummechanic
101
Momentum Equation

Surface force in vector form:

j
xj yj zj xj yj zj ij
S
i
i
dF dxdydz dxdydz dV
x y z x y z x
o t t t t t t c c c c c c c
| | | |
= + + = + + =
| |
c c c c c c c
\ . \ .

.
S
dF dV t =V
Fluidummechanic
102
Momentum Equation
x
B B x
dF dxdydz g or dF dxdydz g = =
B
dF gdV =
Fluidummechanic
103
Momentum Equation
.
S B
dF dF dV gdV t + =V +
Fluidummechanic
104
Momentum Equation
Differential Momentum Equation
( ) ( )
. . .
S B
V V
dF dF dm V V dV gdV dV V V
t t
t
( (
c c
+ = + V V + = + V
( (
c c

( )
V
g V V
t
t
(
c
V + = + V
(
c

Fluidummechanic
105
Momentum Equation
( )
.
V
V V g
t
t
(
c
+ V = + V
(
c

DV
g
Dt
t = + V
( ) ( ) ( )
VV V V V V V = V + V
( )
V
V V
t t t

c c c
= +
c c c
( )
0 . V cont eq
t

c
(
+V
(
c

Use

and
( ) ( )
V VV g
t
t
c
+V = +V
c
( ) ( )
V g VV
t
t
c
= +V
c
Fluidummechanic
106
Momentum Equation

( ) ( )
V g VV
t
t
c
= +V
c
Last expression can be put in full
conservation form
( )
( )
0
t
c
V =
c
A
M
With
and
g or gh = V =
( ) ( )
I o V = V V
( ) ( )
V VV I
t
t
c
= V
c
Fluidummechanic
107
Fluidummechanic
108
Momentum Equation
Newtonian Fluid: Navier-Stokes Equations
Generalization of
( )
yz
du
dy
t =
Determination of in terms of
velocity gradients
t
1 2 3
( , , ) ( , , ) ( )
i
V u v w V V V V V V
i
j
V
x
c
c
with
Fluidummechanic
109
Momentum Equation
Recall rotation & angular deformation
of fluid particles
Paradox:
Viscous shear stress leads to fluid-
particle rotation, but rotation does not
explicitly appear in stress tensor!
Fluidummechanic
110
Motion of a Fluid Particle (Revisited)

Fluidummechanic
111

Fluid particles rotate ( finite):
- when subject to a torque by shear stresses

Body forces and normal (pressure) forces may accelerate &
deform particles but cannot generate a torque!

Rotation of fluid particles will always occur when shear
stresses, i.e., whenever there is viscous flow!

Fluidummechanic
112

Fluid particles also rotate ( finite):
- if they were launched with an initial rotation
(e.g., solid rotation)

But,

For solid body rotation,
there is no relative movement of fluid layers, hence no
friction, and hence no viscous shear stress!

Fluidummechanic
113

Recall:

1
2
z
v u
x y
e
| | c c
=
|
c c
\ .
Whenever
then there is no rotation =0

When solid body rotation
then no deformation
u v
y x
c c
=
c c
u v
y x
c c
=
c c
. . .
v u
a d r in xy plane
x y
| | c c
= +
|
c c
\ .
See both formulae and figure!
Fluidummechanic
114

In general, usually

then rotation is accompanied by
angular deformation

u v
y x
c c
=
c c
Fluidummechanic
115

In general, usually

rotation is implicitly present in stress tensor
via the presence of angular deformation

u v
y x
c c
=
c c
Fluidummechanic
116
Viscous stress tensor (BSL)
Following Bird, Stewart & Lightfoot (BSL - 2nd Ed p
18-19) and Landau & Lifshitz, Fluid Mechanics (2nd
Ed p 44-45) one can show that:
( )
2
3
1 2 3 2
3
1 2 3
( )
( )
T
BSL
j
i
BSL ij ij
i j
V V V I
V
V V V V
x x x x x
t
t o
(
= V + V + V

| |
c
| |
c c c c
= + + + +
|
|
|
c c c c c
\ .
\ .
This will now be made plausible.
Fluidummechanic
117
BSL
t
is the viscous stress tensor as defined by BSL; it
relates to our definition of as follows:
- pressure p not included in BSL
- stress convention opposite (pull vs push)
BSL BSL
p or p t o t t o t = =
Note:
t
Fluidummechanic
118
BSL BSL
p or p t o t t o t = =
E.g., Newtons law
according to BSL

according to F&McD
x
yx
dV
dy
t =
yx
du
dy
t =
Fluidummechanic
119
Viscous internal friction is due to relative motion of
various parts of the fluid. It is related to the gradients
of the velocity:

Assuming Newtonian fluids, there is a linear
relationship:

( )
i
BSL
j
V
f V f
x
t
| |
c
= V =
|
|
c
\ .
( )
k
BSL ijkl
ij kl
l
V
x
t
| |
c
=
|
c
\ .
Can be simplified: No need for 81 viscosity coefficients

Fluidummechanic
120
A solid rotation does not lead to internal friction of the
viscous type.
Consider uniform rotation of fluid characterized by angular
rotation vector so that:

For satisfying this cross product, with a constant vector,

- the partial derivatives are simply zero;

- the combinarions also vanish.
The viscous stress must be proportional to this sort
of symmetrical combinations to guarantee the
absence of friction for uniform rotation!
1
2
( ) V r same as V e e = = V
e
e V
( )
i i
V x c c
( )
i j j i
V x V x for i j c c +c c =
Fluidummechanic
121
Therefore, one can write:
1 2 3
1 2 3
( )
j
i
BSL ij ij
i j
V
V V V V
a b
x x x x x
t o
| |
c
| |
c c c c
= + + + +
|
|
|
c c c c c
\ .
\ .
( )
( )
T
BSL
a V V b V I t
(
= V + V + V

With a and b constants
Fluidummechanic
122
It is customary to write:
1 2 3
1 2 3
2
( )
3
j
i
BSL ij ij
i j
V
V V V V
x x x x x
t q o
| |
c
| |
c c c c
| |
= + + + +
|
| |
|
c c c c c
\ .
\ .
\ .
( )
( ) 2
2
2 3
T
BSL
V V
V I t q
(
V + V
| |
= + V
| (
\ .

Or
For our purposes, can assume =0, so that:
Fluidummechanic
123
( )
( ) 1
2
2 3
T
BSL
V V
V I t
(
V + V
= V
(

Or with
( ) ( )
1 1
2 3
T
S V V V o
(
V + V V
(

2
BSL
S t =
I o
With thus
Viscous stress tensor reduces to:
Fluidummechanic
124
BSL Derivation so far ignored the pressure contribution
BSL
p t o t =
( )
2 p S t o = +
Must be added explicitly. Therefore:
ii ii
p t o
And thus:
Fluidummechanic
125
Momentum Equation
Newtonian Fluid: Summary Stress Tensor
Generalized relationship stresses and velocity gradients;
Generalization of ( ) yx
du
dy
t =
( )
2 p S t o = +

x x y y z z
e e e e e e o = + +
( )
( )
1 1
3 3
xx yy zz
p Tr t o o o = = + +
( ) ( )
1 1
.
2 3
T
S V V V o
(
= V + V V
(

Unit tensor
Local thermodynamic pressure

Rate of strain tensor
Fluidummechanic
126
Momentum Equation
Newtonian Fluid: Summary Stress Tensor
xy yx
v u
x y
t t
| | c c
= = +
|
c c
\ .
yz zy
w v
y z
t t
| | c c
= = +
|
c c
\ .
zx xz
u w
z x
t t
c c
| |
= = +
|
c c
\ .
2
2
3
xx
u
p V
x
o
c
= V +
c
2
2
3
yy
v
p V
y
o
c
= V +
c
2
2
3
zz
w
p V
z
o
c
= V +
c
F&McD Eq. (5.25)
Fluidummechanic
127
Momentum Equation
( )
. . 2
DV DV
g g p S
Dt Dt
t o = +V = +V +
For constant and incompressible flow with
0 V V =
( )
. 2
DV
g p S
Dt
o = V + V
2
DV
g p V
Dt
= V + V
Navier-Stokes
Fluidummechanic
128
Momentum Equation
2
x
Du p
g u
Dt x

c
= + V
c
2
y
Dv p
g v
Dt y

c
= + V
c
2
z
Dw p
g w
Dt z

c
= + V
c
Fluidummechanic
129
Momentum Equation
Fluidummechanic
130
Momentum Equation
Special Case: Eulers Equation
0 =
Fluidummechanic
131
Momentum transport
interpretation
Recall momentum balance equation
Fluidummechanic
132
Momentum Equation
( )
. .
V
V V g
t
t
(
c
+ V = +V
(
c

.
DV
g
Dt
t = +V
( ) ( ) ( )
VV V V V V V = V + V
( )
V
V V
t t t

c c c
= +
c c c
( )
0 . V cont eq
t

c
(
+V
(
c

Use

and
( ) ( )
V VV g
t
t
c
+V = +V
c
( )
V g VV
t
t
c
(
= + V

c
Fluidummechanic
133
Momentum Equation
( )
V g VV
t
t
c
(
= + V

c
BSL
p t o t = With
( ) ( )
BSL BSL
p VV p VV o t o t
( (
V = V + +

Divergence
part
Fluidummechanic
134
Momentum-flux tensor (BSL)
BSL (2nd Ed p 36) combine the following:
( )
BSL
VV pI
VV
t
t
u = + +
u = +
u
Combined momentum-flux tensor
t
Molecular momentum-flux tensor
BSL
t
Viscous momentum-flux tensor
p
Pressure
Fluidummechanic
135

Stress/Momentum-flux interpretation
(BSL)
Fluidummechanic
136
Shear force per unit area identified as follows:

the force in the x direction on a unit area
perpendicular to the y direction

force is exerted by the fluid of lesser y on
the fluid of greater y
(in elasticity theory and in F&McD the convention is reversed!)
(BSL)
x
yx
dV
dy
t =
Fluidummechanic
137
Shear stress in the x direction
on the surface of constant y
(BSL)
x
y
yx
t
Fluidummechanic
138
Transport of x-momentum interpretation:

the flux of x-momentum in the positive y
direction
flux = flow per unit area

momentum flows downhill;
velocity gradient is driving force for
momentum transport
(BSL)
x
yx
dV
dy
t =
Fluidummechanic
139
Viscous flux of x momentum in
the y direction
(BSL)
x
y
yx
t
Fluidummechanic
140
the y direction
(BSL)
x
y
yx
t
yx
t
Both interpretations combined:
Fluidummechanic
141
Compare stress sign conventions:
F&McD BSL
Fluidummechanic
142
Pressure and viscous forces (BSL Ed2- pp 16-17):
Fluidummechanic
143
pressure force (in x direction) per unit
area of constant x (or perp to x direction)
x x
pe po
viscous force (with x, y, z components) per
unit area of constant x (or perp to x
direction)
x
t

x xx x xy y xz z xx x xy y xz z
e e e t t t t t o t o t o = + + + +
(Note that our notation BSL notation)
x x
e o
Fluidummechanic
144
Molecular stresses are defined as a combination
of the thermodynamic pressure and the viscous
stresses
ij ij ij
p t o t = +
Fluidummechanic
145
Molecular stresses can be interpreted in two
ways:
Normal stresses; Shear stresses
( 1, 2, 3)
kk kk
k
p t t
=
= +
( )
ij ji
i j
t t
=
=
Fluidummechanic
146
the y direction
(BSL)
x
y
yx
t
yx
t
Recall:
Fluidummechanic
147
In summary:
Fluidummechanic
148
Momentum-flux interpretation (BSL)
Convective momentum transport (BSL Ed2- pp 34-37):
Fluidummechanic
149
Momentum-flux interpretation (BSL)
momentum flux across the
three areas perpendicular to
the respective axes
( ) , ( ) , ( )
x y z
V V V V V V
x y
V V
= convective flux of y-momentum across
a surface perpendicular to the x direction
(or of constant x)
To be compared with
xy
t
= molecular flux of y-momentum across a
surface perpendicular to the x direction
(or of constant x)
Fluidummechanic
150
Momentum-flux interpretation
(BSL)
Convective momentum flux tensor:
( ) ( )
( ) ( )
( )
( )

i i i i
i i
i i j j i i j j
i j i j
i j i j i j i j
ij ij
VV V V e V V
V V e V e V
VV e e VV
o
o o
o o
=
=
=

Fluidummechanic
151
Momentum-flux interpretation
(BSL)
Convective momentum flux tensor components:
vectors
tensor components
Fluidummechanic
152
Momentum-flux tensor (BSL)
Thus in summary (recall):
( )
BSL
VV pI
VV
t
t
u = + +
u = +
u
Combined momentum-flux tensor
t
Molecular momentum-flux tensor
BSL
t
Viscous momentum-flux tensor
p
Pressure

Chapter 5 FM WDH - 2011-2

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter 5 FM WDH - 2011-2

Uploaded by

Copyright:

Available Formats

William Dhaeseleer - 2011

William Dhaeseleer - 2011

William Dhaeseleer - 2011

Vector with components

Can be simplified: No need for 81 viscosity coefficients

You might also like