1

MAE 5130: VISCOUS FLOWS

Lecture 3: Kinematic Properties

August 24, 2010

Mechanical and Aerospace Engineering Department
Florida Institute of Technology

D. R. Kirk
2
CHAPTER 1: CRITICAL READING
1-2 (all)
Know how to derive Eq. (1-3)
1-3 (1-3.1 1-3.6, 1-3.8, 1-3.12 1-3.17)
Understanding between Lagrangian and Eulerian viewpoints
Detailed understanding of Figure 1-14
Eq. (1-12) use of tan
-1
vs. sin
-1
Familiarity with tensors
1-4 (all)
Fluid boundary conditions: physical and mathematical understanding

Comments
Note error in Figure 1-14
Problem 1-8 should read, Using Eq. (1-3) for inviscid flow past a cylinder
3
KINEMATIC PROPERTIES: TWO VIEWS OF MOTION
1. Lagrangian Description
Follow individual particle trajectories
Choice in solid mechanics
Control mass analyses
Mass, momentum, and energy usually formulated for particles or systems of fixed
identity (ex., F=d/dt(mV) is Lagrandian in nature)

2. Eulerian Description
Study field as a function of position and time; not follow any specific particle paths
Usually choice in fluid mechanics
Control volume analyses
Eulerian velocity vector field:



Knowing scalars u, v, w as f(x,y,z,t) is a solution
( ) ( ) ( ) ( ) ( )k t z y x w j t z y x v i t z y x u t z y x V t r V

, , ,

, , ,

, , , , , , , + + = =
4
KINEMATIC PROPERTIES
Let Q represent any property of the
fluid (, T, p, etc.)
Total differential change in Q

Spatial increments


Time derivative of Q of a particular
elemental particle


Substantial derivative, particle
derivative or material derivative

Particle acceleration vector
9 spatial derivatives
3 local (temporal) derivates
( )
( )V V
t
V
Dt
V D
Q V
t
Q
Dt
DQ
z
Q
w
y
Q
v
x
Q
u
t
Q
dt
dQ
wdt dz
vdt dy
udt dx
dt
t
Q
dz
z
Q
dy
y
Q
dx
x
Q
dQ

V +
c
c
=
V +
c
c
=
c
c
+
c
c
+
c
c
+
c
c
=
=
=
=
c
c
+
c
c
+
c
c
+
c
c
=
5
4 TYPES OF MOTION
In fluid mechanics we are interested in general motion, deformation, and rate of
deformation of particles
Fluid element can undergo 4 types of motion or deformation:
1. Translation
2. Rotation
3. Shear strain
4. Extensional strain or dilatation

We will show that all kinematic properties of fluid flow
Acceleration
Translation
Angular velocity
Rate of dilatation
Shear strain
are directly related to fluid velocity vector V = (u, v, w)
6
1. TRANSLATION
dx
dy
A
B C
D
y
x
+
7
1. TRANSLATION
dx
dy
A
B C
D
A
B C
D
udt
vdt
y
x
+
8
2. ROTATION
dx
dy
A
B C
D
y
x
+
9
2. ROTATION
Angular rotation of element about z-axis is defined as the average
counterclockwise rotation of the two sides BC and BA
Or the rotation of the diagonal DB to BD
dx
dy
A
B C
D
A
B
C
D
y
x
+
do
d|
( ) | o d d d
z
= O
2
1
10
2. ROTATION
dydt
y
u
c
c
( )
|
|
.
|

\
|
c
c

c
c
=
O
c
c
=
|
|
|
|
.
|

\
|
c
c
=
c
c
=
|
|
|
|
.
|

\
|
c
c
=
= O

y
u
x
v
dt
d
dt
x
v
dx
dxdt
x
v
d
dt
y
u
dy
dydt
y
u
d
d d d
z
z
2
1
tan
tan
2
1
1
1
o
|
| o
A
B
C
D
do
d|
y
x
+
dxdt
x
v
c
c
11
3. SHEAR STRAIN
dx
dy
A
B C
D
y
x
+
12
3. SHEAR STRAIN
dx
dy
A
B C
D
y
x
+
d|
do
Defined as the average decrease of the angle between two lines which are
initially perpendicular in the unstrained state (AB and BC)
( )
|
.
|

\
|
+ =
+
dt
d
dt
d
d d
xy
| o
c
| o
2
1
2
1
Shear-strain increment

Shear-strain rate
13
COMMENTS: STRAIN VS. STRAIN RATE
Strain is non-dimensional
Example: Change in length AL divided by initial length, L: AL/L
In solid mechanics this is often given the symbol c, non-dimensional
Recall Hookes Law: o = Ec
Modulus of elasticity

In fluid mechanics, we are interested in rates
Example: Change in length AL divided by initial length, L, per unit time:
AL/Lt gives units of [1/s]
In fluid mechanics we will use the symbol c for strain rate, [1/s]
Strain rates will be written as velocity derivates
14
4. EXTENSIONAL STRAIN (DILATATION)
dx
dy
A
B C
D
y
x
+
15
4. EXTENSIONAL STRAIN (DILATATION)
dx
dy
A
B C
D
A
B C
D
Extensional strain in x-direction is defined as the fractional increase in length of the
horizontal side of the element
y
x
+
dt
x
u
dx
dx dxdt
x
u
dx
dt
xx
c
c
=

|
.
|

\
|
c
c
+
= c
dxdt
x
u
dx
c
c
+
Extensional strain in x-direction
16
FIGURE 1-14: DISTORTION OF A MOVING FLUID ELEMENT
dxdt
x
v
c
c
N
o
t
e
:

M
i
s
t
a
k
e

i
n

t
e
x
t

b
o
o
k

F
i
g
u
r
e

1
-
1
4

17
COMMENTS ON ANGULAR ROTATION
Recall: angular rotation of element about z-axis is
defined as average counterclockwise rotation of
two sides BC and BA
BC has rotated CCW do
BA has rotated CW (-d|)
Overall CCW rotation since do > d|
do and d| both related to velocity derivates
through calculus limits


Rates of angular rotation (angular velocity)
3 components of angular velocity vector dO/dt


Very closely related to vorticity
Recall: the vorticity, e, is equal to twice the local
angular velocity, dO/dt (see example in Lecture 2)
( )
dt
d
x
w
z
u
d
z
v
y
w
d
y
u
x
v
d
dt
y
u
dydt
y
v
dx
dydt
y
u
d
dt
x
v
dxdt
x
u
dx
dxdt
x
v
d
d d d
y
x
z
dt
dt
z
O
=
|
.
|

\
|
c
c

c
c
= O
|
|
.
|

\
|
c
c

c
c
= O
|
|
.
|

\
|
c
c

c
c
= O
c
c
=
|
|
|
|
.
|

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

\
|
c
c
+
c
c
=
= O

2
2
1
2
1
2
1
tan lim
tan lim
2
1
1
0
1
0
e
|
o
| o
18
COMMENTS ON SHEAR STRAIN
Recall: defined as the average decrease of
the angle between two lines which are
initially perpendicular in the unstrained
state (AB and BC)


Shear-strain rates






Shear-strain rates are symmetric
( )
ji ij
zx
yz
xy
dx
dw
dz
du
dz
dv
dy
dw
dy
du
dx
dv
dt
d
dt
d
d d
c c
c
c
| o
c
| o
=
|
.
|

\
|
+ =
|
|
.
|

\
|
+ =
|
|
.
|

\
|
+ =
|
.
|

\
|
+ =
+
2
1
2
1
2
1
2
1
2
1
19
COMMENTS ON EXTENSIONAL STRAIN RATES
Recall: the extensional strain in the x-
direction is defined as the fractional increase
in length of the horizontal side of the element



Extensional strains
z
w
y
v
x
u
dt
x
u
dx
dx dxdt
x
u
dx
dt
zz
yy
xx
xx
c
c
=
c
c
=
c
c
=
c
c
=

|
.
|

\
|
c
c
+
=
c
c
c
c
20
STRAIN RATE TENSOR
Taken together, shear and extensional
strain rates constitute a symmetric 2
nd

order tensor

Tensor components vary with change of
axes x, y, z

Follows transformation laws of
symmetric tensors

For all symmetric tensors there exists
one and only one set of axes for which
the off-diagonal terms (the shear-strain
rates) vanish
These are called the principal axes


|
|
|
.
|

\
|
|
|
|
.
|

\
|
=
3
2
1
0 0
0 0
0 0
c
c
c
c c c
c c c
c c c
c
zz zy zx
yz yy yx
xz xy xx
ij
21
USEFUL SHORT-HAND NOTATION
Short-hand notation
i and j are any two coordinate directions


Vector can be split into two parts
Symmetric
Antisymmetric

Each velocity derivative can be resolved
into a strain rate (c) plus an angular
velocity (dO/dt)
( ) ( )
dt
d
x
u
u u u u u
x
u
u
ij
ij
j
i
i j j i i j j i j i
j
i
j i
O
+ =
c
c
+ + =
c
c
=
c
, , , , ,
,
2
1
2
1
22
DEVELOPMENT OF N/S EQUATIONS: ACCELERATION
surface
body
external surface body
external surface body
f g
Dt
V D
g f
f f f
Dt
V D
Dt
V D
a
f f f f
V
F
a
F a m

+ =
=
+ + =
=
+ + = = =
=

Momentum equation, Newton

Concerned with:
Body forces
Gravity
Electromagnetic potential
Surface forces
Friction (shear, drag)
Pressure
External forces

Eulerian description of acceleration

Substitution in to momentum

Recall that body forces apply to entire mass of fluid
element

Now ready to develop detailed expressions for surface
forces (and how they related to strain, which are
related to velocity derivatives)
23
SUMMARY
All kinematic properties of fluid flow
Acceleration: DV/Dt
Translation: udt, vdt, wdt
Angular velocity: dO/dt
dO
x
/dt, dO
y
/dt, dO
z
/dt
Also related to vorticity
Shear-strain rate: c
xy
=c
yx
, c
xz
=c
zx
, c
yz
=c
zy
Rate of dilatation: c
xx
, c
yy
, c
zz
are directly related to the fluid velocity vector V = (u, v, w)

Translation and angular velocity do not distort the fluid element
Strains (shear and dilation) distort the fluid element and cause viscous stresses