Ch.

4 Continuity Equation

Chapter 4 Continuity Equation and Reynolds Transport Theorem

4.1 Control Volume

4.2 The Continuity Equation for One-Dimensional

Steady Flow

4.3 The Continuity Equation for Two-Dimensional

Steady Flow

4.4 The Reynolds Transport Theorem

Objectives:

• apply the concept of the control volume to derive equations for the conservation of mass for

steady one- and two-dimensional flows

• derive the Reynolds Transport Theorem for three-dimensional flow

• show that continuity equation can recovered by simplification of the Reynolds Transport

Theorem

4-1
 Ch. 4 Continuity Equation

4.1 Control Volume

▪ Physical system surroundings

~ is defined as a particular collection of matter or a region of space chosen for study

~ is identified as being separated from everything external to the system by closed boundary

• The boundary of a system: fixed vs. movable boundary

•Two types of system:

closed system (control mass) ~ consists of a fixed mass, no mass can cross its boundary

open system (control volume) ~ mass and energy can cross the boundary of a control volume

4-2
 Ch. 4 Continuity Equation

→ A system-based analysis of fluid flow leads to the Lagrangian equations of motion in

which particles of fluid are tracked.

A fluid system is mobile and very deformable.

A large number of engineering problems involve mass flow in and out of a system.

→ This suggests the need to define a convenient object for analysis. → control volume

• Control volume

~ a volume which is fixed in space and through whose boundary matter, mass, momentum,

energy can flow

~ The boundary of control volume is a control surface.

~ The control volume can be any size (finite or infinitesimal), any space.

~ The control volume can be fixed in size and shape.

→ This approach is consistent with the Eulerian view of fluid motion, in which attention is

focused on particular points in the space filled by him fluid rather than on the fluid particles.

4-3
 Ch. 4 Continuity Equation

4.2 The Continuity Equation for One-Dimensional Steady Flow

• Principle of conservation of mass

The application of principle of conservation of mass to a steady flow in a streamtube results

in the continuity equation.

• Continuity equation

~ describes the continuity of flow from section to section of the streamtube

• One-dimensional steady flow

No flow

Fig. 4.1

Consider the element of a finite streamtube

- no net velocity normal to a streamline

- no fluid can leave or enter the stream tube except at the ends

4-4
 Ch. 4 Continuity Equation

Now, define the control volume as marked by the control surface that bounds the region

between sections 1 and 2.

→ To be consistent with the assumption of one-dimensional steady flow, the velocities at

sections 1 and 2 are assumed to be uniform.

→ The control volume comprises volumes I and R.

→ The control volume is fixed in space, but in dt the system moves downstream.

From the conservation of system mass

(mI  mR )t  (mR  mO )t t (1)

m
For steady flow, the fluid properties at points in space are not functions of time, 0
t

→ ( mR )t  ( mR )t t (2)

Substituting (2) into (1) yields

(mI )t  (mO )t t (3)

Inflow Outflow

4-5
 Ch. 4 Continuity Equation

Express inflow and outflow in terms of the mass of fluid moving across the control surfce in

time dt

(mI )t  1 A1ds1

(mO )t t   2 A2 ds2 (4)

Substituting (4) into (3) yields

1 A1ds1   2 A2 ds2

Dividing by dt gives

m  1 A1ds1   2 A2 ds2 (4.1)

→ Continuity equation

 passing all sections of a stream tube is constant.

In steady flow, the mass flow rate, m

m   AV = constant (kg/sec)

d (  AV )  0 (4.2.a)

→ d  ( AV )  dA( V )  dV (  A)  0 (5)

4-6
 Ch. 4 Continuity Equation

Dividing (a) by  AV results in

d dA dV
  0 (4.2.b)
 A V

→ 1-D steady compressible fluid flow

For incompressible fluid flow; constant density


→ d    0
t

From Eq. (4.2a)

 d ( AV )  0

d ( AV )  0 (6)

Set Q =volume flowrate (m3/s, cms)

Then (6) becomes

Q  AV  const.  AV
1 1  A2V2 (4.5)

For 2-D flow, flowrate is usually quoted per unit distance normal to the plane of the flow, b

→ q  flowrate per unit distance normal to the plane of flow m 3

s  m

4-7
 Ch. 4 Continuity Equation

Q AV
q   hV
b b

1 1  h2V2
hV (4.7)

[re] For unsteady flow

masst t  masst + inflow  outflow

(mR )t t  (mR )t  (mI )t  (mO )t t

Divide by dt

(mR )t t  (mR )t

 (mI )t  (mO )t t
dt

Define

m (mR )t t  (mR )t  (  vol )

 
t dt t

Then

 (  vol )
 (mI )t  (mO )t t
t

4-8
 Ch. 4 Continuity Equation

• Non-uniform velocity distribution through flow cross section

Eq. (4.5) can be applied. However, velocity in Eq. (4.5) should be the mean velocity.

Q
V
A

Q   dQ   vdA
A A

1
A A
 V vdA

•The product AV remains constant along a streamline in a fluid of constant density.

→ As the cross-sectional area of stream tube increases, the velocity must decrease.

→ Streamlines widely spaced indicate regions of low velocity, streamlines closely spaced

indicate regions of high velocity.

1 1  A2V2 : A1  A2  V1  V2
AV

4-9
 Ch. 4 Continuity Equation

[IP 4.3] p. 113

The velocity in a cylindrical pipe of radius R is represented by an axisymmetric parabolic

distribution. What is V in terms of maximum velocity, vc ?

[Sol]

dr
dA=2rdr
R r

vc

 r2 
v  vc 1  2  ← equation of parabola
 R 

Q 1 1 R  r2 
V    v dA   vc  1  2  2 r dr
A A A  R2 0
 R 

R
2v R  r3  2 vc  r 2 r4  2 vc  R 2 R 2  vc
 2c
R 
0 

r 
R 2 

dr 
R 2 
 2

4 R 2
0

R 2 
 2
   → Laminar flow
4  2

[Cf] Turbulent flow

→ logarithmic velocity distribution

4-10
 Ch. 4 Continuity Equation

4.3 The Continuity Equation for Two-Dimensional Steady Flow

(1) Finite control volume

Fig. 4.3

Consider a general control volume, and apply conservation of mass

(mI  mR )t  (mR  mO )t t (a)

For steady flow: (mR )t  (mR )t t

Then (a) becomes

(mI )t  (mO )t t (b)

i) Mass in O moving out through control surface

(mO )t t    (ds cos )dA

C . S .out

mass   vol    area  1   ds dA cos

4-11
 Ch. 4 Continuity Equation

• Displacement along a streamline;

ds  vdt (c)

Substituting (c) into (b) gives

(mO )t t    (v cos ) dAdt (d)

C . S .out

By the way, v cos  = normal velocity component normal to C.S. at dA


Set n = outward unit normal vector at dA  n  1
 
 vn  v  n  v cos ← scalar or dot product (e)

Substitute (e) into (d)

   
(mO )t t  dt   v  n dA  dt   v  dA
C . S .out C . S .out

 
where dA  n dA =directed area element

[Cf] tangential component of velocity does not contribute to flow through the C.S.

→ Circulation

ii) Mass flow into I

( mI ) t    (ds cos )dA   90  cos   0

C . S .in

 
C . S .in
 (v cos )dAdt  dt 
C . S .in
 v  (n)dA

4-12
 Ch. 4 Continuity Equation

   
   
 dt    v  ndA  dt    v  dA
C . S .in C . S .in

For steady flow, mass in = mass out

 
   
dt   v  dA  dt    v  dA
C . S .out C . S .in

Divide by dt
   
  v  dA    v  dA
C . S .in C . S .out

   
 C . S .out
 v  dA  
C . S .in
 v  dA  0 (f)

Combine c.s. in and c.s. out

   

C .S .
 v  dA  
C .S .
 v  ndA  0 (4.9)

where  C .S .
 integral around the control surface in the counterclockwise direction

→ Continuity equation for 2-D steady flow of compressible fluid

[Cf] For unsteady flow


(mass inside c.v.) = mass flowrate in – mass flowrate out
t

4-13
 Ch. 4 Continuity Equation

(2) Infinitesimal control volume

u dx u dx
u u
x 2 x 2

Apply (4.9) to control volume ABCD

       
AB
 v  ndA    v  ndA    v  ndA    v  ndA  0
BC CD DA
(f)

By the way, to first-order accuracy  dx

 AB   
x 2

    dy   v dy 
 AB
 v  ndA     


y 2   v
y 2 
dx

   v dy 
v  n   v 
 y 2 

    dx  u dx 
BC
 v  ndA    

 u 
x 2  x 2 
 dy

    dy  v dy 
CD
 v  ndA    


y 2 
v
y 2 
dx (g)

    dx  u dx 
DA
 v  ndA     

 u 
x 2  x 2 
 dy

4-14
 Ch. 4 Continuity Equation

Substitute (g) to (f), and expand products, and then retain only terms of lowest order (largest

order of magnitude)

v dy  dy  v (dy )2
  vdx   dx  v dx  dx
y 2 y 2 y y 4

v dy  dy  v (dy )2
  vdx   dx  v dx  dx
y 2 y 2 y y 4

u dx  dx  u (dx)2
  udy   dy  u dy  dy
x 2 x 2 x x 4

u dx  dx   (dx) 2
  udy   dy  u dy  dy  0
x 2 x 2 x x 4

v  u 
  dxdy  v dxdy   dxdy  u dxdy  0
y y x x

v  u 
 v  u 0
y y x x

 
(  u )  (  v)  0 (4.10)
x y

→ Continuity equation for 2-D steady flow of compressible fluid

• Continuity equation of incompressible flow for both steady and unsteady flow (   const.)

u v
 0 (4.11)
x y

4-15
 Ch. 4 Continuity Equation

[Cf] Continuity equation for unsteady 3-D flow of compressible fluid

   
 (  u )  (  v)  (  w)  0
t x y z

For steady 3-D flow of incompressible fluid

u v w
  0
x y z

• Continuity equation for polar coordinates

D C

A
B

Apply (4.9) to control volume ABCD

       
AB
 v  ndA   V  ndA   V  ndA   V  ndA  0
BC CD DA

    d  vt d 
AB
V  ndA     

 vt 
 2   2 
 dr

    dr  vr dr 
BC
V  ndA    

 vr 
r 2  r 2 
 (r  dr )d

    d  vt d 
CD
V  ndA    

 vt 
 2   2 
 dr

4-16
 Ch. 4 Continuity Equation

    dr  vr dr 
DA  V  ndA   

  
r 2 
vr 
r 2 
 rd

Substituting these terms yields

vt d  d  vt (d ) 2

  vt dr   dr  vt dr  dr
 2  2   4

vt d  d  vt (d )2

  vt dr   dr  vt dr  dr
 2  2   4

vr dr v dr
  vr rd   vr drd   rd   r drd
r 2 r 2
2 2
 dr  dr   dr  vr   dr  vr
vr rd  vr drd    rd    drd
r 2 r 2 r  2  r r  2  r
2
v dr  dr  vr  dr 
  vr rd   r rd  vr rd    rd  0
r 2 r 2 r r  2 

vt  v 
 d dr  vt d dr   r rdrd  vr rdrd
  r r

vr 1  1  vr 1
  vr drd   (dr ) 2 d  vr (dr )2 d  (dr )3 d  0
r 2 r 2 r r 2

Divide by drd

vt  v  v 1  1  vr 1
  vt   r  vr r   vr   r dr  vr dr  dr  0
  r r r 2 r 2 r r 2

vr  v 
  r  vr r   vr   t  vt 0
r r  

4-17
 Ch. 4 Continuity Equation

Divide by r

vr  v v 
  vr   r   t  vt 0
r r r r r

 (  vr )  vr  (  vt )
   0 (4.12)
r r r

For incompressible fluid

vr vr vt
  0 (4.13)
r r r

4-18
 Ch. 4 Continuity Equation

[IP 4.4] p. 117

A mixture of ethanol and gasoline, called "gasohol," is created by pumping the two liquids

into the "wye" pipe junction. Find Qeth and Veth

 mix  691.1 kg m3
No flow in
and out
Vmix  1.08 m s

Qgas  30 l / s  30  103 m3 /s

 gas  680.3 kg m3 
n

eth  788.6 kg m3

[Sol]


A1  (0.2) 2  0.031m 2 ; A2  0.0079m 2 ; A3  0.031m 2
4

V1  30  103 / 0.031  0.97 m/s (4.4)

     

1
 v  n dA    v  n dA    v  n dA  0
2 3
(4.9)

 

1
 v  n dA  680.3  0.97  0.031  20.4 kg/s

 
2
 v  n dA  788.6  V2  0.0079  6.23 V2

 
3
 v  n dA  691.1  1.08  0.031  23.1 kg/s
 
  c. s
 v  ndA  20.4  6.23 V2  23.1  0

V2  0.43 m/s

 Qeth  V2 A2  (0.43)(0.0079)  3.4  103 m3 /s  3.4 l /s

4-19
 Ch. 4 Continuity Equation

4.4 The Reynolds Transport Theorem

Osborne Reynolds (1842-1912);
• Reynolds Transport Theorem (RTT) English engineer

→ a general relationship that converts the laws such as mass

conservation and Newton’s 2nd law from the system to the

control volume

→ Most principles of fluid mechanics are adopted from

solid mechanics, where the physical laws dealing with the

time rates of change of extensive properties are expressed for

systems.

→ Thesre is a need to relate the changes in a control volume to the changes in a system.

• Two types of properties

Extensive properties ( E ): total system mass, momentum, energy

Intensive properties ( i ): mass, momentum, energy per unit mass

E i

system mass, m 1
 
system momentum, mv v
 
system energy, m  v 
2
(v )2

E   i dm   i  dvol (4.14)

system system

4-20
 Ch. 4 Continuity Equation

▪ Derivation of RTT

Consider time rate of change of a system property

Et  dt  Et  ( ER  E0 )t  dt  ( ER  EI )t (a)

 
( E0 )t dt  dt  i  v  dA (b.1)
c . s .out

 
( E I )t  dt    c . s .in
i  v  dA  (b.2)

( ER )t  dt    i dvol 
R t  dt
(b.3)

( ER )t    i dvol 
R t
(b.4)

Substitute (b) into (a) and divide by dt


Et  dt  Et 1
dt

dt   i dvol     i dvol  
R t  dt R t

   
  i  v  dA   i  v  dA
c . s .out c . s .in

4-21
 Ch. 4 Continuity Equation

 
dE 

dt t
  c.v .

 
i  dvol   i  v  dA
c. s.
(4.15)

dE
① = time rate of change of E in the system
dt

②

t
  c .v .

i  dvol = time rate change within the control volume → unsteady term

 
③   c. s.
i  v  dA = fluxes of E across the control surface

▪ Application of RTT to conservation of mass

For application of RTT to the conservation of mass,

dm
in Eq. (4.15), E  m , i  1 and  0 because mass is conserved.
dt

     



t
  c.v.

 dvol      v  dA  
c. s.
 
c . s .out
 v  dA  
c . s .in
 v  dA  (4.16)

Unsteady flow: mass within the control volume

may change if the density changes

For flow of uniform density or steady flow, (4.16) becomes

   
 c . s .out
 v  dA  
c . s .in
 v  dA  0 ~ same as Eq. (4.9)

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 Ch. 4 Continuity Equation

For one-dimensional flow

 
c . s .out
 v  dA   2V2 A2
 
c . s .in
 v  dA   1V1 A1

 1 AV
1 1   2 A2V2 (4.1)

• In Ch. 5 & 6, RTT is used to derive the work-energy, impulse-momentum, and moment of

momentum principles.

4-23
 Ch. 4 Continuity Equation

Homework Assignment # 4

Due: 1 week from today

Prob. 4.9

Prob. 4.12

Prob. 4.14

Prob. 4.20

Prob. 4.31

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