Chapter 4: Fluid Kinematics

4-1 Lagrangian
g g and Eulerian Descriptions
p
4-2 Fundamentals of Flow Visualization
4-3 Kinematic Description
p
4-4 Reynolds Transport Theorem (RTT)

Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-1 Lagrangian and Eulerian Descriptions (1)

Lagrangian description of fluid flow tracks the

position
i i andd velocity
l i off individual
i di id l particles.
i l
Based upon Newton's laws of motion.
Diffi l to use for
Difficult f practical
i l flow
fl analysis.
l i
Fluids are composed of billions of molecules.
Interaction between molecules hard to describe/model.
describe/model
However, useful for specialized applications
Sprays particles,
Sprays, particles bubble dynamics,
dynamics rarefied gases.
gases
Coupled Eulerian-Lagrangian methods.
Named after Italian mathematician Joseph
p Louis
Lagrange (1736-1813).
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Fluid Mechanics
Chapter 4: Fluid Kinematics
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4-1 Lagrangian and Eulerian Descriptions (2)

Eulerian description of fluid flow: a flow domain or control volume is

defined by
b which
hich fluid
fl id flows
flo s in and out.
o t
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).
(1707 1783)

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Chapter 4: Fluid Kinematics
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 4-1 Lagrangian and Eulerian Descriptions (3)
Acceleration Field
Consider a fluid particle
r and Newton
Newton'ss second law law,
r
Fparticle = m particle a particle

The acceleration of the particler is the time derivative of the

particle'ss velocity
particle velocity. r dV particlel
a particle =
dt
However particle
However, 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 r derivative r of, chainr rule must ber used.
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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Fluid Mechanics
Chapter 4: Fluid Kinematics
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4-1 Lagrangian and Eulerian Descriptions (4)
dx particle dy particle dz particle
Since = u, = v, =w
dt dt dt
r r r r
r ∂V ∂V ∂V ∂V
a pparticle = +u +v +w
∂t ∂x ∂y ∂z
In vector form, the acceleration can be written as
r r
dV ∂V r r r
r
a ( x, y , z , t ) =
dt
=
∂t
+ V ∇ V ( )
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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Chapter 4: Fluid Kinematics
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4-1 Lagrangian and Eulerian Descriptions (5)
The total derivative operator d/dt is call the material derivative
and is often ggiven special
p notation,, D/Dt.
r r r
DV dV ∂V r r r
Dt
=
dt
=
∂t
+ V ∇ V ( )
Advective acceleration is nonlinear: source of many
phenomenon
h andd primary
i challenge
h ll in
i solving
l i fluid
fl id flow
fl
problems.
Provides ``transformation''
transformation between Lagrangian and Eulerian
frames.
Other names for the material derivative include: total,, p
particle,,
Lagrangian, Eulerian, and substantial derivative.
v
∂V
Steady: =0
∂t 4-5

Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (1)

Flow visualization is the visual examination of flow-

field features.
Important for both physical
y experiments and
numerical (CFD) solutions.
Numerous methods
Streamlines and streamtubes
Pathlines
Streaklines
Timelines
Refractive techniques
Surface flow techniques
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Chapter 4: Fluid Kinematics
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4-2 Fundamentals of Flow Visualization (2)
A Streamline is a curve that is
everywhere tangent to the
instantaneous local velocity
vector.
C
Consider
id an arc llength
th
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
= = = 4-7
V u v w
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
 4-2 Fundamentals of Flow Visualization (3)
Airplane surface pressure contours,
NASCAR surface pressure contours and volume streamlines,, and surface
streamlines
li streamlines

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4-2 Fundamentals of Flow Visualization (4)

A Pathline is the actual path

traveled by an individual fluid
particle over some time period.
Same as the fluid particle's
material pposition vector
(x particle ( t ) , y particle ( t ) , z particle ( t ) )
Particle location at time t:
r r
t
r
dx ⎞
⎟
dt ⎠ particle
= u ( x, y , z , t ) x = xstart + ∫
t start
Vdt
dy ⎞ Particle Image Velocimetry (PIV)
⎟ = υ ( x, y , z , t )
dt ⎠ particle is a modern experimental
technique to measure velocity
dz ⎞ field over a plane in the flow field.
⎟ = w( x, y, z , t )
dt ⎠ particle

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Chapter 4: Fluid Kinematics
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4-2 Fundamentals of Flow Visualization (5)

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4-2 Fundamentals of Flow Visualization (6)

A Streakline is the
locus of fluid particles
that have passed
p
sequentially through a
pprescribed ppoint in the
flow.
Easy to generate in
experiments: dye in a
water flow,
flow or smoke in
an airflow.
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Chapter 4: Fluid Kinematics
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4-2 Fundamentals of Flow Visualization (7)

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 4-2 Fundamentals of Flow Visualization (8)

Comparison
For steady flow, streamlines, pathlines, and
streaklines are identical
identical.
For unsteady flow, they can be very different.
Streamlines
St li are an instantaneous
i t t picture
i t off the
th flow
fl field
fi ld
Pathlines and Streaklines are flow patterns that have a time
them
history associated with them.
Streakline: instantaneous snapshot of a time-integrated
flow pattern.
pattern
Pathline: time-exposed flow path of an individual particle.
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Chapter 4: Fluid Kinematics
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 4-2 Fundamentals of Flow Visualization (9)

EXAMPLE2.1 Streamlines and Pathlines in Two-

Dimensional Flow
A velocity field is given by ; the units of velocity are m/s; x
and y are given in meters; .
(a) Obtain an equation for the streamlines in the xy plane.
(b) Plot the Streamlines passing through the point
(c) Determine the velocity of particle at the point (2, 8).
((d)) If the pparticle passing
p g through
g the ppoint ( is marked at time t
= 0, determine the location of the particle at time t = 6 s .
(e) What is the velocity of this particle at time t = 6 s ?
(f) Show that the equation of the particle path (the pathline) is
the same as the equation of the Streamline.
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4-2 Fundamentals of Flow Visualization (10)

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Chapter 4: Fluid Kinematics
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 4-3 Kinematic Description (1)

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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Chapter 4: Fluid Kinematics
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 4-3 Kinematic Description (2)

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
Rate of rotation at a point is defined as the average rotation rate
off two initially
i i i ll perpendicular
di l lines
li h intersect
that i h point.
at that i
The rate of rotation vector in Cartesian coordinates:

r1 ⎛ ∂w ∂v ⎞ r 1 ⎛ ∂u ∂w ⎞ r 1 ⎛ ∂v ∂u ⎞ r
ω= ⎜ − ⎟i + ⎜ − ⎟ j + ⎜ − ⎟k
2 ⎝ ∂y ∂z ⎠ 2 ⎝ ∂z ∂x ⎠ 2 ⎝ ∂x ∂y ⎠ 4-17

Fluid Mechanics
Chapter 4: Fluid Kinematics
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 4-3 Kinematic Description (3)

Linear Strain Rate is defined as the rate of increase in length per unit length.
In Cartesian coordinates
∂u ∂v ∂w
ε xx = , ε yy = , ε zz =
∂x ∂y ∂z
Volumetric strain rate in Cartesian coordinates

1 DV ∂u ∂v ∂w
= ε xx + ε yy + ε zz = + +
V Dt ∂x ∂y ∂z
Since the volume of a fluid element is constant for an incompressible flow,
the volumetric strain rate must be zero.

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 4-3 Kinematic Description (4)

Shear Strain Rate at a ppoint is defined as halff off the

rate of decrease of the angle between two initially
pperpendicular
p lines that intersect at a ppoint.
Shear strain rate can be expressed in Cartesian
coordinates as:

1 ⎛ ∂u ∂v ⎞ 1 ⎛ ∂w ∂u ⎞ 1 ⎛ ∂v ∂w ⎞
ε xy = ⎜ + ⎟ , ε zx = ⎜ + ⎟ , ε yz = ⎜ + ⎟
2 ⎝ ∂y ∂x ⎠ 2 ⎝ ∂x ∂z ⎠ 2 ⎝ ∂z ∂y ⎠

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Chapter 4: Fluid Kinematics
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 4-3 Kinematic Description (5)

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 ⎠ ⎟
⎛ ε xx ε xy ε xz ⎞ ⎜
⎜ ⎟ 1 ⎛ ∂v ∂u ⎞ ∂v 1 ⎛ ∂v ∂w ⎞ ⎟
ε ij = ⎜ ε yx ε yy ε yz ⎟ = ⎜ ⎜ + ⎟ ⎜ + ⎟ ⎟
⎜ ε zx ⎟ ⎜ 2 ⎝ ∂x ∂y ⎠ ∂y 2 ⎝ ∂z ∂y ⎠ ⎟
⎝ ε zy ε zz ⎠ ⎜ ⎟
⎜ 1 ⎛ ∂w + ∂u ⎞ 1 ⎛ ∂w ∂v ⎞ ∂w ⎟
⎜ 2 ⎝⎜ ∂x ∂z ⎠⎟ ⎜ + ⎟ ⎟
⎝ 2 ⎝ ∂y ∂z ⎠ ∂z ⎠
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 4-3 Kinematic Description (6)

Purpose
p 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
Strain rate tensor is important for numerous reasons.
reasons
For example,
Develop relationships between fluid stress and strain rate.
rate
Feature extraction and flow visualization in CFD
simulations.

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 4-3 Kinematic Description (7)

The vorticity
r r vector
r
is defined as the curl of the velocity
vector ζ = ∇ × V
Vorticity is
r equal
r
to twice the angular velocity of a fluid
particle ζ = 2ω
particle.
Cartesian coordinates
r ⎛ ∂w ∂v ⎞ r ⎛ ∂u ∂w ⎞ r ⎛ ∂v ∂u ⎞ r
ζ =⎜ − ⎟i + ⎜ − ⎟ j + ⎜ − ⎟k
⎝ ∂y ∂z ⎠ ⎝ ∂z ∂x ⎠ ⎝ ∂x ∂y ⎠
Cylindrical coordinates
r ⎛ 1 ∂u z ∂uθ ⎞ r ⎛ ∂ur ∂u z ⎞ r ⎛ ∂ ( ruθ ) ∂ur ⎞r
ζ =⎜ − ⎟ er + ⎜ − ⎟ eθ + ⎜ − ⎟ ez
⎝ r ∂θ ∂z ⎠ ⎝ ∂z ∂r ⎠ ⎝ ∂r ∂θ ⎠
In regions where z = 0,
0 the flow is called irrotational.
irrotational
Elsewhere, the flow is called rotational.
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 4-3 Kinematic Description (8)

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 4-3 Kinematic Description (9)
Special case: consider two flows with circular streamlines

ur = 0, uθ = ω r ur = 0, uθ =
K

⎞ r 1 ⎛ ∂ (ω r )
r
r 1 ⎛ ∂ ( ruθ ) ∂ur
2
⎞r
ζ = ⎜
r
− 0 ⎟ ez = 2ωez r 1 ⎛ ∂ ( ruθ ) ∂ur ⎞ r 1 ⎛ ∂(K ) ⎞r
− ⎟ ez = ⎜⎜ ⎟ ζ = ⎜ − = − 0
r
⎟ e z = 0 ez
r ⎝ ∂r ∂θ ⎠ r ∂r r ⎝ ∂r ∂θ
⎟ z
e ⎜
r ⎝ ∂r
⎝ ⎠ ⎠ ⎠

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 4-4 Reynolds Transport Theorem (RTT) (1)
A system is a quantity of matter of fixed
y No mass can cross a system
identity. y
boundary.
A control volume is a region in space
chosen for study. Mass can cross a control
surface.
f
The fundamental conservation laws
(conservation of mass, energy, and
momentum) apply directly to systems.
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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4-4 Reynolds Transport Theorem (RTT) (2)

Let B represent any extensive property (such as mass,

energy, or momentum), and let b=B/m represent the
corresponding
di intensive
i t i property. t Noting
N ti that
th t extensive
t i
properties are additive, the extensive property B of the
system at times t and t t can be expressed as

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4-4 Reynolds Transport Theorem (RTT) (3)

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4-4 Reynolds Transport Theorem (RTT) (4)

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4-4 Reynolds Transport Theorem (RTT) (5)

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4-4 Reynolds Transport Theorem (RTT) (6)

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
t l volume
l
Term 2: the net flux of B out of the control
volume by mass crossing the control surface

dBsys ∂ r r
=∫
CV ∂t
( ρ b ) dV + ∫ ρ bV ndA
dt CS
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4-4 Reynolds Transport Theorem (RTT) (7)

‰ Special Case 1: Steady Flow

dBsys → ∧
Steady flow : = ∫ ρb(V ⋅ n)dA
dt CS

‰ Special Case 2: One

One-Dimensional
Dimensional Flow
One - dimensional flow :
dBsys d
= ∫ ρb dV + ∑ ρ ebeVe Ae - ∑ ρ i biVi Ai
dt dt CV out
1
424 3 in 1 424 3
for each exit for each exit

dBsys d • •

dt
= ∫ ρb dV + ∑
dt CV out
m e be - ∑ m i bi
in
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 4-4 Reynolds Transport Theorem (RTT) (8)
Material derivative (differential analysis):
Db ∂b r r
=
Dt ∂t
+ V ∇ b ( )
General RTT
RTT, nonfixed CV (integral analysis):
dBsys ∂ r r
=∫
CV ∂t
( ρ b ) dV + ∫ ρ bV ndA
dt CS

Mass Momentum Energy Angular

momentum
r r
B, Extensive properties m mV E H
r r
( )
r
b Intensive properties
b, 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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4-4 Reynolds Transport Theorem (RTT) (9)

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4-4 Reynolds Transport Theorem (RTT) (10)

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4-4 Reynolds Transport Theorem (RTT) (11)

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 4-4 Reynolds Transport Theorem (RTT) (12)

There is a direct analogy between the transformation from

Lagrangian to Eulerian descriptions (for differential analysis
using
i infinitesimally
i fi i i ll small ll fluid
fl id elements)
l ) andd the
h transformation
f i
from systems to control volumes (for integral analysis using large,
finite flow fields).
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