4.

6 Momentum Equation for Control Volume

with Arbitrary Acceleration
In Section 4.5 we obtained a momentum equation for a control volume with recti-
linear acceleration. The purpose of this section is to extend this for completeness
to include rotation and angular acceleration of the control volume, in addition to
translation and rectilinear acceleration.
First, we develop an expression for Newtons second law in an arbitrary, noninertial
coordinate system. Then we use Eq. 4.25 to complete the formulation for a control
volume. Newtons second law for a system moving relative to an inertial coordinate
system is given by
~
F 5
d
~
P
XYZ
dt
_
system
4:27
where, as in the previous section, XYZ denotes the inertial (e.g., stationary) reference
frame. Since
~
P
XYZ

system
5
_
Msystem
~
V
XYZ
dm
and M(system) is constant,
~
F 5
d
dt
_
Msystem
~
V
XYZ
dm 5
_
Msystem
d
~
V
XYZ
dt
dm
or
~
F 5
_
Msystem
~a
XYZ
dm 4:35
The basic problem is to relate ~a
XYZ
to the acceleration ~a
xyz
, measured relative to a
noninertial coordinate system. For this purpose, consider the noninertial reference
frame, xyz, shown in Fig. 4.5.
The noninertial frame, xyz, itself is located by position vector
~
R relative to the xed
frame XYZ. The noninertial frame is assumed to rotate with angular velocity ~.
A particle is instantaneously located relative to the moving frame by position vector
~r 5
^
ix 1
^
jy 1
^
kz. Relative to inertial reference frame XYZ, the position of the particle
is denoted by position vector
~
X. From the geometry of the gure,
~
X 5
~
R 1~r.
The velocity of the particle relative to an observer in the XYZ system is
~
V
XYZ
5
d
~
X
dt
5
d
~
R
dt
1
d~r
dt
5
~
V
rf
1
d~r
dt
4:36
X
r
R
y
z
x
Y
X
Z
Particle
Fig. 4.5 Location of a particle in
inertial (XYZ) and noninertial (xyz)
reference frames.
W-6 Chapter 4 Basic Equation in Integral Form for a Control Volume
where, as in the previous section,
~
V
rf
is the instantaneous velocity of the control
volume frame itself relative to the inertial XYZ reference frame.
We must be careful in evaluating d~r=dt because both the magnitude, j~rj, and the
orientation of the unit vectors,
^
i;
^
j; and
^
k, are functions of time. Thus
d~r
dt
5
d
dt
x
^
i 1y
^
j 1z
^
k 5
^
i
dx
dt
1x
d
^
i
dt
1
^
j
dy
dt
1y
d
^
j
dt
1
^
k
dz
dt
1z
d
^
k
dt
4:37a
The terms dx/dt, dy/dt, and dz/dt are the velocity components of the particle relative to
xyz. Thus
~
V
xyz
5
^
i
dx
dt
1
^
j
dy
dt
1
^
k
dz
dt
4:37b
You may recall from dynamics (and as we will see in Example 4.13), for a rotating
coordinate system
~ 3~r 5 x
d
^
i
dt
1y
d
^
j
dt
1z
d
^
k
dt
4:37c
Combining Eqs. 4.37a, 4.37b, and 4.37c, we obtain
d~r
dt
5
~
V
xyz
1~ 3~r 4:37d
Substituting into Eq. 4.36 gives
~
V
XYZ
5
~
V
rf
1
~
V
xyz
1~ 3~r 4:38
The acceleration of the particle relative to an observer in the inertial XYZ system is
then
~a
XYZ
5
d
~
V
XYZ
dt
5
d
~
V
rf
dt
1
d
~
V
xyz
dt
_
XYZ
1
d
dt
~ 3~r
or
~a
XYZ
5 ~a
rf
1
d
~
V
xyz
dt
_
XYZ
1
d
dt
~ 3~r 4:39
Both
~
V
xyz
and ~r are measured relative to xyz, so the same caution observed in
developing Eq. 4.37d applies. Thus
d
~
V
xyz
dt
_
XYZ
5
^
i
du
dt
1
^
j
dv
dt
1
^
k
dw
dt
1~ 3
~
V
xyz
5 ~a
xyz
1~ 3
~
V
xyz
4:40a
and
d
dt
~ 3~r 5
d~
dt
3~r 1~ 3
d~r
dt
5
_
~ 3~r 1~ 3
~
V
xyz
1~ 3~r
or
d
dt
~ 3~r 5
_
~ 3~r 1~ 3
~
V
xyz
1~ 3~ 3~r 4:40b
Substituting Eqs. 4.40a and 4.40b into Eq. 4.39, we obtain
~a
XYZ
5 ~a
rf
1~a
xyz
12~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r 4:41
4.6 Momentum Equation for Control Volume with Arbitrary Acceleration W-7
Equation 4.41 relates the acceleration of a uid particle as measured in the two frames
(the inertial frame XYZ and the noninertial frame xyz). From your study of dynamics
you will be familiar with each of the terms in the equation. They are
~a
XYZ
: Absolute rectilinear acceleration of a particle relative to fixed reference
frame XYZ.
~a
rf
: Absolute rectilinear acceleration of origin of moving reference frame xyz
relative to fixed frame XYZ.
~a
xyz
: Rectilinear acceleration of a particle relative to moving reference frame
xyz (this acceleration would be that seen by an observer on moving
frame xyz; ~a
xyz
5 d
~
V
xyz
=dt
xyz
).
2~ 3
~
V
xyz
: Coriolis acceleration due to motion of the particle within moving frame
xyz.
~ 3~ 3~r: Centripetal acceleration due to rotation of moving frame xyz.
_
~ 3~r : Tangential acceleration due to angular acceleration of moving reference
frame xyz.
Substituting ~a
XYZ
, as given by Eq. 4.41, into Eq. 4.35, we obtain
~
F
system
5
_
Msystem
~a
rf
1~a
xyz
12~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
_ _
dm
or
~
F 2
_
Msystem
~a
rf
12~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
_ _
dm 5
_
Msystem
~a
xyz
dm 4:42a
But
_
Msystem
~a
xyz
dm 5
_
Msystem
d
~
V
xyz
dt
_
xyz
dm 5
d
dt
_
Msystem
~
V
xyz
dm
_ _
xyz
5
d
~
P
xyz
dt
_
system
4:42b
Combining Eqs. 4.42a and 4.42b, we obtain
~
F 2
_
Msystem
~a
rf
12~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
_ _
dm 5
d
~
P
xyz
dt
_
system
or
~
F
S
1
~
F
B
2
_
Vsystem
~a
rf
12~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
_ _
dV
---
5
d
~
P
xyz
dt
_
system
4:43
Equation 4.43 is a statement of Newtons second law for a system. The system
derivative, d
~
P
xyz
=dt, represents the rate of change of momentum,
~
P
xyz
, of the
system measured relative to xyz, as seen by an observer in xyz. This system derivative
can be related to control volume variables through Eq. 4.25,
dN
dt
_
system
5
@
@t
_
CV
dV--- 1
_
CS

~
V
xyz
d
~
A 4:25
To obtain the control volume formulation, we set N 5
~
P
xyz
; and 5
~
V
xyz
. Then Eqs.
4.25 and 4.43 may be combined to give
~
F
S
1
~
F
B
2
_
CV
~a
rf
12~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r dV
---
5
@
@t
_
CV
~
V
xyz
dV
---
1
_
CS
~
V
xyz

~
V
xyz
d
~
A
4:44
W-8 Chapter 4 Basic Equation in Integral Form for a Control Volume
Equation 4.44 is the most general control volume form of Newtons second law.
Comparing the momentum equation for a control volume moving with arbitrary
acceleration, Eq. 4.44, with that for a control volume moving with rectilinear accel-
eration, Eq. 4.33, we see that the only difference is the presence of three additional
terms on the left side of Eq. 4.44. These terms result from the angular motion of
noninertial reference frame xyz. In dynamics these terms are often referred to as
ctitious forces that arise due to inertia effects present when we use a noninertial
xyz coordinate system: the Coriolis force due to particle motion within the xyz
coordinates, and centripetal and tangential forces due to the xyz coordinate systems
rotational motion, respectively. As we should expect, the general form, Eq. 4.44,
reduces to the rectilinear acceleration form, Eq. 4.33, when the angular terms are zero,
and to the inertial control volume form, Eq. 4.26, when all of the terms for the control
volume motion (~a
rf
; ~; and
_
~) are zero.
The precautions concerning the use of Eqs. 4.26 and 4.33 also apply to the use of
Eq. 4.44. Before attempting to apply this equation, one must draw the boundaries
of the control volume and label appropriate coordinate directions. For a control
volume moving with arbitrary acceleration, one must label a coordinate system xyz on
the control volume and an inertial reference frame XYZ.
Example 4.13 VELOCITY IN FIXED AND NONINERTIAL REFERENCE FRAMES
A reference frame, xyz, moves arbitrarily with respect to a xed frame, XYZ. A particle moves with velocity
~
V
xyz
5 dx=dt
^
i 1dy=dt
^
j 1dz=dt
^
k, relative to frame xyz. Show that the absolute velocity of the particle is given by
~
V
XYZ
5
~
V
rf
1
~
V
xyz
1~ 3~r
Given: Fixed and noninertial frames as shown.
Find:
~
V
XYZ
in terms of
~
V
xyz
; ~; ~r; and
~
V
rf
.
Solution:
From the geometry of the sketch,
~
X 5
~
R 1~r, so
~
V
XYZ
5
d
~
X
dt
5
d
~
R
dt
1
d~r
dt
5
~
V
rf
1
d~r
dt
Since
~r 5 x
^
i 1y
^
j 1z
^
k
we have
d~r
dt
5
dx
dt
^
i 1
dy
dt
^
j 1
dz
dt
^
k1x
d
^
i
dt
1y
d
^
j
dt
1z
d
^
k
dt
or
d~r
dt
5
~
V
xyz
1x
d
^
i
dt
1y
d
^
j
dt
1z
d
^
k
dt
The problem now is to evaluate d
^
i=dt; d
^
j=dt, and d
^
k=dt that result from the angular motion of frame xyz. To evaluate
these derivatives, we must consider the rotation of each unit vector caused by the three components of the angular
velocity, ~, of frame xyz.
Consider the unit vector
^
i. It will rotate in the xy plane because of
z
, as follows:
X
r

X
R
z
y
x
Particle
Y
Z
y(t + t)
i (t + t)
x(t + t)

z
y(t)
x(t)
i (t)
^
i (t + t)
^
i (t + t)
^
^
i (t)
^
i (t)
^

4.6 Momentum Equation for Control Volume with Arbitrary Acceleration W-9
Now from the diagram
^
it 1t 2
^
it 5 1sin
^
j 111 2cos2
^
i
But for small angles cos % 1 2[()
2
/2] and sin % , so
^
it 1t 2
^
it 5 1
^
j 11

2
2
2
^
i 5 1
^
j 2

2
^
i
_ _
In the limit as t -0, since 5
z
t,
d
^
i
dt
_
due to
z
lim
t-0
5
_
^
it 1t 2
^
it
t
_
5
lim
t-0
1
z
t
_
^
j 2

z
t
2
^
i
_
t
_

_
_

_
d
^
i
dt
_
due to
z
5
^
j
z
Similarly,
^
i will rotate in the xz plane because of
y
.
Then from the diagram
^
it 1t 2
^
it 5 1 sin 2
^
k 111 2cos 2
^
i
For small angles
^
it 1t 2
^
it 5 1 2
^
k 11

2
2
2
^
i 5 1 2
^
k 2

2
^
i
_ _
In the limit as t -0, since 5
y
t,
d
^
i
dt
_
due to
y
5
lim
t-0
_
^
it 1t 2
^
it
t
_
5
lim
t-0
_
1
y
t
_
2
^
k2

y
t
2
^
i
_
t
_
d
^
i
dt
_
due to
y
52
^
k
y
Rotation in the yz plane because of
x
does not affect
^
i. Combining terms,
d
^
i
dt
5
z
^
j 2
y
^
k
By similar reasoning,
d
^
j
dt
5
x
^
k 2
z
^
i and
d
^
k
dt
5
y
^
i 2
x
^
j
x(t)
z(t)
x(t + t)
z(t + t)

y
Enlarged sketch
i (t + t)
^
i (t + t)
^
i (t + t)
^
i (t)
^
i (t)
^
i (t)
^
W-10 Chapter 4 Basic Equation in Integral Form for a Control Volume
4.7 The Angular-Momentum Principle (Continued)
Equation for Rotating Control Volume
In problems involving rotating components, such as the rotating sprinkler of
Example 4.14, it is often convenient to express all uid velocities relative to the
rotating component. The most convenient control volume is a noninertial one that
rotates with the component. In this section we develop a form of the angular-
momentum principle for a noninertial control volume rotating about an axis xed in
space.
Inertial and noninertial reference frames were related in Section 4.6. Figure 4.5
showed the notation used. For a system in an inertial frame,
~
T
system
5
d
~
H
dt
_
system
4:3a
The angular momentum of a system in general motion must be specied relative to an
inertial reference frame. Using the notation of Fig. 4.5,
~
H
system
5
_
Msystem

~
R1~r 3
~
V
XYZ
dm 5
_
V ---system

~
R 1~r 3
~
V
XYZ
dV
---
With
~
R 5 0 the xyz frame is restricted to rotation within XYZ, and the equation
becomes
~
H
system
5
_
Msystem
~r 3
~
V
XYZ
dm 5
_
V---system
~r 3
~
V
XYZ
dV
---
so that
~
T
system
5
d
dt
_
Msystem
~r 3
~
V
XYZ
dm
Since the mass of a system is constant,
~
T
system
5
_
Msystem
d
dt
~r 3
~
V
XYZ
dm
Thus
x
d
^
i
dt
1y
d
^
j
dt
1z
d
^
k
dt
5 z
y
2y
z

^
i 1x
z
2z
x

^
j 1y
x
2x
y

^
k
But
~ 3~r 5

^
i
^
j
^
k

x

y

z
x y z

5 z
y
2y
z

^
i 1x
z
2z
x

^
j 1y
x
2x
y

^
k
Combining these results, we obtain
~
V
XYZ
5
~
V
rf
1
~
V
xyz
1~ 3 r
~
V
XYZ
4.7 The Angular-Momentum Principle (Continued) W-11
or
~
T
system
5
_
Msystem
d~r
dt
3
~
V
XYZ
1~r 3
d
~
V
XYZ
dt
_ _
dm 4:47
From the analysis of Section 4.6,
~
V
XYZ
5
~
V
rf
1
d~r
dt
4:36
With xyz restricted to pure rotation,
~
V
rf
5 0. The rst term under the integral on the
right side of Eq. 4.47 is then
d~r
dt
3
d~r
dt
5 0
Thus Eq. 4.47 reduces to
~
T
system
5
_
Msystem
~r 3
d
~
V
XYZ
dt
dm 5
_
Msystem
~r 3~a
XYZ
dm 4:48
From Eq. 4.41 with ~a
rf
5 0 (since xyz does not translate),
~a
XYZ
5 ~a
xyz
12~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
Substituting into Eq. 4.48, we obtain
~
T
system
5
_
Msystem
~r 3 ~a
xyz
12~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
_ _
dm
or
~
T
system
2
_
Msystem
~r 3 2~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
_ _
dm
5
_
Msystem
~r 3~a
xyz
dm 5
_
Msystem
~r 3
d
~
V
xyz
dt
_
_
xyz
dm
4:49
We can write the last term as
_
Msystem
~r 3
d
~
V
xyz
dt
_
xyz
dm 5
d
dt
_
Msystem
~r 3
~
V
xyz
dm
xyz
5
d
~
H
xyz
dt
_
system
_
_
_
_
4:50
The torque on the system is given by
~
T
system
5 ~r 3
~
F
s
1
_
Msystem
~r 3~g dm1
~
T
shaft
4:3c
The relation between the system and control volume formulations is
dN
dt
_
system
5
@
@t
_
CV
d V
---
1
_
CS

~
V
xyz
d
~
A 4:25
where
N
system
5
_
Msystem
dm
W-12 Chapter 4 Basic Equation in Integral Form for a Control Volume
Setting N equal to
~
H
xyz

system
and 5 ~r 3
~
V
xyz
yields
d
~
H
xyz
dt
_
system
5
@
@t
_
CV
~r 3
~
V
xyz
dV
---
1
_
CS
~r 3
~
V
xyz

~
V
xyz
d
~
A 4:51
Combining Eqs. 4.49, 4.50, 4.51, and 4.3c, we obtain
~r 3
~
F
s
1
_
Msystem
~r 3~g dm1
~
T
shaft
2
_
Msystem
~r 3 2~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
_ _
dm
5
@
@t
_
CV
~r 3
~
V
xyz
dV--- 1
_
CS
~r 3
~
V
xyz

~
V
xyz
d
~
A
Since the system and control volume coincided at t
0
,
~r 3
~
F
s
1
_
CV
~r 3~g dV
---
1
~
T
shaft
2
_
CV
~r 3 2~ 3
~
V
xyz
1~ 3~ 3~r 1
_
~ 3~r
_ _
dV
---
5
@
@t
_
CV
~r 3
~
V
xyz
dV
---
1
_
CS
~r 3
~
V
xyz

~
V
xyz
d
~
A
4:52
Equation 4.52 is the formulation of the angular-momentum principle for a (non-
inertial) control volume rotating about an axis xed in space. All uid velocities in
Eq. 4.52 are evaluated relative to the control volume. Comparing Eq. 4.52 with
Eq. 4.46 (for inertial XYZ cooordinates) we see that the noninertial (rotating) xyz
coordinates have an extra moment term on the left side that includes three com-
ponents. As we discussed following Eq. 4.44, these components arise because of
ctitious forces: the Coriolis force because of uid particle motion within the xyz
coordinates, and centripetal and tangential forces because of the xyz coordinates
rotational motion, respectively. Equation 4.52 reduces to Eq. 4.46 when the control
volume is not in motion (when ~ and
_
~ are zero). Even though we have the extra term
to evaluate, Eq. 4.52 is sometimes simpler to use than Eq. 4.44 because a problem that
is unsteady in XYZ coordinates becomes steady state in xyz coordinates, as we will see
in Example 4.15.
Example 4.15 LAWN SPRINKLER: ANALYSIS USING ROTATING CONTROL VOLUME
A small lawn sprinkler is shown in the sketch at right. At an inlet
gage pressure of 20 kPa, the total volume ow rate of water through
the sprinkler is 7.5 liters per minute and it rotates at 30 rpm. The
diameter of each jet is 4 mm. Calculate the jet speed relative to each
sprinkler nozzle. Evaluate the friction torque at the sprinkler pivot.
Given: Small lawn sprinkler as shown.
Find: (a) Jet speed relative to each nozzle.
(b) Friction torque at pivot.
V
rel
V
rel

R = 150 mm
Q = 7.5 L/min
= 30 rpm
= 30
p
supply
= 20 kPa (gage)
4.7 The Angular-Momentum Principle (Continued) W-13
Solution:
Apply continuity and angular momentum equations using rotating A

control volume enclosing sprinkler arms.

Governing equations:
CV
dV
CS
V
xyz
dA 0
0(1)


t

r F
S

CV
r g dV T
shaft

CV
r

2 V
xyz
( r) r

dV
0(1)
CV
r V
xyz
dV
CV
r V
xyz
V
xyz
dA
0(3)




t

4:52
Assumptions: (1) Steady ow relative to the rotating CV.
(2) Uniform ow at each section.
(3) 5constant.
From continuity
V
rel
5
Q
2A
jet
5
Q
2
4
D
2
jet
5
1
2
37:5
L
min
3
4

1
4
2
mm
2
3
m
3
1000 L
310
6
mm
2
m
2
3
min
60 s
V
rel
5 4:97 m=s
V
rel
Consider terms in the angular-momentum equation separately. As in Example 4.14, the only external torque acting
on the CV is friction in the pivot. It opposes the motion, so
~
T
shaft
52T
f
^
k 1
The second integral on the left of Eq. 4.52 is evaluated for ow within the CV. Let the velocity and area within the
sprinkler tubes be V
CV
and A
CV
, respectively. Then, for one side, the rst term (a Coriolis effect) is
_
CV
~r 3 2~ 3
~
V
xyz
_ _
dV
---
5
_
R
0
r e
r
3 2
^
k 3V
CV
e
r
_ _
A
CV
dr
5
_
R
0
r e
r
32V
CV
e

A
CV
dr
5
_
R
0
2V
CV
A
CV
r dr
^
k 5 R
2
V
CV
A
CV
^
k fone sideg
(The ow in the bent portion of the tube has no r component of velocity, so it does not contribute to the integral.)
From continuity, Q52 V
CV
A
CV
, so for both sides the integral becomes
_
CV
~r 3 2~ 3
~
V
xyz
_ _
dV--- 5 R
2
Q
^
k 2
The second term in the integral (a moment generated by centripetal acceleration) is evaluated as
_
CV
~r 3 ~ 3~ 3~r dV--- 5
_
CV
r ^ e
r
3
^
k 3
^
k 3r e
r

_ _
dV---
5
_
CV
r e
r
3
^
k 3r e

_ _
dV--- 5
_
CV
r ^ e
r
3
2
r2^ e
r
dV--- 5 0
so it contributes no torque. (The force generated by centripetal acceleration is radial, so it generates no moment.)
V
rel
V
rel

R = 150 mm
= 30
p
supply
= 20 kPa (gage)
CV
(Control volume
rotates with
sprinkler arm)
Q = 7.5 L/min
= 30 rpm
z
r
T
f
W-14 Chapter 4 Basic Equation in Integral Form for a Control Volume
The integral on the right side of Eq. 4.52 is evaluated for ow crossing the control surface. For the right arm of the
sprinkler,
_
CS
~r 3
~
V
xyz

~
V
xyz
d
~
A 5 R e
r
3V
rel
cos 2 e

1sin
^
k
_ _
f1V
rel
A
jet
g
5 RV
rel
cos 2
^
k 1sin 2 e

_ _

Q
2
The velocity and radius vectors for ow in the left arm must be described in terms of the same unit vectors used for the
right arm. In the left sprinkler arm, the component has the same magnitude but opposite sign, so it cancels. For
the complete CV,
_
CV
~r 3
~
V
xyz

~
V
xyz
d
~
A 52RV
rel
cos Q
^
k 3
Combining terms (1), (2), and (3), we obtain
2T
f
^
k2R
2
Q
^
k 52RV
rel
cos Q
^
k
or
T
f
5 RV
rel
cos 2 RQ
From the data given,
R 5 30
rev
min
3150 mm32
rad
rev
3
min
60 s
3
m
1000 mm
5 0:471 m=s
Substituting gives
T
f
5 150 mm 4:97
m
s
3 cos 30

20:471
m
s
_
_
_
_
999
kg
m
3
37:5
L
min
3
m
3
1000 L
3
min
60 s
3
N s
2
kg m
3
m
1000 mm
T
f
5 0:0718 N m
T
f
This
problem
illustrates
use
of the
angular m
om
entum
principle
for a
noninertial (rotating) control volum
e.
Note
that in
this
approach, unlike
the
inertial control volum
e
of Exam
ple
4.14, the
uid
particle
position
vector
~r
and
velocity
vector
~
V
are
not tim
e-
dependent. As
we
should
expect, the
results
agree
using
either an
inertial or
noninertial control volum
e.
4.7 The Angular-Momentum Principle (Continued) W-15