Chapter 3

Mathmatical Models of Fluid Motion

differential form

Outline
3.1 Introduction
3.2 Continuity Equation
3.3 N-S Equation
3.4 Examples of laminar flow

3.1 Introduction
Five basic variables in fluid flow:
three velocity components
two thermodynamic properties
Five basic equations to describe the flow:
three components of momentum equation
continuity equation
energy equation

 Two forms of basic fluid equation:

Integral equation:
total characteristics
gross effects
Differential equation:
detailed analysis
find the distribution of properties

Approaches to Solving Fluids Problems

Experimental Analysis
Differential Analysis
Control Volume Analysis
Single most valuable tool available (White, Ch. 3)

System and Control Volume

The concept of a free diagram, as used in the statics of rigid bodies and in
fluid statics, is usually inadequate for the analysis of moving fluids. Instead
we frequently find the concepts of a fluid system and a control volume to be
useful in the analysis of fluid mechanics.

There are two possible approaches: the Lagrangian

approach and the Eulerian approach.
The Lagrangian (or a system) approach is used in solid
mechanics and involves describing the motion of a
particle (or a system) by position as a function of time.
The Eulerian (or control volume) approach is preferred in
fluid mechanics. In this method we chose a region in the
flow field for study.

 Fluid system: a specific mass of fluid within the

boundaries defined by a closed surface.
The shape of the system boundaries may be changed;
however, no mass crosses the system boundaries.
The system(or Lagrangian) approach

Control volume:

a fixed region in space relative to

coordinates which does not move or
change shape.

The control volume (or Eulerian) approach

We usually choose it as a region the fluid flows into or out of, often
choose the boundaries to coincide with some solid or natural flow
boundaries.

Control surface :The geometric boundary of the control

volume is called the control surface.

 Solid Mechanics

Follow the system, determine what happens to it

Laws of Mechanics
Written for systems

Fluid Mechanics

Consider the behavior in a specific region or Control Volume

Convert System approach to CV approach

Look at specific regions, rather than specific masses

 Laws of Mechanics

Conservation of
Mass
Mass is
conserved and
does not
change

dm
0
dt

Momentum
If
surroundings
exert force on
system,
momentum
will accelerate

r
v
r d (mV )
F ma
dt

Energy
If heat is
dded to
system or
work is done
by system,
energy will
change

dE dQ dW

dt
dt
dt

 Some problems require more detailed analysis.

We apply the analysis to an infinitesimal control volume
or at a point.
The governing equations are differential equations and
provide detailed analysis.
Around only 80 exact solutions to the governing
differential equations.
We look to simplifying assumptions to solve the
equations.
Numerical methods provide another avenue for solution
(Computational Fluid Dynamics)

3.2
1

Continuity Equation

Derivation of equation: Conservation of Mass

Consider differential control

volume:
The rate of net mass = The rate of mass
stored
M
dM
t

The rate of net mass in the outflow

x y and z direction:

dM x , dM y , dM z
Where

dM x M x out M x in

dM dM x dM y dM z

The rate of net mass in the outflow x-direction:

dM x M x out M x in
dx
u dx
dx
u dx
)(u
)]dydz [(
)(u
)]dydz
x 2
x 2
x 2
x 2
u dx
dx dx u dx
= [( u
u

)]dydz
x 2
x 2 x 2 x 2
u dx
dx dx u dx
[( u
u

)]dydz
x 2
x 2 x 2 x 2
u

(
u )dxdydz
x
x
( u)

dxdydz
x
[(

Similarly
y-direction:

dM y

( v )
dxdydz
y

z-direction:

dM z

( w)
dxdydz
z

The rate of net mass flow for all directions:

dM dM x dM y dM z
(

( u ) ( v) ( w)

)dxdydz
x
y
z

M
dM
t

Now, combining the two parts for the infinitesimal control

volume:

( u ) ( v) ( w)

)dxdydz ( dxdydz )
x
y
z
t

Divide out
dxdydz

Finally, the differential form of the equation for Conservation

of Mass:
The Continuity Equation:

In vector notation, the equation is the following:

( V ) 0.
t

Isotropic fluid

 For steady-state conditions :

The Continuity Equation:

For an incompressible fluid:

The Continuity equation can be expressed alternatively as:
( u ) ( v) ( w)

0
t
x
y
z

u
v
w
0
t
x
x
x
x
x
x

u v v
u
v
w
( 0
t
x
x
x
x x x

u v v
(V ) ( 0
t
x x x
d
u v v
( 0
dt
x x x

d
( V ) 0
dt

For an incompressible fluid:

d
0
dt
The Continuity Equation:

V 0
Rate of volume dilation is 0

 Cylindrical coordinates
1 ( ru r ) 1 ( u ) ( u z )

0,
t r r
r
z

Incompressible flow:

1 (rur ) 1 u u z

0,
r r
r
z
Two dimensional flow:

(ru r ) u

0,
r

2. Applications:
to distinguish whether the flow can occur or not
to determine a velocity component as other velocity
components are known
In addition, the continuity equation and the equations of
motion, as simultaneous equations, can be solved.

Example 1
If velocity field is given as u 3 x y v (6 xy
distinguish whether the flow can occur or not for
incompressible fluid.
2

x)

u 3 x 2 y v (6 xy x)

Solution :
u v

6x 6x 0
x y

the flow can occur

Example 2
For steady two-dimensional incompressible flow, if the
radial velocity component is ur ( A cos / r 2 ) ,Where
A=constant , determine the tangential velocity component.

(ru r ) u

0
r

Solution

ur ( A cos / r )
2

(ru r ) u

0
r

u
(ru r )
A cos
A

(r
) 2 cos
2

r
r
r
r
u
A
A
d r 2 cos d r 2 d (sin )
A sin
u
C (r )
2
r

3.3 Equation of Motion

---N-S equation
Apply Newtons second law on the fluid element
Newtons second law:

F ma

Develop equation of motion in stress form

We will account for the shear stress and normal stress
(including pressure) in the moment balance. (make use
of the stress-strain relationship to complete different type
of the Navier-Stokes equations)

1. State of stress at a point

Static fluid: The stress at a point in a fluid at rest is
the same in all directions (is isotropic).

p ( x, y , z , t )
Fluid in motion: Both the stresses are not same in all
directions, the magnitudes of stress
depend on the orientation of the surface.

( x, y , z , t , n )
compression is negative and tension is positive

compression is negative and tension is positive

Given n nx i n y j nz k

cos(n, x)i cos(n, y ) j cos(n, x)k

hence nx cos(n, x)

normal direction

n y cos(n, y )
nz cos(n, z )

Dalembert Principle

F 0

Fs Fb Fi 0

Fi
inertial force
triangular pyramid Tetrahedron

 Dalembert Principle

F 0

Fs Fb Fi 0

n dAn x dAx y dAy z dAz fdV dVa 0

n dAn x dAn cos(n, x) y dAn cos(n, y ) z dAn cos(n, z ) 0

n dAn nx x dAn n y y dAn nz z dAn 0
n nx x n y y nz z
The sate of stress at a point can be
expressed by three particular vector in
particular directions

Neglect high-level minim.

Nine components

zz
zy

nx nx xx n y yx nz zx

zx

ny nx xy n y yy nz zy
nz nx xz n y yz nz zz
nj n i ij

yz

xz

dz

xx

yy
xy

yx

dx
dy

The sate of stress at a point can be expressed

by three particular vectors in particular directions
or their nine components
Stress tensor :
(symmetric tensor)

xx yx zx

xy yy zy
xz yz zz

Meaning of double subscripts:

xx

The first one: the face

The second one: stress

yx zx

yy zy
yz zz

xy
the first subscript indicates the
xz
direction of the normal to the face on

which it acts,
the second indicates the direction in
which it acts.

zz

Positive stress:
positive face , positive force
negative face, negative force

zy
zx

yz

xz

dz

xx

yy
xy

yx

dx
dy

2D

dz 1

2. Stress- strain relations:

3 if fluid is at rest, shear stress is zero,only pressure left

v
2
ij 2 ij +( p ( V )) ij
3


2
ij ( p ( V )) ij 2 ij
3

2. Stress- strain relations:

Stokes hypothesis:

2
ij ( p ( V )) ij 2 ij
3

u 2
xx p 2 ( V ),
x 3

v 2
yy p 2 ( V ),

y 3

w 2
zz p 2
( V ),

z 3

v u

xy yx ( ),
x y

w v

yz zy ( ),

y z

u w

zx xz ( ).

z x

yy p 2 ,

zz p 2
,

z
v u
xy yx ( ),
x y

w w
yz zy ( ),
y z

u v
zx xz ( ).
z x

General Stress- strain relations

Stress- strain relations

in incompressible flow

xx p 2

3. Equation of motion in stress form

Newtons second law:

F ma

F Fs Fb ma
or

Fx Fsx Fbx ma x

 Surface forces in X direction:

xx dx
dx
)dydz ( xx xx )dydz ]
x 2
x 2
yx dy
yx dy
[( yx
)dzdx ( yx
)dzdx]
y 2
y 2
zx dz
zx dz
[( zx
)dxdy ( zx
)dxdy ]
z 2
z 2
yx
xx
zx

dxdydz
dxdydz
dxdydz
x
y
z

Fsx [( xx

Body forces in X direction:

Fbx Xdxdydz

Fx Fsx Fbx ma x
xx yx zx
du
Xdxdydz (

)dxdydz dxdydz
x
y
z
dt
Divided out

dxdydz
In y and z directions

1 xx yx zx
du
X (

)
x
y
z
dt

1 xy yy zy
dv
Y (

)
x
y
z
dt
1 xz yz zz
dw
Z (

)
x
y
z
dt

4. Navier-Stokes Equation:(incompressible fluid)

Substitute Stress- strain relations into the equation of
motion in stress form (incompressible fluid)
u

yy p 2 ,

zz p 2
,

z
v u
xy yx ( ),
x y

w v
yz zy ( ),
y z

u w
zx xz ( ).
z x

xx p 2

1 xx yx zx
du
X (

)
x
y
z
dt

1 xy yy zy
dv
Y (

)
x
y
z
dt
1 xz yz zz
dw
Z (

)
x
y
z
dt

Take x direction as an example,

1 xx yx zx
du
X (

)
x
y
z
dt

v u
xy yx ( )
x y
u w
zx xz ( )
z x

xx p 2

1
u
v u
u w
du
X [ ( p 2 ) ( ) ( )]
x
x
y x y
z z x
dt
1 p 1
2u
2 v 2u
2u 2 w
du
X
[2 2 (
2 ) ( 2
)]
x
x
xy y
z
zx
dt
1 p 2u 2 v 2u 2u 2 w
du
X
[2 2
2 2
]
x x xy y
z
xz
dt
1 p
u v w 2u 2u 2u
du
X
[ ( ) 2 2 2 ]
x
x x y z
x
y
z
dt
1 p
2u 2u 2u
du
X
( 2 2 2 )
x
x
y
z
dt

1 p
2u 2u 2u
du
X
( 2 2 2 )
x
x
y
z
dt
1 p
2v 2v 2v
dv
Y
( 2 2 2 )
y
x
y
z
dt
1 p
2w 2w 2w
dw
Z
( 2 2 2 )
z
x
y
z
dt
Navier-Stokes Equation

In vector notation:

1
V

2
f p v V
(V )V

t
Body force + pressure gradient force + viscous force= inertial force

For incompressible fluids in gravity field ,there are four

flow variables u,v,w,p in the equations of motion, therefore,
in principle, the three equations of motion plus the
incompressible conservation of mass are sufficient to obtain
a solution when the boundary conditions are specified

1
V

2
f p v V
(V )V

V 0

3.4 Examples of laminar flow

Reynolds number:
inertial force
[Re]
viscous force
u

U
]
UL

x
L
[Re]

[ ]
2
U
u

]
[
]
2
2
L
x
[u

[U

 Laminar flow:
the fluid flows in laminas or layers

Turbulent flow:
the velocity components have
random turbulent fluctuations imposed upon their
mean values.
Ud
Re

 Boundary Conditions:
no-slip condition: the fluid in contact with the solid
boundary is assumed to satisfy for no-slip condtition.
r
r
Vsolid V fluid

Example 1
Consider the 2-D, steady ,laminar flow of an
incompressible fluid between parallel plates in which the
upper plate is in motion with a velocity U in the x-direction
relative to lower plate, find the velocity distribution.

Equations:
u
u
u
u
1 p
2 u 2 u 2u
u
v w
X
v( 2 2 2 )
t
x
y
z
x
x
y
z
v
v
v
v
u v w
t
x
y
z

1 p
2v 2v 2v
Y
v( 2 2 2 )
y
x
y
z

w
w
w
w
1 p
2w 2w 2w
u
v
w
Z
v( 2 2 2 )
t
x
y
z
z
x
y
z
u v w

0
x y z

Simplification:

(1)2-D: v=0 , 0
y

u
(3)laminar:
w=0
V 0
0
x
(4)

V
0
(2)steady:
t

(5) X=Y=0, Z=-g

1 p
2u
0
v 2
x
z
1 p
0 g
z

(1)

(2)

1 p
g
(2)
z
p
p dz gdz gz C ( x)
z
p C ( x)

x
x

From equation (1)

d 2u 1 p

2
dz
x

1 p
K
x

d 2u
K
2
dz
du
Kz C1
dz
1 2
u Kz C 1z C2
2

B.C.

z0

u0

za

u U

C2 0
1
U 1
2
U Ka C 1a C2 C 1 Ka
2
a 2

1 2 U
1
u Kz z Kaz
2
a
2

1 p
K
x

Couette flow :

if

p
0
x
U
u z
a

Poiseuille flow: if

1 2 U
1
Kz z Kaz
2
a
2

p
U 0, 0
x

1 2 1
u Kz Kaz
2
2
1
Kz 2 az
2
1 p 2

z az
2 x

u
Maximum velocity:

1 p 2
z az
2 x

Discharge per unit width:

Average velocity:

Shear stress:

zx (

u w
du
)
z x
dz

1 p

2 z a
2 x

z 0

z a

a p
2 x
a p

2 x

pressure:

p
K
(1)
x
p
g
(2)
z
p
p
dp
dx dz
x
z
p K x gz C3

Boundary conditions:

za

x0

p p1

za

xL

p p2

p Kx gz C3

Form B. C. (1)
Form B. C. (2)

za

x0

p p1

za

xL

p p2

p1 ga C3
p2 KL ga p1 ga
p2 KL p1
p2 p1
K
L

Hence

p2 p1
p
x p1 g (a z )
L


2
ij ( p ( V )) ij 2 ij
3