Differential Equations (Simplified)

Differential Analysis of Fluid Flow
Objectives:
CV, or integral, forms of equations are useful for determining overall effects
However, we cannot obtain detailed knowledge about the flow field inside the CV
motivation for differential analysis
ME33 : Fluid Flow
Chapter 4: Fluid Kinematics
Acceleration Field
r
r
V particle V x particle t , y particle t , z particle t
r
a particle
dx particle
dt
r
a particle
r
r
r
r
V dt V dx particle V dy particle V dz particle
t dt x dt
y dt
z dt
u,
dy particle
dt
v,
dz particle
dt
r
r
r
r
V
V
V
V
u
v
w
t
x
y
z
ME33 : Fluid Flow
Acceleration Field
In vector form, the acceleration can be written as
r
r
r r r
dV V
r
a x, y , z , t
V g V
dt
t
First term is called the local acceleration and is nonzero only for
unsteady flows.
Second term is called the convective (advective) acceleration and
accounts for the effect of the fluid particle moving to a new location
in the flow, where the velocity is different.
ME33 : Fluid Flow
Material Derivative
The total derivative operator d/dt is call the material
derivative and is often given special notation, D/Dt.
r
r
r
r r r
DV dV V
V g V
Dt
dt
t
Other names for the material derivative include: total,

particle, Lagrangian, Eulerian, and substantial
derivative.
ME33 : Fluid Flow
Problem
Flow through the converging nozzle can be approximated by
the one-dimensional velocity distribution
(a) Find a general expression for the fluid acceleration in the
nozzle. (b) For the specific case V0 = 10 ft/s and L = 6 in,
compute the acceleration, in gs, at the entrance and at the exit.
ME33 : Fluid Flow
Kinematic Description
In fluid mechanics, an element
may undergo four fundamental
types of motion.
a)
b)
c)
d)
Translation
Rotation
Linear strain
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
ME33 : Fluid Flow
Rate of Translation and Rotation

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 of two initially perpendicular lines that
intersect at that point. The rate of rotation vector in
Cartesian coordinates:
r 1 w v r 1 u w r 1 v u r

i
j
k
2 y z
2 z x
2 x y
ME33 : Fluid Flow
Linear Strain Rate

Linear Strain Rate is defined as the rate of increase in length per unit
length.
In Cartesian coordinates
xx
u
v
w
, yy , zz
x
y
z
Volumetric strain rate in Cartesian coordinates
1 DV
u v w
xx yy 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.
ME33 : Fluid Flow
Shear Strain Rate

Shear Strain Rate at a point is defined as half
of the rate of decrease of the angle between two
initially perpendicular lines that intersect at a
point.
Shear strain rate can be expressed in Cartesian
coordinates as:
1 v w
1 u v
1 w u
xy
, zx
, yz

2 y x
2 x z
2 z y
ME33 : Fluid Flow
Shear Strain Rate

We can combine linear strain rate and shear strain
rate into one symmetric second-order tensor called
the strain-rate tensor.
xx
ij yx
zx
xy xz
1
yy yz
2
zy zz
1
2
ME33 : Fluid Flow
u
x
1 u v

2 y x
v u

x y
v
y
w u

x z
1 w v

2 y z
10
1 u w

2 z x
1 v w
2 z y
Problem
Given the steady,
distribution V=
incompressible
velocity
3 xi Cyj 0k
xy
where C is a constant, estimate the shearstress
at the point (x,y,z).
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11
Vorticity and Rotationality

The vorticity
r r rvector is defined as the curl of the velocity
vector V
Vorticity is
r equal
r to twice the angular velocity of a fluid
particle. 2
Cartesian coordinates
r w v r u w r v u r

i
j
k
z x
y z
x y
Cylindrical coordinates
r 1 u z u r ur u z r ru ur r

er
e
ez
z
r

z
r
r
In regions where = 0, the flow is called irrotational.

Elsewhere, the flow is called rotational.
ME33 : Fluid Flow
12
Vorticity and Rotationality
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13
Comparison of Two Circular Flows

Special case: consider two flows with circular streamlines
ur 0, u r
r 1 ru ur r 1 r 2 r
r

ez
0 ez 2ez
r r

r
r
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14
K
r
ru ur r 1 K r
r
ez
0 ez 0ez
r

r r
ur 0, u
r 1

r
Problem
A velocity field is given by
V= (3y2-3x2) i + Cxy j + 0 k
Determine the value of the constant C if the flow is to
be irrotational.
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15
Conservation of Mass
Recall CV form from Reynolds Transport
Theorem (RTT)
Well examine two methods to derive

differential form of conservation of mass
Divergence (Gausss) Theorem
Differential CV and Taylor series expansions
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16
Divergence Theorem
Divergence theorem allows us to

transform a volume integral of the
divergence of a vector into an area
integral over the surface that defines the
volume.
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17
Divergence Theorem
Rewrite conservation of mass
Using divergence theorem, replace area integral

with volume integral and collect terms
Integral holds for ANY CV, therefore:
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18
Differential CV and Taylor series
First, define an
infinitesimal control
volume dx x dy x dz
Next, we approximate the
mass flow rate into or out
of each of the 6 faces
using Taylor series
expansions around the
center point, e.g., at the
right face
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19
Ignore terms higher than order dx
Infinitesimal control volume

of dimensions dx, dy, dz
Area of right
face = dy dz
Mass flow rate through

the right face of the
control volume
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20
Now, sum up the mass flow rates into and out of
the 6 faces of the CV
Net mass flow rate into CV:
Net mass flow rate out of CV:
Plug into integral conservation of mass equation
ME33 : Fluid Flow
21
After substitution,
Dividing through by volume dxdydz
Or, if we apply the definition of the divergence of a vector
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22
Alternative form
Use product rule on divergence term
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23
There are many problems which are simpler to solve if
the equations are written in cylindrical-polar coordinates
Easiest way to convert from Cartesian is to use vector
form and definition of divergence operator in cylindrical
coordinates
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24
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25
Special Cases
Steady compressible flow
Cartesian
Cylindrical
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26
Special Cases
Incompressible flow
and = constant
Cartesian
Cylindrical
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27
In general, continuity equation cannot be
used by itself to solve for flow field,
however it can be used to
1. Determine if velocity field is incompressible
2. Find missing velocity component
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28
Problem
A velocity field is given by
V= (3y2-3x2) i + Cxy j + 0 k
Determine the value of the constant C if the flow is to
be incompressible.
ME33 : Fluid Flow
29
Streamlines
A Streamline is a curve that is
everywhere tangent to the
instantaneous local velocity
vector.
Consider an arc length
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
V
u
v
w
ME33 : Fluid Flow
30
Streamlines
NASCAR surface pressure contours
and streamlines
ME33 : Fluid Flow
31
Airplane surface pressure contours,

volume streamlines, and surface
streamlines
Pathlines
A Pathline is the actual path
traveled by an individual fluid
particle over some time period.
Same as the fluid particle's
material position vector
particle
t , y particle t , z particle t
Particle location at time t:
r r
x xstart
r
Vdt
tstart
Particle Image Velocimetry

(PIV) is a modern experimental
technique to measure velocity
field over a plane in the flow
field.
ME33 : Fluid Flow
32
Streaklines
A Streakline is the
locus of fluid particles
that have passed
sequentially through a
prescribed point in the
flow.
Easy to generate in
experiments: dye in a
water flow, or smoke
in an airflow.
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33
Comparisons
For steady flow, streamlines, pathlines, and
streaklines are identical.
For unsteady flow, they can be very different.
Streamlines are an instantaneous picture of the flow
field
Pathlines and Streaklines are flow patterns that have
a time history associated with them.
Streakline: instantaneous snapshot of a timeintegrated flow pattern.
Pathline: time-exposed flow path of an individual
particle.
ME33 : Fluid Flow
34
Timelines
A Timeline is the
locus of fluid particles
that have passed
sequentially through a
prescribed point in the
flow.
Timelines can be
generated using a
hydrogen bubble wire.
ME33 : Fluid Flow
35
The Stream Function

Consider the continuity equation for an
incompressible 2D flow
Substituting the clever transformation

Gives
This is true for any smooth
function (x,y)
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36
The Stream Function

Why do this?
Single variable replaces (u,v). Once is
known, (u,v) can be computed.
Physical significance
1. Curves of constant are streamlines of the flow
2. Difference in between streamlines is equal to
volume flow rate between streamlines
ME33 : Fluid Flow
37
The Stream Function

Physical Significance
Along a streamline
Change in along
streamline is zero
ME33 : Fluid Flow
38
Problem
Given the incompressible flow V = 3yi + 2xj. Does this
flow satisfy continuity? If so, find the stream function
(x, y) and plot a few streamlines, with arrows.
ME33 : Fluid Flow
39
Problem solution:
ME33 : Fluid Flow
40
The Stream Function

Physical Significance
Difference in between
streamlines is equal to
volume flow rate between
streamlines
dQ=(Vn)dA=
(id/dy-jd/dx)(idy/ds-jdx/ds)ds(1)=
= d/dx dx+d/dy dy = d
ME33 : Fluid Flow
41
Problem
An incompressible stream function is defined by
where U and L are positive constants. Use this stream function to find the volume flow Q
passing through the rectangular surface whose corners are defined by (x, y, z) =
(2L, 0, 0), (2L, 0, b), (0, L, b), and (0, L, 0). Show the direction of Q.
ME33 : Fluid Flow
42
Conservation of Linear Momentum

Recall CV form
Body
Force
Surface
Force
ij = stress tensor
Using the divergence theorem to convert area

integrals
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43

Substituting volume integrals gives,
Recognizing that this holds for any CV,

the integral may be dropped
This is Cauchys Equation

Can also be derived using infinitesimal CV and Newtons 2nd Law (see text)
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Alternate form of the Cauchy Equation can be
derived by introducing
(Chain Rule)
Inserting these into Cauchy Equation and

rearranging gives
ME33 : Fluid Flow
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Unfortunately, this equation is not very
useful
10 unknowns
Stress tensor, ij : 6 independent components
Density
Velocity, V : 3 independent components
4 equations (continuity + momentum)

6 more equations required to close problem!
ME33 : Fluid Flow
46
Navier-Stokes Equation
First step is to separate ij into pressure and
viscous stresses
xx xy xz p 0
0 xx xy xz

ij yx yy yz 0 p 0 yx yy yz
0
0
zx
zx
zy
zz
zy
zz
Situation not yet improved
Viscous (Deviatoric)
Stress Tensor
6 unknowns in ij 6 unknowns in ij + 1 in P,
which means that weve added 1!
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47
(toothpaste)
(paint)
(quicksand)
Newtonian fluid includes most common

fluids: air, other gases, water, gasoline
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48
Reduction in the
number of variables is
achieved by relating
shear stress to strainrate tensor.
For Newtonian fluid
with constant
properties
Newtonian closure is analogous
to Hookes Law for elastic solids
Substituting Newtonian closure into stress
tensor gives
Using the definition of ij :
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Substituting ij into Cauchys equation gives the
Navier-Stokes equations
Incompressible NSE
written in vector form
This results in a closed system of equations!

4 equations (continuity and momentum equations)
4 unknowns (U, V, W, p)
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In addition to vector form, incompressible
N-S equation can be written in several
other forms
Cartesian coordinates
Tensor notation
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Cartesian Coordinates
Continuity
X-momentum
Y-momentum
Z-momentum
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52
Differential Analysis of Fluid Flow Problems

Now that we have a set of governing
partial differential equations, there are 2
problems we can solve
1. Calculate pressure (P) for a known velocity
field
2. Calculate velocity (U, V, W) and pressure
(P) for known geometry, boundary
conditions (BC), and initial conditions (IC)
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How to solve?
Step
Analytical Fluid Dynamics
Computational Fluid Dynamics
Setup problem and geometry, identify all dimensions and

parameters
List all assumptions, approximations, simplifications, boundary

conditions
Simplify PDEs (partial differential
Build grid / discretize PDEs
equations)
Integrate equations
Apply I.C.s (initial conditions) and

B.C.s (boundary conditions) to
solve for constants of
integration
Verify and plot results
ME33 : Fluid Flow
Solve algebraic system of

equations including I.C.s and
B.Cs
Verify and plot results

54
Exact Solutions of the NSE

There are about 80
known exact solutions
to the NSE
The can be classified
as:
Linear solutions where
the convective
term is zero
Nonlinear solutions
where convective
term is not zero
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55
Solutions can also be

classified by type or
geometry
1.
2.
3.
4.
Couette shear flows

Steady duct/pipe flows
Unsteady duct/pipe flows
Flows with moving
boundaries
5. Similarity solutions
6. Asymptotic suction flows
7. Wind-driven Ekman flows
Exact Solutions of the NSE

Procedure for solving continuity and NSE
1.Set up the problem and geometry, identifying all
relevant dimensions and parameters
2.List all appropriate assumptions, approximations,
simplifications, and boundary conditions
3.Simplify the differential equations as much as
possible
4.Integrate the equations
5.Apply BC to solve for constants of integration
6.Verify results
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56
Boundary conditions
Boundary conditions are critical to exact,
approximate, and computational solutions.
BCs used in analytical solutions
No-slip boundary condition
Interface boundary condition
These are used in CFD as well, plus there are some

BCs which arise due to specific issues in CFD
modeling.
Inflow and outflow boundary conditions
Symmetry and periodic boundary conditions
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57
No-slip boundary condition

For a fluid in contact
with a solid wall, the
velocity of the fluid
must equal that of the
wall
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58

When two fluids meet at
an interface, the velocity
and shear stress must be
the same on both sides
If surface tension effects

are negligible and the
surface is nearly flat
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59

Degenerate case of the interface BC occurs at the free
surface of a liquid.
Same conditions hold
Since air << water,
As with general interfaces, if surface

tension effects are negligible and the
surface is nearly flat Pwater = Pair
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60
Problem
Consider a steady, two-dimensional, incompressible flow of a newtonian fluid with the

velocity field u = 2xy, v = y2 x2, and w = 0. (a) Does this flow satisfy conservation of
mass? (b) Find the pressure field p(x, y) if the pressure at point (x = 0, y = 0) is equal to
Pa .
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61
Problem
If z is up, what are the conditions on constants a and b
for which the velocity field u = ay, = bx, w = 0 is an
exact solution to the continuity and Navier-Stokes
equations for incompressible flow?
ME33 : Fluid Flow
62

Differential Equations (Simplified)

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Differential Equations (Simplified)

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Differential Analysis of Fluid Flow

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Other names for the material derivative include: total,

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Because fluids are in constant

Chapter 4: Fluid Kinematics

Rate of Translation and Rotation

Rate of rotation at a point is defined as the average

Chapter 4: Fluid Kinematics

Linear Strain Rate

Volumetric strain rate in Cartesian coordinates

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Shear Strain Rate

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Shear Strain Rate

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Vorticity and Rotationality

In regions where = 0, the flow is called irrotational.

Chapter 4: Fluid Kinematics

Vorticity and Rotationality

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Comparison of Two Circular Flows

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Well examine two methods to derive

Chapter 4: Fluid Kinematics

Divergence theorem allows us to

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Using divergence theorem, replace area integral

Integral holds for ANY CV, therefore:

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

Ignore terms higher than order dx

Chapter 4: Fluid Kinematics

Infinitesimal control volume

Mass flow rate through

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Net mass flow rate out of CV:

Plug into integral conservation of mass equation

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Dividing through by volume dxdydz

Or, if we apply the definition of the divergence of a vector

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics