The Equation of Continuity and the Equation of Motion in Cartesian, cylindrical, and spherical coordinates

CM310 Fall 1998 Faith A. Morrison

Continuity Equation, Cartesian coordinates
@ @t

vx

@ @x

@ + vy @y + vz @ + @z

@vx @x

+ @vy + @vz @y @z

= 0

Continuity Equation, cylindrical coordinates

@ @t

rv v + 1 @ ( @r r ) + 1 @ (@ v ) + @ (@z z ) = 0 r r

Continuity Equation, spherical coordinates

@ @t r2 1 + r12 @ ( @r vr ) + r sin

@ ( v sin @

)+ 1 r sin

@( v @

) = 0

Equation of Motion for an incompressible uid, 3 components in Cartesian coordinates

@vx @t @vy @t @vz @t

+ vx @vx + vy @vx + vz @vx @x @y @z + vx @vy + vy @vy + vz @vy @x @y @z + vx @vz + vy @vz + vz @vz @x @y @z

@vr @

= ; @P ; @x = ; @P ; @y = ; @P ; @z

@ xx @x @ xy @x @ xz @x

yx zx + @@y + @@z + yy zy + @@y + @@z + yz zz + @@y + @@z +

gx gy gz

Equation of Motion for an incompressible uid, 3 components in cylindrical coordinates

@vr @t @v @t

+ vr @vr + vr @r
@vz @t

; vr + vz @vr @z
@vz @

= ; @P ; 1 @ (r rr ) + 1 @@ r ; @r r @r r

+ vr @v + vr @r

@v @

+ v rvr + vz @v @z + vz @vz @z

2 = ; 1 @P ; r12 @ (r@r r ) + 1 @@ + @@zz + r @ r

rz + @@z +

gr

+ vr @vz + vr @r

zz = ; @P ; 1 @ (r rz ) + 1 @@ z + @@z + @z r @r r

gz

Equation of Motion for an incompressible uid, 3 components in spherical coordinates

@vr @t

+ vr @vr + vr @r
rr )
1 + r sin

@vr @

v + r sin

@vr @

;v
@ r @

2 +v 2

= ; @P ; @r = ; 1 @P ; r @
1 = ; r sin

r2 @v @t

@ (r 2

@r

@ ( r sin ) @ @v @ @ v + r sin
sin )

1 + r sin

+ vr @v + vr @r
1 + r sin

@v @

r2

@ (r 2 r ) @r

@( @v @

1 + r sin

; r 2 + vrrv ; v r @ + r ; @ r
cot

gr

(cot )

+ +
g

@v @t @P @

+ vr @v + vr @r
r2
1

v + r sin

@v @ @ @

+ vrrv + v +
r

v cot r

@ (r 2 r ) @r

1 1 + r @@ + r sin

+ (2 cotr )

Cartesian coordinates
@vx @t @vy @t @vz @t

Equation of Motion for incompressible, Newtonian uid (Navier-Stokes equation) 3 components in

+ vx @vx + vy @vx + vz @vx @x @y @z + vx @vy + vy @vy + vz @vy @x @y @z + vx @vz + vy @vz + vz @vz @x @y @z = ; @P + @x = ; @P + @y = ; @P + @z
@ 2 vx @x2 @ 2 vy @x2 @ 2 vz @x2

+ @ v2x + @ v2x + @y @z + @ v2y + @ v2y + @y @z + @ v2z + @ v2z + @y @z

2 2 2 2

gx gy gz

cylindrical coordinates
@vr @t @v @t

Equation of Motion for incompressible, Newtonian uid (Navier-Stokes equation), 3 components in

+ vr @vr + vr @r
@vz @t @vr @

; vr + vz @vr @z
@vz @

= ; @P + @r

+ vr @v + vr @r

@v @

+ vrrv + vz @v @z + vz @vz @z

= ; 1 @P + r @ = ; @P + @z

@ @r @ @r

1 @ (rvr ) + 1 @ 2 vr ; 2 @v + @ 2 vr + r @r r2 @ 2 r2 @ @z 2
@vz @r
2 2 + r12 @ v2z + @ v2z + @ @z

gr g

+ vr @vz + vr @r

1 @ (rv ) + 1 @ 2 v + 2 @vr + @ 2 v + r @r r2 @ 2 r2 @ @z 2
gz

@ r @r

spherical coordinates

Equation of Motion for incompressible, Newtonian uid (Navier-Stokes equation), 3 components in

; v rv v = ; @P + r vr ; rv2r ; r2 @ ; v r2 ; r2 @v + gr @r @ 2 v v @v v @v @v vr v @v @t + vr @r + r @ + r @ + r ; r @v = ; r @P + r v + r2 @vr ; r2 v 2 ; r2 2 @ + g @ @
@vr @t

+ vr @vr + vr @r
2

@vr @

v + r sin
2

@vr @

2+ 2

cot

2 sin

cot

sin

sin

2 cos sin

@v @t
1 = ; r sin

+ vr @v + vr @r +
;
2 1 @ r 2 @r

@v @

v + r sin
sin

@v @

+ vrrv + v
@vr @ @ @
1 + r2 sin2

v cot r @v @ @2 @ 2

@P @

r v ; r2 v
@ r2 @r

2 + r2 sin

+ r2 cos2 2 sin

+ .

where, in these equations, r

1 + r2 sin

@ @

sin

Reference: R. B. Bird, W. E. Stewart, and E. N. Lightfoot, Transport Phenomena, Wiley: NY, 1960. 2