1

Lecture Notes on Fluid Dynamics

(1.63J/2.21J)
by Chiang C. Mei, 2002
Chapter 7. Geophysical Fluid Dynamics of Coastal Region
[Ref]: Pedlosky Geophysical Fluid Dynamics Springer-Verlag
Csanady: Circulation in the Coastal Ocean, Kluwer
7.1 Equations of Motion in Rotating Coordinates
Since the earth is rotating about the polar axis, the coordinate system xed on earth is
rotating. We need to know how to express the time rate of change of dynamical quantities
in the rotating coordinates.
A vector xed in the rotating coordinate system is rotating in the xed (inertial) coordi-
nate system. Consider therefore a vector rotating in the inertial frame of reference.
7.1.1 Vector of constant magnitude
Figure 7.1.1: Vector

A(t) rotating at the angular velocity

.
If

A = A
i
e
i
has a constant magnitude but is rotating about an axis at the angular vecloty

, what is the rate of change d

A/dt in the xed coordinate (inertial) system? Let

d

A =

A(t + dt)

A(t)
From Figure 7.1.1,
_
_
d

A
dt
_
_
I
= e |A| sin
d
dt
,
2
where subscript I signies inertial system and e is the unit-vector along d

A. Note e

A
and e

. Hence,
e =

A
|

A |
.
and ,
_
_
d

A
dt
_
_
I
=

A
|



A |
|

A | sin
d
dt
,
Since
d
dt
= ,

A |= |

A | sin .
it follows that
_
_
d

A
dt
_
_
I
=



A. (7.1.1)
In particular, let

A = e
i
, i = 1, 2, 3 be a base vector in the rotating frame of reference,

A = e
i
= e
Then
de
i
dt

I
=

e
i
. (7.1.2)
7.1.2 A vector of variable magnitude
Let

B = B
i
e
i
be any non-constant vector in the rotating frame, and let
_
_
d

B
dt
_
_
R
=
dB
i
dt
e
i
denote its rate of change in the rotating frame. then
_
_
d

B
dt
_
_
I
=
dB
i
dt
e
i
+ B
i
de
i
dt
=
_
_
d

B
dt
_
_
R
+ B
i

e
i
=
_
_
d

B
dt
_
_
R
+



B. (7.1.3)
In particular, if

B = r is the position of a uid particle
dr
dt

I
=
dr
dt

R
+

r,
3
Note that r is the same in any coordinate system. Now (dr/dt)
I
is the velocity seen in the
inertial frame of reference and (dr/dt)
R
is the velocity seen in the rotating frame of reference,
i.e.,
q
I
= q
R
+

r; (7.1.4)
Next we let q
R
be the velocity vector of uid in the rotating frame of reference; its rates
of change in the two frames of reference are related by
dq
R
dt

I
=
dq
R
dt

R
+

q
R
. (7.1.5)
Taking the time derivative of (7.1.4), and assuming that the angular acceleration of earth to
be zero,
d

dt
= 0
we get
_
dq
I
dt
_
I
=
_
dq
R
dt
_
I
+


_
dr
dt
_
I
=
_
dq
R
dt
_
R
+

q
R
+


__
dr
dt
_
R
+

r
_
=
_
dq
R
dt
_
R
+ 2

q
R
. .
Coriolis acc.
+

(

r)
. .
centripetal
(7.1.6)
Figure 7.1.2: Coriolis force, position vector and angular velocity
The second term on the right is the Coriolis force, being perpendicular to both q and

.
The last term represents the centripetal force

r) = ||
2
r

,
See Figure 7.1.2 for the geometric relations.
The centripetal force may be written in terms of a centripetal force potential
c
where

c
=
1
2
(

r) (

r) =
1
2
||
2
r
2

. (7.1.7)
4
so that

c
=
d
c
dr

= ||
2
r

, (7.1.8)
7.1.3 Summary of governing equations in rotating frame of refer-
ence:
Continuity:
q = 0 (7.1.9)
In the coordinate system rotating at the constant angular velocity, the momentum equation
reads, after dropping subscripts R

_
dq
dt
+ 2

q
_
= p + (
g
+
c
) +
2
q (7.1.10)
where

g
= gz
c
=
1
2
_

r
_

r
_
7.1.4 Dimensionless parameters
q
t
2 q
=
O
_
U
T
_
U
= O
_
1
T
_
q q
2

q
=
U
2
/L
2U
=
U
2L
= Rossby number

2
q
2 q
=
U/L
2
2U
=

2L
2
= Ekman number

g
= g

c
=
2
r
L
For numerical estimate, we take =
1
12 hrs
= 2.3110
5
s
1
and r = earth radius = 6400
km. Then
2
r (2.31 10
5
)
2
6.4 10
6
3 10
3
m/s
2
while g 10m/s
2
. Hence
g
2
r; gravity is more important than centripetal force.
7.1.5 Coriolis force
Refering to the right of Figure 7.1.3

i (cos ) +

j(0) +

k(sin )
Introducing the spherical polar coordinates as in the left of Figure Refering to the right
of Figure 7.1.3, with being the latitude. The Coriolis force is
5
Figure 7.1.3: The Northern hemisphere.
2

q =

i

j

k
2cos o 2sin
u v w

=

i (2v sin ) +

j (2u sin + 2wcos ) +

k (2v cos )
Consider shallow waters where the depth D is much less than the horizontal length L,
i.e., D L, and compare the two terms in the y direction of (

j)
2wcos
2u sin
=
w
u
cot = O
_
D
L
_
cot 1
except along the equator where = 0
In the z direction of (

k),
2v cos
1

d
p
z
=
2u cos
L
D
p
d
x
=
D
L
2u cos
max
_
U
T
,
U
2
L
, U
_
= O
_
D
L
_
1
Hence in shallow seas
2

q

=

i(2v sin ) +

j(2u sin )
Dene
f = 2sin (7.1.11)
to be the Coriolis parameter, then
2

q = fv

i + fu

j (7.1.12)
In the northern hemisphere, 0 < < /2.