Fundamental Equations of Fluid Mechanics 1 Calculus: 1.1 Gradient of A Scalar, S

Fundamental Equations of Fluid Mechanics
1 Calculus
1.1 Gradient of a scalar, s
The gradient of a scalar is a vector quantity. The forms of the dierential gradi-
ent operator depend on the particular geometry of interest. Below, these forms
are provided in rectangular, cylindrical polar, and spherical polar coordinates.
Rectangular coordinates
s =
s
x
i
x
+
s
y
i
y
+
s
z
i
z
. (1)
Cylindrical polar coordinates
s =
s
r
i
r
+
1
r
s
+
s
z
i
z
. (2)
Spherical polar coordinates
s =
s
r
i
r
+
1
r
s
+
1
r sin
s
. (3)
1.2 Gradient of a vector, u
The gradient of a vector u is a tensor quantity. The dierential forms of the
gradient of a vector are provided below in rectangular, cylindrical polar, and
spherical polar coordinates.
The vector is given by u = u
x
i
x
+ u
y
i
y
+ u
z
i
z
, so u is given by:
u =
u
x
x
i
x
i
x
+
u
x
y
i
y
i
x
+
u
x
z
i
z
i
x
+
u
y
x
i
x
i
y
+
u
y
y
i
y
i
y
+
u
y
z
i
z
i
y
+
u
z
x
i
x
i
z
+
u
z
y
i
y
i
z
+
u
z
z
i
z
i
z
. (4)
r
i
r
+ u
+ u
z
i
z
, so u is given by:
u =
u
r
r
i
r
i
r
+
_
1
r
u
r

1
r
u
_
i
i
r
+
u
r
z
i
z
i
r
+
u
r
i
r
i
+
_
1
r
u
+
u
r
r
_
i
+
u
z
i
z
i
+
u
z
r
i
r
i
z
+
1
r
u
z
i
z
+
u
z
z
i
z
i
z
. (5)
1
r
i
r
+ u
+ u
, so u is given by:
u =
u
r
r
i
r
i
r
+
_
1
r
u
r
r
_
i
i
r
+
_
1
r sin
u
r
r
_
i
i
r
+
u
r
i
r
i
+
_
1
r
u
+
u
r
r
_
i
+
_
1
r sin
u

cot
r
u
_
i
+
u
r
i
r
i
+
1
r
u
+
_
1
r sin
u
+
u
r
r
+
cot
r
u
_
i
. (6)
1.3 Divergence of a vector, u
The divergence of a vector u is a scalar quantity. The dierential forms of the
divergence depend on the particular geometry of interest. Below, these forms
x
i
x
+ u
y
i
y
+ u
z
i
z
, so u is given by:
u =
u
x
x
+
u
y
y
+
u
z
z
. (7)
r
i
r
+ u
+ u
z
i
z
, so u is given by:
u =
1
r
(ru
r
)
r
+
1
r
u
+
u
z
z
. (8)
r
i
r
+ u
+ u
, so u is given by:
u =
1
r
2
(r
2
u
r
)
r
+
1
r sin
(sin u
+
1
r sin
u
. (9)
1.4 Divergence of a tensor, T
The divergence of a tensor T is a vector quantity. The dierential forms of the
divergence depend on the particular geometry of interest. Below, these forms
The tensor is given by T = T
xx
i
x
i
x
+T
xy
i
x
i
y
+T
xz
i
x
i
z
+T
yx
i
y
i
x
+T
yy
i
y
i
y
+
T
yz
i
y
i
z
+ T
zx
i
z
i
x
+ T
zy
i
z
i
y
+ T
zz
i
z
i
z
, so T is given by:
2
T =
_
T
xx
x
+
T
yx
y
+
T
zx
z
_
i
x
+
_
T
xy
x
+
T
yy
y
+
T
zy
z
_
i
y
+
_
T
xz
x
+
T
yz
y
+
T
zz
z
_
i
z
. (10)
rr
i
r
i
r
+ T
r
i
r
i
+ T
rz
i
r
i
z
+ T
r
i
i
r
+ T
+
T
z
i
i
z
+ T
zr
i
z
i
r
+ T
z
i
z
i
+ T
zz
i
z
i
z
, so T is given by:
T =
_
1
r
(rT
rr
)
r
+
1
r
T
r
+
T
zr
z

T
r
_
i
r
+
_
1
r
2
(r
2
T
r
)
r
+
1
r
T
+
T
z
z
+
1
r
(T
r
T
r
)
_
i
+
_
1
r
(rT
rz
)
r
+
1
r
T
z
+
T
zz
z
_
i
z
. (11)
rr
i
r
i
r
+ T
r
i
r
i
+ T
r
i
r
i
+ T
r
i
i
r
+ T
+
T
+ T
r
i
i
r
+ T
+ T
, so T is given by:
T =
_
1
r
2
(r
2
T
rr
)
r
+
1
r sin
(sin T
r
)
+
1
r sin
T
r

1
r
(T
+ T
)
_
i
r
+
_
1
r
3
(r
3
T
r
)
r
+
1
r sin
(sin T
+
1
r sin
T

1
r
(cot T
+ T
r
T
r
)
_
i
+
+
_
1
r
3
(r
3
T
r
)
r
+
1
r sin
(sin T
+
1
r sin
T
+
1
r
(cot T
+ T
r
T
r
)
_
i
.
(12)
1.5 Curl of a vector, u
The curl of a vector is also a vector quantity. Once again, the dierential forms
of the curls depend on the particular geometry of interest. Below, these forms
x
i
x
+ u
y
i
y
+ u
z
i
z
, so u is given by:
u =
_
u
z
y

u
y
z
_
i
x
+
_
u
x
z

u
z
x
_
i
y
+
_
u
y
x

u
x
y
_
i
z
. (13)
3
r
i
r
+ u
+ u
z
i
z
, so u is given by:
u =
_
1
r
u
z
z
_
i
r
+
_
u
r
z

u
z
r
_
i
+
_
1
r
(ru
)
r

1
r
u
r
_
i
z
. (14)
r
i
r
+ u
+ u
, so u is given by:
u =
_
1
r sin
(sin u

1
r sin
u
_
i
r
+
_
1
r sin
u
r

1
r
(ru
)
r
_
i
+
_
1
r
(ru
)
r

1
r
u
r
_
i
.
(15)
1.6 Laplacian of a scalar,
2
s
The Laplacian is formed from the divergence of a gradient operator: =
2
.
The Laplacian of of a scalar is a scalar quantity. The forms of the dierential
Laplacian operator depend on the particular geometry of interest. Below, these
forms are provided in rectangular, cylindrical polar, and spherical polar coor-
dinates.
2
s =

2
s
x
2
+

2
s
y
2
+

2
s
z
2
. (16)
2
s =
1
r
r
_
r
s
r
_
+
1
r
2
2
s
2
+

2
s
z
2
. (17)
2
s =
1
r
2
r
_
r
2
s
r
_
+
1
r
2
sin
_
sin
s
_
+
1
r
2
sin
2
2
. (18)
1.7 Laplacian of a vector, u
The Laplacian of a vector is a vector quantity. The forms of the dierential
Laplacian operator depend on the particular geometry of interest. Below, these
forms are provided in rectangular, cylindrical polar, and spherical polar coor-
dinates.
x
i
x
+ u
y
i
y
+ u
z
i
z
, so u is given by:
4
u =
_
2
u
x
x
2
+

2
u
x
y
2
+

2
u
x
z
2
_
i
x
+
_
2
u
y
x
2
+

2
u
y
y
2
+

2
u
y
z
2
_
i
y
+
_
2
u
z
x
2
+

2
u
z
y
2
+

2
u
z
z
2
_
i
z
. (19)
r
i
r
+ u
+ u
z
i
z
, so u is given by:
u =
_

r
_
1
r
r
(ru
r
)
_
+
1
r
2
2
u
r
2

2
r
2
u
+

2
u
r
z
2
_
i
r
+
_

r
_
1
r
r
(ru
)
_
+
1
r
2
2
u
2
+
2
r
2
u
r
+

2
u
z
2
_
i
+
_
1
r
r
_
r
u
z
r
_
+
1
r
2
2
u
z
2
+

2
u
z
z
2
_
i
z
. (20)
r
i
r
+ u
+ u
, so u is given by:
u =
_
1
r
2
r
_
r
2
u
r
r
_
+
1
r
2
sin
_
sin
u
r
_
+
1
r
2
sin
2
2
u
r
2
_
i
r
_
2
r
2
u
r
+
2
r
2
u
+ 2
cot
r
2
u
+
2
r
2
sin
u
_
i
r
+
_
1
r
2
r
_
r
2
u
r
_
+
1
r
2
sin
_
sin
u
_
+
1
r
2
sin
2
2
u
2
_
i
+
_
2
r
2
u
r

1
r
2
sin
2

2 cos
r
2
sin
2
_
i
+
_
1
r
2
r
_
r
2
u
r
_
+
1
r
2
sin
_
sin
u
_
+
1
r
2
sin
2
2
u
2

1
r
2
sin
2
_
i
+
_
2
r
2
sin
u
r
+
2 cos
r
2
sin
2
_
i
. (21)
5
1.8 Vector identities
The relationships below are valid for any coordinate system, and for any scalar
s, vector elds u, u
1
, and u
2
, and tensor T.
s = 0, (22)
u = 0, (23)
u = ( u) ( u), (24)
(su) = s u + s( u), (25)
(sT) = s T+ s( T), (26)
(T u) = T : u +u ( T), (27)
sI : u = s( u), (28)
(u
1
u
2
) = u
1
u
2
+u
2
( u
1
), (29)
(u
1
u
2
) = (u
2
)u
1
+ (u
1
)u
2
+u
2
( u
1
) +u
1
( u
2
). (30)
1.9 Gauss divergence theorem
The following relationships are valid for any vector u and any tensor T.
_
V
udV =
_
S
n udS, (31)
_
V
TdV =
_
S
n TdS, (32)
where n is the outer unit normal to an element dS of the surface S of a volume
V .
6
2 Mass conservation (continuity) equations for an
incompressible uid
2.1 Vector form
u = 0, (33)
where u is the velocity vector.
2.2 Cartesian coordinates
For velocity vector u = u
x
i
x
+ u
y
i
y
+ u
z
i
z
, u is given by
u
x
x
+
u
y
y
+
u
z
z
= 0. (34)
2.3 Cylindrical polar coordinates
r
i
r
+ u
+ u
z
i
z
, u is given by
1
r
(ru
r
)
r
+
1
r
u
+
u
z
z
= 0. (35)
2.4 Spherical polar coordinates
r
i
r
+ u
+ u
, u is given by
1
r
2
(r
2
u
r
)
r
+
1
r sin
(u
sin )
+
1
r sin
u
= 0. (36)
7
3 Momentum conservation equations for an incom-
pressible uid
3.1 Vector form
_
u
t
+u u
_
= g + , (37)
where t is time, u is the velocity vector, is the stress tensor, is the density,
and g is the gravitational acceleration vector.
For the following quantities:
Velocity vector u = u
x
i
x
+ u
y
i
y
+ u
z
i
z
;
Gravitational acceleration vector g = g
x
i
x
+ g
y
i
y
+ g
z
i
z
;
Total stress tensor =
xx
i
x
i
x
+
xy
i
x
i
y
+
xz
i
x
i
z
+
yx
i
y
i
x
+
yy
i
y
i
y
+
yz
i
y
i
z
+
zx
i
z
i
x
+
zy
i
z
i
y
+
zz
i
z
i
z
,
the momentum conservation equations are given by
_
u
x
t
+ u
x
u
x
x
+ u
y
u
x
y
+ u
z
u
x
z
_
= g
x
+

xx
x
+

yx
y
+

zx
z
, (38)
_
u
y
t
+ u
x
u
y
x
+ u
y
u
y
y
+ u
z
u
y
z
_
= g
y
+

xy
x
+

yy
y
+

zy
z
, (39)
_
u
z
t
+ u
x
u
z
x
+ u
y
u
z
y
+ u
z
u
z
z
_
= g
z
+

xz
x
+

yz
y
+

zz
z
. (40)
3.3 Cylindrical polar coordinates
r
i
r
+ u
+ u
z
i
z
;
r
i
r
+ g
+ g
z
i
z
;
rr
i
r
i
r
+
r
i
r
i
+
rz
i
r
i
z
+
r
i
i
r
+
z
i
i
z
+
zr
i
z
i
r
+
z
i
z
i
+
zz
i
z
i
z
,
8
_
u
r
t
+ u
r
u
r
r
+
1
r
u
u
r

1
r
u
2
+ u
z
u
r
z
_
= g
r
+
1
r
(r
rr
)
r
+
1
r
r
+
rz
z
,
(41)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r
u
r
u
+ u
z
u
z
_
= g
+
1
r
2
(r
2
r
)
r
+
1
r
z
z
,
(42)
_
u
z
t
+ u
r
u
z
r
+
1
r
u
u
z
+ u
z
u
z
z
_
= g
z
+
1
r
(r
rz
)
r
+
1
r
zz
z
. (43)
3.4 Spherical polar coordinates
r
i
r
+ u
+ u
;
r
i
r
+ g
+ g
;
rr
i
r
i
r
+
r
i
r
i
+
r
i
r
i
+
r
i
i
r
+
+
r
i
i
r
+
,
_
u
r
t
+ u
r
u
r
r
+
1
r
u
u
r
+
1
r sin
u
u
r

1
r
_
u
2
+ u
2
_
_
= g
r
+
1
r
2
r
(r
2
rr
) +
1
r sin
(
r
sin )
+
1
r sin
r
, (44)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r sin
u
+
1
r
u
r
u

cot
r
u
2
_
= g
+
1
r
2
(r
2
r
)
r
+
1
r sin
(
sin )
+
1
r sin
+

r
r

cot
r

, (45)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r sin
u
+
1
r
u
u
r
+
cot
r
u
_
= g
+
1
r
2
(r
2
r
)
r
+
1
r
+
1
r sin
+

r
r
+
2 cot
r

. (46)
9
4 Stress, rate of strain, vorticity, and the constitu-
tive relation for Newtonian uids
4.1 Rate of strain
The rate of strain tensor, e, for an incompressible uid is given by
e =
1
2
_
u + (u)
T
_
. (47)
Note that e is a symmetric tensor.
4.1.1 Cartesian coordinates
The Cartesian components of e for velocity components (u
x
, u
y
, u
z
) in (x, y, z)
directions are
e =
_
_
e
xx
e
xy
e
xz
e
yx
e
yy
e
yz
e
zx
e
zy
e
zz
_
_
. (48)
These component are given by
e
xx
=
u
x
x
, e
yy
=
u
y
y
, e
zz
=
u
z
z
, (49)
e
xy
= e
yx
=
1
2
_
u
x
y
+
u
y
x
_
, e
xz
= e
zx
=
1
2
_
u
x
z
+
u
z
x
_
, (50)
e
yz
= e
zy
=
1
2
_
u
y
z
+
u
z
y
_
. (51)
Note that e
xy
= e
yx
, e
xz
= e
zx
, and e
yz
= e
zy
since e is symmetric.
4.1.2 Cylindrical polar coordinates
The e components for velocity components (u
r
, u
, u
z
) in directions (r, , z) are
e =
_
_
e
rr
e
r
e
rz
e
r
e
e
z
e
zr
e
z
e
zz
_
_
. (52)
e
rr
=
u
r
r
, e
=
1
r
u
+
u
r
r
, e
zz
=
u
z
z
, (53)
e
z
= e
z
=
1
2
_
1
r
u
z
+
u
z
_
, e
zr
= e
rz
=
1
2
_
u
r
z
+
u
z
r
_
, (54)
e
r
= e
r
=
1
2
_
r

r
_
u
r
_
+
1
r
u
r
_
. (55)
Note that e
z
= e
z
, e
r
= e
r
, and e
rz
= e
zr
10
4.1.3 Spherical polar coordinates
The e components for velocity components (u
r
, u
, u
) in directions (r, , ) are

e =
_
_
e
rr
e
r
e
r
e
r
e
e
r
e
_
_
. (56)
e
rr
=
u
r
r
, e
=
1
r
_
u
+ u
r
_
, e
=
1
r sin
u
+
u
r
r
+
u
r
cot , (57)
e
r
= e
r
=
1
2
_
1
r
u
r
r
+
u
r
_
, e
r
= e
r
=
1
2
_
1
r sin
u
r
r
+
u
r
_
,
(58)
e
= e
=
1
2
_
1
r
u
+
1
r sin
u
r
cot
_
. (59)
Note that e
r
= e
r
, e
r
= e
r
, and e
= e
4.2 Stress
The total stress, , is given by
= pI + , (60)
where p is pressure, I =
_
_
1 0 0
0 1 0
0 0 1
_
_
is the unit matrix, and is the deviatoric
stress tensor.
4.3 Constitutive relation
For Newtonian, incompressible uids, the constitutive relation for is given by
the following vector form expression
= 2e, (61)
where is the dynamic viscosity, and e is the rate of strain tensor (see above).
4.4 Components of stress
The Cartesian components of are
=
_
_
xx

xy

xz
yx

yy

yz
zx

zy

zz
_
_
. (62)
11
These components are given by
xx
= p +
xx
= p + 2
u
x
x
,
yy
= p +
yy
= p + 2
u
y
y
,
zz
= p +
zz
= p + 2
u
z
z
,
xy
=
yx
=
xy
=
yx
=
_
u
x
y
+
u
y
x
_
,
yz
=
zy
=
yz
=
zy
=
_
u
y
z
+
u
z
y
_
,
zx
=
xz
=
zx
=
xz
=
_
u
z
x
+
u
x
z
_
. (63)
The components of in cylindrical polar coordinates are
=
_
_
rr

r

rz
zr

z

zz
_
_
. (64)
These components are
rr
= p +
rr
= p + 2
u
r
r
,
= p +
= p + 2
_
1
r
u
+
u
r
r
_
,
zz
= p +
zz
= p + 2
u
z
z
,
r
=
r
=
r
=
r
=
_
r

r
_
u
r
_
+
1
r
u
r
_
,
z
=
z
=
z
=
z
=
_
u
z
+
1
r
u
z
_
,
zr
=
rz
=
zr
=
rz
=
_
u
z
r
+
u
r
z
_
. (65)
The components of in spherical polar coordinates are
=
_
_
rr

r

r
_
_
. (66)
12
These components are
rr
= p +
rr
= p + 2
u
r
r
,
= p +
= p + 2
_
1
r
u
+
u
r
r
_
,
= p +
= p + 2
_
1
r sin
u
+
u
r
r
+
u
cot
r
_
,
r
=
r
=
r
=
r
=
_
r

r
_
u
r
_
+
1
r
u
r
_
,
=
_
sin
r
_
u
sin
+
1
r sin
u
__
,
r
=
r
=
r
=
r
=
_
1
r sin
u
r
+ r

r
_
u
r
_
_
. (67)
13
4.5 Vorticity
4.5.1 Vector form
The vorticity is given by the following vector form expression
= u. (68)
The =
x
i
x
+
y
i
y
+
z
i
z
components in cartesian coordinates for a velocity
vector u = u
x
i
x
+ u
y
i
y
+ u
z
i
z
are
x
=
_
u
z
y

u
y
z
_
,
y
=
_
u
x
z

u
z
x
_
,
z
=
_
u
y
x

u
x
y
_
. (69)
The =
r
i
r
+
+
z
i
z
components in cylindrical polar coordinates for a
velocity vector u = u
r
i
r
+ u
+ u
z
i
z
are
r
=
1
r
u
z
z
,
=
u
r
z

u
z
r
,
z
=
1
r
(ru
)
r

1
r
u
r
. (70)
The =
r
i
r
+
components in spherical polar coordinates for a

velocity vector u = u
r
i
r
+ u
+ u
are
r
=
1
r sin
_

(u
sin )
u
_
,
=
1
r sin
u
r

1
r
(ru
)
r
, (71)
=
1
r
(ru
)
r

1
r
u
r
. (72)
4.6 Rotation tensor
It is also useful to dene the rotation tensor, , which has the following vector
form expression
=
1
2
_
u (u)
T
_
. (73)
It is possible to relate the components to the components. We illustrate
this in Cartesian coordinates
xy
=
yx
=
1
2
z
,
xz
=
zx
=
1
2
y
,
yz
=
zy
=
1
2
x
. (74)
Note that is not symmetric, unlike the rate of strain tensor e.
14
5 The Navier-Stokes equations for an incompress-
ible, Newtonian uid
5.1 Vector form
_
u
t
+u u
_
= p + g +
2
u. (75)
_
u
x
t
+ u
x
u
x
x
+ u
y
u
x
y
+ u
z
u
x
z
_
= g
x
p
x
+
_
2
u
x
x
2
+

2
u
x
y
2
+

2
u
x
z
2
_
,
(76)
_
u
y
t
+ u
x
u
y
x
+ u
y
u
y
y
+ u
z
u
y
z
_
= g
y
p
y
+
_
2
u
y
x
2
+

2
u
y
y
2
+

2
u
y
z
2
_
,
(77)
_
u
z
t
+ u
x
u
z
x
+ u
y
u
z
y
+ u
z
u
z
z
_
= g
z
p
z
+
_
2
u
z
x
2
+

2
u
z
y
2
+

2
u
z
z
2
_
.
(78)
5.3 Cylindrical coordinates
_
u
r
t
+ u
r
u
r
r
+
1
r
u
u
r

1
r
u
2
+ u
z
u
r
z
_
= g
r

p
r
+
_

r
_
1
r
r
(ru
r
)
_
+
1
r
2
2
u
r
2

2
r
2
u
+

2
u
r
z
2
_
, (79)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r
u
r
u
+ u
z
u
z
_
= g

1
r
p
+
_

r
_
1
r
r
(ru
)
_
+
1
r
2
2
u
2
+
2
r
2
u
r
+

2
u
z
2
_
, (80)
_
u
z
t
+ u
r
u
z
r
+
1
r
u
u
z
+ u
z
u
z
z
_
= g
z

p
z
+
_
1
r
r
_
r
u
z
r
_
+
1
r
2
2
u
z
2
+

2
u
z
z
2
_
. (81)
15
5.4 Spherical coordinates
_
u
r
t
+ u
r
u
r
r
+
1
r
u
u
r
+
1
r sin
u
u
r

1
r
_
u
2
+ u
2
_
_
= g
r

p
r
+
_
1
r
2
r
_
r
2
u
r
r
_
+
1
r
2
sin
_
sin
u
r
__
+
_
1
r
2
sin
2
2
u
r
2

2
r
2
u

2 cot
r
2
u

2
r
2
sin
u
_
, (82)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r sin
u
+
1
r
u
r
u

cot
r
u
2
_
= g

1
r
p
+
_
1
r
2
r
_
r
2
u
r
_
+
1
r
2
sin
_
sin
u
__
+
_
1
r
2
sin
2
2
u
2
+
2
r
2
u
r

1
r
2
sin
2

2 cos
r
2
sin
2
_
, (83)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r sin
u
+
1
r
u
u
r
+
cot
r
u
_
= g

1
r sin
p
+
_
1
r
2
r
_
r
2
u
r
_
+
1
r
2
sin
_
sin
u
__
+
_
1
r
2
sin
2
2
u
2

1
r
2
sin
2
+
2
r
2
sin
u
r
+
2 cos
r
2
sin
2
_
. (84)
16
6 Reynolds-averaged Navier-Stokes equations
u
x
x
+
u
y
y
+
u
z
z
= 0. (85)
_
u
x
t
+ u
x
u
x
x
+ u
y
u
x
y
+ u
z
u
x
z
_
= g
x

p
x
+
_
2
u
x
x
2
+

2
u
x
y
2
+

2
u
x
z
2
_
+

x
_
u
x
u
x
_
+

y
_
u
x
u
y
_
+

z
_
u
x
u
z
_
, (86)
_
u
y
t
+ u
x
u
y
x
+ u
y
u
y
y
+ u
z
u
y
z
_
= g
y

p
y
+
_
2
u
y
x
2
+

2
u
y
y
2
+

2
u
y
z
2
_
+

x
_
u
y
u
x
_
+

y
_
u
y
u
y
_
+

z
_
u
y
u
z
_
, (87)
_
u
z
t
+ u
x
u
z
x
+ u
y
u
z
y
+ u
z
u
z
z
_
= g
z

p
z
+
_
2
u
z
x
2
+

2
u
z
y
2
+

2
u
z
z
2
_
+

x
_
u
z
u
x
_
+

y
_
u
z
u
y
_
+

z
_
u
z
u
z
_
. (88)
17
6.2 Cylindrical coordinates
1
r
r
(ru
r
) +
1
r
u
+
u
z
z
= 0, (89)
_
u
r
t
+ u
r
u
r
r
+
1
r
u
u
r

1
r
u
2
+ u
z
u
r
z
_
= g
r

p
r
+
_

r
_
1
r
r
(ru
r
)
_
+
1
r
2
2
u
r
2

2
r
2
u
+

2
u
r
z
2
_
+
r
_
ru
r
u
r
_
+

r
_
u
r
_
+

z
_
u
z
u
r
_
+
1
r
u
, (90)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r
u
r
u
+ u
z
u
z
_
= g

1
r
p
+
_

r
_
1
r
r
(ru
)
_
+
1
r
2
2
u
2
+
2
r
2
u
r
+

2
u
z
2
_
+

r
_
u
r
u
_
+

r
_
u
_
+

z
_
u
z
u
2
r
u
r
u
, (91)
_
u
z
t
+ u
r
u
z
r
+
1
r
u
u
z
+ u
z
u
z
z
_
= g
z

p
z
+
_
1
r
r
_
r
u
z
r
_
+
1
r
2
2
u
z
2
+

2
u
z
z
2
_
+
r
_
ru
r
u
z
_
+

r
_
u
z
_
+

z
_
u
z
u
z
_
. (92)
18
6.3 Spherical coordinates
1
r
2
r
_
r
2
u
r
_
+
1
r sin
(sin u
) +
1
r sin
u
= 0, (93)
_
u
r
t
+ u
r
u
r
r
+
1
r
u
u
r
+
1
r sin
u
u
r

1
r
_
u
2
+ u
2
_
_
= g
r

p
r
+
_
1
r
2
r
_
r
2
u
r
r
_
+
1
r
2
sin
_
sin
u
r
__
+
_
1
r
2
sin
2
2
u
r
2

2
r
2
u

2 cot
r
2
u

2
r
2
sin
u
_
+

r
2
r
_
r
2
u
r
u
r
_
+

r sin
_
sin u
r
_
+

r sin
_
u
r
_
+
1
r
u
+
1
r
u
, (94)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r sin
u
+
1
r
u
r
u

cot
r
u
2
_
= g

1
r
p
+
_
1
r
2
r
_
r
2
u
r
_
+
1
r
2
sin
_
sin
u
__
+
_
1
r
2
sin
2
2
u
2
+
2
r
2
u
r

1
r
2
sin
2

2 cos
r
2
sin
2
_
+

r
3
r
_
r
3
u
r
u
_
+

r sin
_
sin u
_
+

r sin
_
u
_
+
cot
r
u
, (95)
_
u
t
+ u
r
u
r
+
1
r
u
+
1
r sin
u
+
1
r
u
u
r
+
cot
r
u
_
= g

1
r sin
p
+
_
1
r
2
r
_
r
2
u
r
_
+
1
r
2
sin
_
sin
u
__
+
_
1
r
2
sin
2
2
u
2

1
r
2
sin
2
+
2
r
2
sin
u
r
+
2 cos
r
2
sin
2
_
+

r
3
r
_
r
3
u
r
u
_
+

r sin
_
sin u
_
+

r sin
_
u
cot
r
u
. (96)
19

Fundamental Equations of Fluid Mechanics 1 Calculus: 1.1 Gradient of A Scalar, S

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Fundamental Equations of Fluid Mechanics 1 Calculus: 1.1 Gradient of A Scalar, S

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Fundamental Equations of Fluid Mechanics

) in directions (r, , ) are

components in spherical polar coordinates for a

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