R. J.

FRITZ The Effects of an Annular Fluid on the

Consulting Engineer,
G e n e r a l Electric Company,
Schenectady, N. Y. M e m . ASME
fects of a liquid in a thin annidus surrounding a vibrating rotor. The analytical re-
Vibrations of a Long Rotorf Part 1—Theory
Analysis and tests were made to investigate the hydrodynamic mass and damping ef-
sults are described in this report and the test residts in Part 2. The analysis determines
the fluid forces for the general case of a vibrating rotor. Vibrational amplitudes and
the limits of dynamic stability are then determined for a constant-speed rotor excited by
unbalance. Fluid flow was assumed incompressible and tangential and to be in the
Taylor vortex regime or in the turbulent regime. The Taylor vortex regime..is con-
sidered a natural convection process residting from centrifugal force gradients, while
the turbulent regime is a forced convection process. As a residt, annular flow around
a rotor is considered cm inherent combination of forced and natural convection. Fluid
damping is estimated for each process separately and for the case where the vortex and
turbulent process are predicted to occur simultaneously.

Introduction frequency of vibration. To the author's knowledge, the hydro-

k COMMON type of rotor vibration is caused by un-
balance forces. The resulting vibration is called synchronous
whirl since it has t h e same frequency as the rotational speed.
Large vibrations normally occur at a critical speed or natural
frequency of a rotor, which is determined by the rotor flexibility
and mass. I t is known [1, 2 ] 1 that when a cylinder vibrates in
translation in a fluid with small damping, the fluid can cause an
added or hydrodynamic mass that will tend to lower the natural
1
Numbers in brackets denote References at end of paper.
Contributed by the Fluids Engineering Division and presented
at the Fluids Engineering, Heat Transfer, and Lubrication Confer-
ence, Detroit, Mich., May 24-27, 1970, of THE AMERICAN SOCIETY OF
MECHANICAL ENGINEERS. Manuscript received at ASME Head-
quarters, February 24, 1970. Paper No. 70-FE-30.
dynamic mass due to a fluid annul us surrounding a rotating
cylinder is not known.
From an industrial viewpoint, it is not only of interest to be
able to predict the hydrodynamic mass so as to evaluate critical
speeds of rotors which must operate in fluids, but it is also valu-
able to have some estimate of the severity of vibrations at t h e
critical speed. The vibrational severity depends on the damping
of the system.
The basic objective of this investigation was to provide data on
the hydrodynamic mass of a liquid armulus surrounding a rotating
cylinder. A secondary objective was to provide data on fluid
damping. Test measurements were made of rotor vibrational
amplitudes at various rotor speeds from zero speed to a speed in
excess of the critical speed as the rotor vibrated due to unbalance.
Axial flow in the fluid annulus surrounding the rotor was re-

.Nomenclature*
a = exponent used in equation
(17)
C = average annulus thickness, ft
ft, Ci = defined following equation
(43)
e = location of rotor center of
mass, measured from rotor
geometric center, ft
F = damping parameter taken as
Fv or FT, depending on
flow regime, s e c - 1
Fu = centrifugal force acting on
rotor, lb
Fo, FQ = fluid forces on rotor in polar
coordinates, in line and in
quadrature with minimum
film, lb
FT damping parameter defined
by equations (15) and (16)
for turbulent flow, s e c - 1
F F fluid forces on rotor in car-
tesian coordinates, lb
Fy damping parameter defined
by equations (9) and (10)
for vortex flow, s e c - 1
/= friction factor defined by
equation (3)
fo, /NP, / B annulus friction factors for
turbulent flow taken from
Constantinescu [8], N g
and P a n [9], and Robert-
son [5]
h friction factor for laminar
flow in annulus
Darcy friction factor for tur-
bulent pipe flow
h friction factor for turbulent
flow in annulus
friction factor for vortex flow
fv
in annulus
acceleration due to gravity,
ft/sec 2
local annulus or channel
{Continued on next page)

Journal of Basic Engineering DECEMBER 1970 / 923

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 stricted by end seals. To design the experiment and correlate
the results, an anatysis was made of the fluid forces acting on the
rotor-neglecting axial flow. Inertial and frictional effects were
included. The limit of stability for synchronous whirl was pre-
dicted. The tests were performed for conditions predicted to give
stable, synchronous vibrations. The fluid flow was considered to
be tangential, incompressible, and either in the vortex or the tur-
bulent regime.
Part 1 presents the analysis, while the test results are presented
in Part 2.
The present investigation is intended to contribute information
of direct use for some industrial applications using induction
motor rotors that must operate in a liquid medium. In these ap-
plications, the liquid annulus radius-to-clearance ratio may be of
the same order of size as those which were tested. The investi-
gation should also be of interest in journal bearing applications
for large Taylor numbers (vortex flow) and for large Reynolds
numbers (turbulent flow) which might occur in applications in-
volving oil at large linear velocities or in water or liquid metals
lubricants where the viscosity is low. Normally, a practical ap-
plication would allow not only tangential fluid flow but also axial
flow, which is restricted in this investigation. However, the in-
vestigation of the case with restricted axial flow is considered a
reasonable way to develop basic technical information that is not
complicated by two-dimensional flow effects.
Analysis
The analysis considers a fluid annulus of thickness h and aver-
age radius R surrounding a rotating cylinder. The length of the
annulus L is assumed much larger than R so that the fluid flow
is tangential. The annulus is considered to be thin, that is, h «
R. The fluid velocity is considered to be essentially uniform
across the annulus thickness and to have the average value u,
which is a function of polar angle ^ and time t. The assumption
of an almost-uniform fluid velocity is commonly made in turbu-
lent fluid flow and has been observed to be reasonable for vortex
and turbulent flow in an annulus surrounding a rotating cylinder
(Taylor [3], Ustimenko [4], and Robertson [5]). The fluid
damping is considered to be determined by surface shear stresses
which are associated with thin boundary layers. These shear
stresses will be correlated by means of friction factors which are
considered to be characteristic of the surface film or thin bound-
ary layer.
The continuity and conservation of momentum equations may
then be written
continuity:
dh 1_ bhu
0 (1)
dt R W
momentum:
1_ dp Tl du u du \
+ P dt R d^7
(2)
A diagram of the flow geometry is shown in Fig. 1. The follow-
ing analysis will (a) relate fluid friction to the frictional shear
stresses Ti, Ti, (b) solve equations (1) and (2) for pressure and inte-
grate the pressure to obtain the hydrodynamic force on a vibrat-
ing rotor, (c) solve for the vibrational amplitude of a flexibility
supported rotor excited by unbalance forces and surrounded by a
fluid annulus, and (cl) determine the conditions of stable vibra-
tions.
Fluid Friction
At very low rotor speeds, the Reynolds number is low and the
fluid velocity across the thickness of a thin annulus varies nearly
linearly from the rotor velocity to zero velocity at the outer
stator surface. This flow is called laminar Couette flow. At
higher speeds, laminar Couette flow becomes unstable due to
body-force gradients arising from centrifugal forces. The result-
ing flow is called vortex flow and was first predicted by Taylor
[61. In vortex flow a component of flow occurs in the form of
toroidal ring's or vortexes in the fluid annulus. Within the vor-
tex the flow may be laminar or vortex-laminar, or may be tur-
bulent or vortex-turbulent. According to Taylor, the criterion
for vortex flow to occur in a thin annulus is for the Taylor number
ArTa to exceed 41.3. The numerical value of 41.3 agrees with
Taylor's theory for thicker annuli within 5 percent for C/R <
0.16.

-Nomenclature-
thickness, a function of ^ based on yth-power veloc- 0= coefficient of volumetric ex-
and I, ft ity distribution pansion, deg F _ I
K = spring constant for flexible V = hydrodynamic pressure, a y = fluid weight density, lb/ft 3
rotor, lb/ft function of ^ and t, lb/ft 2 8 = eC = deflection of rotor
K\, Ki = defined following equation R = average annulus radius, ft center, ft
(43) r = distance of rotor mass cen- AT = temperature difference, deg
L — annulus length, ft ter from center of station- F
M = rotor mass, lb-sec 2 /ft ary cylinder, ft e= OC^f, t) = angular coordinate
m = defined following equation t = time, sec relative to the minimum
(43) u = average fluid velocity in a film location
m
n — hydrodynamic mass param- thin channel or annulus, V = kinematic viscosity, ft 2 /sec
eter defined by equation ft/sec p = fluid mass density, lb-sec 2 /ft 4
(28). I t turns out mH is V = velocity component due to Ti, T2 = fluid-wall shear stresses,
equal to the hydrody- rotor eccentricity, ft/sec lb/ft 2
namic mass for translatory
vc = absolute value of the differ- TW = fluid-wall shear stress, lb/ft 2
vibration, lb-sec 2 /ft ence between a wall veloc- 4> = (j>(t) — angular coordinate
r
A a. = Grashof number ity and the channel center relative to minimum film
Npr = Prandtl number velocity, ft/sec location
A^RO = Rayleigh number x = cartesian coordinate of rotor ¥ = polar angle of annular loca-
Nno = QRC/v = Reynolds number center, ft tion, see Fig. 1
for rotary annular flow
V = cartesian coordinate of rotor Q = angular velocity, s e c - 1
iVTa = NRe\/c/R = Taylor num- center, ft ft„ = undamped critical speed in-
ber a = polar angle of center of mass cluding hydrodynamic
n = ratio of central fluid velochvy minus angle of the mini- mass, s e c - 1
to the half-channel aver- mum film, see Pig. 1 0) = critical angular speed in ab-
age velocity, which is 1.14 0= mH/4:M sence of the fluid, s e c - 1

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 Even in the absence of centrifugal effects, laminar Couette tion (7) will be used in this analysis for vortex flow. The fact
flow can become unstable with the resulting flow resembling ordi- that Bjorklund and Kays used the inner-annular radius in their
nary pipe turbulence. Turbulence in a channel with Couette correlation is neglected with small error for thin annuli.
flow was observed by Taylor [3], Reichardt [7], Robertson [5], From equations (3) and (7), the wall shear stress is, for the
and others. From Taylor and Reichardt, the criterion for tur- concentric annulus,
bulent flow is for the Reynolds number Nne to exceed approxi-
mately 3000.
The usual way of analyzing fluid friction in bearings in the
T W = 0.76 iVRe- -
0 478
(1)-"'
- pVo (8)

vortex-turbulent regime has apparently been to consider turbu-

For small rotor deflections, it is assumed that the Reynolds
lence alone and to relate fluid friction to an effective viscosity or
number in equation (8) is QRh/v. The shear stress difference at
eddy diffusivity, see Constantinescu [8], Ng and P a n [9], and
the two walls, to be used in equation (2), follows from equation
McElrod and Ng [10]. However, in this analysis, fluid friction
(5), (6), and (8)
will be related to a friction factor, a concept which is commonly
used in turbulent pipe flow. A friction factor is defined.

/ =
2T>
(3)
= FvP
©"" V (9)

where Vc is the fluid velocity difference between a wall and the
channel center. With vortex or turbulent flow and a concentric
rotor, the velocity in the center of the annular channel is UR/2.
According to Taylor [3] and Ustimenko [4], the velocity is essen-
tially constant over 83-85 percent of the annulus. In a thin
layer near the rotor the velocity changes rapidly and becomes
equal to the rotor velocity QR at the rotor surface. Similarly at
the stator surface, the fluid velocity becomes zero. The velocity
difference between the surfaces and the channel center Vc as well
as the average velocity u are both equal to QR/2.
When the rotor is deflected, the continuity of volume flow
demands t h a t the velocity distribution must differ from the con-
centric case. For the deflected rotor the average velocity is con-
sidered to be
u = QR/2 + V (4)
where V will be related to deflection. The component V is con-
sidered to be associated with a velocity distribution across the
annulus thickness that is zero at each surface and essentially
uniform near the channel center. The conventional yth-power
law distribution is assumed to describe this distribution, so that
the center velocity associated with the component V is slightly
higher than the average value V. The center velocity is assumed
to be nV where n is a constant and is equal to 1.14 for the yth-
power velocity distribution. For the deflected rotor, the velocity
differences which relate to equation (3) are
Vci = fifl/2 + nV (5)
Vc2 = QR/2 - nV (6)
where Vci is the difference between the velocity of the channel
center and the stator surface, and Vci is the difference between the
velocity of the rotor surface and the channel center. The com-
ponent V is considered positive in the direction of rotation.
where
Fv = 1.52flw\-iV T „- 0 - 4 7 8 (10)
which is intended for Nra > 60.
The above assumption that in equation (8) the Reynolds num-
ber is QRh/v has not been justified. There appears to be no
reliable experimental data from which to derive an applicable
correlation. The assumption is based on the concept that the
driving force for momentum transfer and shear stress generation
is the rotational velocity QR and that the eccentricity velocity
component V is small compared to QR. (
Fluid Friction—Turbulent Flow
A concept due to Prandtl is t h a t when a turbulent stream flows
past a surface or wall, the velocity distribution and the wall shear
stress are determined by the conditions local to the wall. Schlicht-
ing [12] (chapters 20 and 21) shows data indicating that the
shear stress and velocity distribution correlations can be used
for a flat plate or for round or flat channels. Schlichting con-
sidered smooth surfaces and used the Blasius shear stress correla-
tion and the yth-power law of velocity distribution. I t is well-
known (see references [9] and [10]) that the Prandtl concept
can also be used for turbulent journal bearing flow.
The friction factor correlation for this investigation will be
based on data from Nikuradse (see Schlichting [12], p. 521).
The Nikuradse data are correlated using a Darcy friction factor
fo, such that (Schlichting [12], p. 503)
Tw g/oP« 2 (11)
where u is the channel average velocity. In the present case, n is
the ratio of the channel center velocity to the half-channel aver-
age. Equation (11) can therefore be written as

1
Fluid Friction—Vortex Flow -f» V 2 (12)
8 »2
D a t a on friction factors for vortex flow around concentric
cylinders have been correlated by Bjorklund and K a y s [11]. Comparing equations (3) and (12), and letting / = fT for a
These data extended to NTO. = 8000. D a t a presented in the dis- turbulent condition,
cussion of reference [11] by H. J. Sneck and G. R. Fox extend
the range of applicability to JVT» = 20,000. The resulting corre- (13)
lation for the friction factor (defined by equation (3)) is h= 4n 2
w h e r e / r is the turbulent friction factor to be used in equation (3)

i-m (7)

where fv is the friction factor for vortex flow; the friction factor
for laminar flow fL is equal to 8/iV~Ee. The range of data of the
correlation is for 60 < Nic < 20,000; 0.028 < C/R < 0.13. The
data included approximately 150 points. Approximately 99
percent of these data points were within ± 2 0 percent of the above
friction factor correlation. The correlation represented by equa-
and /o is the Darcy friction factor based on turbulent pipe flow.
With n = 1.14 based on the yth-power law, then from equation
(13)
fT = 0.192 /„ (14)
The pipe friction factor f0 is usually correlated versus a Reyn-
olds number based on the average velocity, whereas the N-R0
used in this analysis is based on central velocity. Therefore,

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 Table 1 Comparison of turbulent friction factors fr, equation (14); e « 1. Due to the latter condition, {C/h)a in equation (17) is
fn, fc, fNP from references [5], [8], and [9]
taken as unity. The solution for the pressure distribution is out-
Nile ST /B fa /NP lined below, bh/dt is obtained from equations (18) and (19) and
substituted into (1). The result is integrated to obtain
4000 0.0079 0.0078 0.0079 0.0080
10,000 0.0063 0.0063 0.0056 0.0061
20,000 0.0053 0.0053 0.0043 0.0053 u = — (1 + e cos 8) + Re sin 8 - Re^> cos 8 (20)
80,000 0.0037 0.004 0.0025 0.0038
From equations (6) and (20)
the equivalent pipe-Reynolds number is 0.88 Niu, where l/n =
0.88 = the ratio of average velocity to center velocity, assuming V = — e cos 8 + Re sin 8 - Re<j> cos 8 (21)
the yth-power law.
Table 1 shows a comparison between friction factors obtained In obtaining equation (20) and in the following, equation (19)
from several sources: fT is from equation (14), where fa is from was used to obtain
the Blasius correlation for smooth pipe (see Schlichting [12], p.
503); fn is based on experimental data compiled by Robertson 5^ = i>8 (with dt = 0) (22)
[5]; / c is from Constantinescu [8]; / N P is from Ng and Pan [9].
The value of fT is in essential agreement with the test data of Equations (20), (21), and (22) were substituted into (17) to ob-
Robertson and the results of Ng and Pan. The predictions of tain
Constantinescu appear to be somewhat off at the higher Reynolds
numbers. \ ^ = cos 8 (-QRi + 2Recj) + Re$ - — eF + Re(j>F)
pa dp \ 2 /
The common approaches [8], [9], [10] to turbulent bearing
friction analysis utilize universal correlations which usually apply
+ sin 8 ( - — ecj> - R'i + B e 0 z
to smooth surfaces. However, bearing surfaces may be me-
chanically smooth but hydraulically rough; t h a t is, the correct
value of the friction factor/o to use in equation (14) should reflect fi2 0 . \
the effect of hydraulic roughness, which is most easily available -I Re - - Re<f> - ReF 1 (23)
in friction factor correlations such as by Nikuradse (see Schlicht-
ing [12], p. 521), Moody [13], or Idel'chik [14]. In this investi- The fluid forces whose directions are shown in Fig. 1 are evalu-
gation, the friction factors will be taken from Nikuradse, based on ated from
roughness information given by Idel'chik [14].
The shear stress difference at the two walls to be used in
equation (2) follows from equations (3), (5), (6) w i t h / = fT f
Jo
LRp cos 8 dd (24)

FTP\T)V
© (15)
f LRp sin 8 dd (25)

where From equations (23), (24),Joand (25) the fluid forces are

frTlUR
Fr (16) -Ft, = mHC e - 60 2 + Qe4> - — e + FE (26)
~c
In arriving at equation (16), fT was considered constant and
-F, e$ + 2e4> - fle - - eF + Fe<j> (27)
obtainable from the Darcy friction factor/o as shown by equation
(14). Equation (16) is intended to apply for iYiie > 3000.
where
irpRsL/C (28)
Analysis of Fluid Forces
Substituting equations (9) and (15) into equation (2) results in

2
- 'I )'
STATOR

FV + P + (17)
R b¥ V R M

where a is 1.0 or 1.217, depending on whether F = FT or Fv. F

is considered to be independent of t and S?.
The cylindrical rotor is assumed deflected from its concentric
position as shown in Fig. 1. For small deflections

h = C(l - e cos 8) (18)

and

V = 8(V, t) + 4>(t) (19)

where the rotor center is deflected a distance 8 = Ce from the

stator center B. The angular location of the minimum film
thickness is <f>, a function of time t. \P' is the angular coordinate
of any annular position and is an independent variable. 8 is
defined by equation (19) and shown in Fig. 1. 8 is the angular
location of position measured from the minimum position and is
Fig. ! Long rotating cylinder surrounded by fluid annulus; B, S = centers
a function of ty and t. of stationary and rotating cylinders, respectively; G = center of mass of
The analysis is based on the assumptions t h a t C/R <K 1 and rotating cylinder; GS = e ; BG = r; BS = 8

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 Equations (26) and (27) give the fluid forces F„ in line with the The law of cosines applied to Fig. 1 is
minimum annulus thickness and FQ in quadrature with the mini-
ei — j.s _(_ gi _ 2r5 cos a (35)
mum annulus thickness, as shown in Fig. 1. The deflection of
the rotor center is 8 = eC at an angle cf>- Equations (26) and The value of r cos a from equation (33) is substituted into (35),
(27) give the fluid forces in a polar coordinate system. and (33) and (34) are both squared and added to give a value of
By substituting x = 8 cos (j> and y — 8 sin (j>, the fluid forces r 2 to substitute into (35). Upon simplifying, the result is
can be referred to cartesian coordinates x and y, fixed in the labo-
ratory system. The resulting equations are
(36)

F* = -mH
/
[x + Fx-
fi2 Si \
—x + Qy + F - y \ (29) V°+»(2-)'+(f)'
where
/ fi2 SI \
Fv cos a = -m„ i y + F y - — y - Six - F - x J (30) K
(37)
At this point, it is of interest to use two available checks of this 1+ 0 M
•Mj,

derivation. One check is provided by comparing with Stokes' 4

results [1]. Stokes' conditions were for Motionless flow (F = 0)
and translatory motion (SI = 0). Putting these conditions in
equations (28) and (29) results in Fx = —mHx and Fv = — mHy.
These results are in agreement with Stokes since mH given by
equation (28) is the value of the hydrodynamic mass found by
Stokes.
The other check is provided by the known fact (see Gross [15],
p. 337) t h a t the hydrodynamic pressure and force will vanish if
the rotating cylinder is whirling at one-half the rotational speed
and at constant amplitude. Thus, it is assumed that the angular
whirl rate is 0 = Sl/2 and i = e = 0. Substitution of these con-
ditions into equations (26) and (27) shows that FQ = FQ = 0, con-
sistent with the fact.
Rotational Vibrations of a Long Rotor
Which is Flexibly Supported
Having derived the hydrodynamic force equations, the problem
is now considered of the steady vibrations of a constant-speed
rotor excited by unbalance forces. The rotor is flexibly supported
and is surrounded by a long (L/R ^> 1), thin (C/R <SC 1) fluid
annulus. The rotor is shown in Fig. 1.
The balance of forces along BS, which is the line of minimum
annulus thickness h as shown in Fig. 1, is written
FM cos a = K8 - F0 (3D
The balance of forces at right angles to BS is
FM sin a = —FQ (32)
Also, dividing equation (34) by (33) provides a relation for the
angle a (shown in Fig. 1)
2/3F
a = arc tan (38)
SI
(£-')
In the absence of fluid damping (F = 0), the deflection ap-
proaches infinity if the rotation SI = Si0 where S2a is defined in
equation (37). Therefore, the speed Slo is the undamped critical
speed. In the presence of friction, the amplification at the un-
damped critical speed is (from equation (36), with SI — Slo)
SI
(39)
2/3F
It is recalled that F = Fv, equation (10), in vortex flow, or F =
FT, equation (16), if the flow is turbulent. Since Fv and FT
depend upon the rotor speed, F is a function of the rotational
speed SI. The true maximum value of S/e can be obtained by
considering 8/e as a function of SI, given by equation (36), and
solving for the maximum value of this function. The speed at
which the maximum value of 8/e occurs may be called the damped
critical speed.
The reader may be interested to compare the previous equa-
tions with those of Den Hartog [16], p. 226. The basic difference
is the inclusion of the fluid forces in the present analysis. In the
absence of the fluid (/3 = 0), equation (36) reduces to the same
expression shown by Den Hartog for the deflection of an unbal-
anced rotor.

where
FM = MSl2r = the centrifugal force acting at 0, the center
of mass of the rotor, and in the direction BG.
K8 — a spring force due to rotor deflection 8
F0 = ?»HQ2(5/4 = the hydrodynamic force from equation (26)
FQ = — mHFSlS/2 = the hydrodynamic force from equation
(27)
The hydrodynamic forces F0 and FQ are based on the conditions
for steady (e = e = <p = 0), synchronous (</> = SI) vibrations of
constant amplitude 8 = eC.
Substituting the above values into equations (31) and (32) and
dividing by MSP gives
Analysis of Stability
Equation (36) is a solution for the deflection of the rotor ex-
cited by unbalance forces. However, it may not be the only solu-
tion. Even with zero unbalance the system could be unstable,
and the above solution may not be a physically realizable case.
The conditions for stability were determined by assuming no
unbalance excitation and mathematically perturbing the system.
Stable solutions occur if the perturbations die away with time.
Without unbalance, the dynamic equations for the flexibly
suspended rotor are
Mx + Kx = Fx (40)

My + Ky = Fy (41)
° s a = (Si - p)8 (33)
Substituting the fluid force components Fx and Fy from equa-
2f]F tions (29) and (30) into (40) and (41) results in
r sin a — —— o (34)
mx + dx + Kix + Ciy + K,y = 0 (42)
where
my + Ciy + Kiy - dx - K2x = 0 (43)
P = mH/4M
where
co = 'VK/M = the critical speed of the rotor in the absence of
hydrodynamic forces m = M + mH Ci = mHF

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 Ci = m„Q K2 = mHFV./2
A, = K - m„a74
The system was perturbed such that x = Xt,ext, y = yi>ext.
Substitution into equations (42) and (43) resulted in
2 P dy
(mX + C,X + K^xv + (C2X + K2)y0 = 0
-(C 2 X + if2)x„ + (mX2 + C,X + KOy. = 0
Physically, the dynamic system could be given a set of initial
displacements x„ and j/o. To allow non-zero solutions for Xt>, j/o
the determinant from equations (44) and (45) must be zero, that
is
(mX2 + CiX + KiY + (C2X + IUY = 0 (46)
The system is stable if these perturbed displacements will decay
with time, that is, for all the roots X of equation (46) to have
negative real parts. This condition is easily checked using the
Routh-Hurwitz criteria (see [17], p. 16-6). Since the application
of the Routh-Hurwitz criteria turned out to be strictly algebraic
manipulation, the details are not shown here. As a consequence,
several mathematical relations resulted. However, all conditions
were satisfied for stability if the masses M and mH, the damping
factor F, and the spring constant are positive, and if the speed 0 is
less than twice the critical speed in a vacuum, that is
Q< 2\/li/M
The result is consistent with generally accepted observations.
Newkirk [18] reported that, based on test data, a flexible rotor
became unstable and whirled at its first critical frequency
when the shaft speed was greater than twice the critical speed.
The present analysis is novel in t h a t nonlaminar damping and
inertial effects are included.
While the mathematical analysis does not indicate the physical
nature of the predicted instability, it would be expected from ex-
perience, such as the tests by Newkirk [18], that the instability
would be in the form of large amplitude vibrations at approxi-
mately one-half of rotational frequency, or a so-called half-
frequency whirl, occurring at speeds above twice the critical
speed, where the critical speed is determined in the absence of
hydrodynamic effects.
Discussion of Results
The preceding results considered fluid damping to be described
by a parameter F, where F = Fv (given by equation (10) for
vortex flow, NT* > 60) and F = FT (given by equation (16) for
turbulent flow, A"Re > 3000). There will be cases in practice and
in the present experimental investigation where both NT* > 60
and Nxe > 3000. We will now discuss which correlation should
be used in such a case.
In a fluid annulus surrounding a rotating cylinder and with a
stationary outer boundary, there is a variation of centrifugal
body forces across the annulus. It has already been noted that
this distribution of centrifugal body forces causes a vortex flow
above a critical value of Taylor's number. This phenomenon is
similar to the vortex flow occurring as a consequence of thermal
convection in a thin horizontal layer heated from below. This
similarity was first noted by G. I. Taylor and A. R. Low (see
Jeffreys [19]). The similarity may be seen in the following way.
The thermal convection process can be correlated using the Ray-
leigh number. Jeffreys found that the critical value of the
Rayleigh number for vortex formation is
iViu = NaNrr = 1709
where N-R* = Raleigh number, Nar = Grashof number, A pr r for vortex flow and consistent with Robertson's data [5] where
Prandtl number. The Grashof number is
C3g(3AT
No: = (49)
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With tangential flow in an annulus, there is a component of
pressure gradient across the thickness of the annulus in the
radial direction due to centrifugal force and given by
1 dp
WR (50)
(44)
For the case of a horizontal fluid layer there is a component of
(45)
pressure gradient across the thickness of the layer due to the ef-
fect of temperature on gravity load. This is given by
1 dp
= PATg (51)
P <>V
Vortex flow involves a circulating flow in the channel that con-
tributes to heat and momentum transport. In order to maintain
similarity between the heat and momentum transport processes,
the usual argument (see reference [20], p. 202-203) leads to a
requirement t h a t Ap r = 1. With Arpr = 1 and using equations
(48), (49), (50), and (51) results in
AT„2 = 1709
Ara = 41.3 (52)
(47) This is equal to the value of AT,, found by Taylor [3], above
which vortex motion occurs in a fluid annulus surround-
ing a rotating cylinder. The present author reported in [21]
that friction factors for vortex flow could be estimated from
natural convection heat transfer data for a horizontal layer by
replacing the Nusselt number, which is ratio of the nonlaminar
heat transfer conductance to the laminar conductance, by fvJfL,
the ratio of the vortex friction factor to the laminar friction factor,
and the Rayleigh number is replaced by AVa2. This results in a
form of Reynolds analogy which appears to work for this case.
Leont'ev [22] also utilizes the concept of replacing thermal con-
vective body forces by centrifugal forces to evaluate transport
phenomena in an annulus around a rotor.
The main point to be made is that Taylor vortex flow involves
a process that is conceptually similar to the thermal natural
convection process. Valuable information on Taylor vortex
flow appears to be available by comparison with thermal convec-
tion. In addition to the similarity that exists with respect to
predicting the onset of vortex flow in an annulus and the friction
factors in such an annulus, as noted above, a comparison of
thermal and centrifugal convection should be capable of yielding
data on the lowest Taylor number at which vortex-laminar flow
changes to vortex-turbulent flow, as noted in [21], In addition,
friction factors for vortex flow in the thrust bearing should also be
retrievable from heat transfer data.
Whereas vortex flow depends on the convective effects of cen-
trifugal forces, turbulent flow can be induced in the absence of
rotation [5, 7]. This type of turbulent flow is usually ascribed
to forced convection. As a result, the annular flow around a
rotating cylinder is an inherent combination of forced and natural
convection.
In heat transfer technology, it is a common practice (see [20],
p. 331) to calculate the transport rates for both the natural and
forced convection phenomena and to use the larger value. T h a t
practice will be employed in this investigation. Specifically, if
ATa > 60 and Nn„ > 3000, the values of Fv and FT are both cal-
culated from equations (10) and (16), respectively. The larger
of the two is used.
Since the friction factor correlation used in this paper is con-
(48) sistent with the correlation of data by Bjorklund and Kays [11]
centrifugal forces are negligible, then using the largest frictional
effect is automatically reasonable and consistent with experience
where either effect is dominant. Fig. 2 shows available friction
factor d a t a for the range of the tests of this investigation. Fric-
Transactions of the AS ME

Fig. 2 Nonlaminar friction factors f divided by laminar friction factor f t
as a function of N T A ; test data from Taylor [3]
tion factor normalized to the laminar value is shown as a function
of the Taylor number Nia- T h e correlation used in this paper is
also shown. Near the transition between vortex and turbulent
flow (near the break in the slope of the correlation) the friction
factors from test appear higher than the correlation. I t is not
unexpected that this should occur. However, this agreement be-
tween test and correlation is considered very satisfactory.
Conclusions
The forces on a long vibrating rotor due to a thin fluid annul us
have been determined for an incompressible fluid. These forces
are given by equations (26) and (27) in polar coordinates and
(29) and (30) for cartesian coordinates.
These equations were used to investigate the synchronous vi-
brations of a flexibly supported constant-speed rotor excited by
unbalance forces. These vibrations are described by equations
(36) and (37). The vibrational amplitude given by equation (36)
was predicted t o apply as long as this system was dynamically
stable. T h e condition for dynamic stability was analytically de-
termined to be met if the rotor speed is less than twice the critical
speed, where this critical speed is determined in the absence of
fluid forces.
Equation (36) predicts that with little clamping, the critical
speed is lower than t h e critical speed in the absence of fluid
forces. This result can be attributed t o a rotational hydro-
dynamic mass that is one-quarter of the hydrodynamic mass for
translation determined by Stokes [1].
Journal of Basic Engineering
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Fluid friction was correlated by use of a friction factor defined
by equation (3). A friction factor correlation was taken from
Bjorklund and Kays [11] for vortex flow. For turbulent flow,
the friction factor was related to the Darcy friction factor used
in pipe flow, thereby furnishing a measure of friction not only as a
function of Reynolds number b u t also as a function of hydraulic
roughness, using available correlations, such as from Moody [13]
or Nikuradse [14]. Vortex flow was considered to occur as a
result of natural convection due to centrifugal fluid forces.
Turbulent flow was considered a forced convection process due
to the net through-flow in the annular channel. The resulting
annular flow was thus considered to be an inherent combination
of natural and forced convection. For conditions under which
both vortex and turbulent flow are expected to occur, the friction
factor correlation leading to the greater damping is proposed for
use.
In Part 2 a test program will be described. The analytical re-
sults will be compared to these test results.
References
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DECEMBER 1970 / 929