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ME 305 Part 6 Differential Formulation of Fluid Flow PDF
ME 305 Part 6 Differential Formulation of Fluid Flow PDF
You can get the most recent version of this document from Dr. Sert’s web site. Overall Linear Angular
= Translation + + Rotation +
Please ask for permission before using them to teach. You are NOT allowed to modify them. motion deformation deformation
6-1 6-2
1
1) Translation 2) Linear Deformation
• Only the position of the fluid element changes. Its size, orientation and shape remain • Only the size of the fluid element changes. Its position, orientation and shape
the same. remain the same.
• All corners are moving with the same 𝑢 and 𝑣 velocity. • Corner A is fixed, because all its motion was previously considered in translation.
• Below, both 𝑢 and 𝑣 are shown to be positive, but it is not necessarily the case. • Corner B moves in 𝑥 direction only and corner D moves in 𝑦 direction only.
• Below, 𝜕𝑢/𝜕𝑥 and 𝜕𝑣/𝜕𝑦 are shown to be positive and negative, respectively, but it
𝑑𝑥 is not necessarily the case.
𝑦
D’ C’ 𝑦
𝑑𝑦
A’ B’
𝜕𝑣 D C
𝑑𝑦 𝑑𝑡
𝜕𝑦 D’ C’
𝑣 𝑑𝑡 D C
B B’
A B 𝑥
𝑥 A, A’
𝜕𝑢
𝑢 𝑑𝑡 𝑑𝑥 𝑑𝑡
6-5
𝜕𝑥 6-6
6-7 6-8
2
2) Linear Deformation (cont’d) 2) Linear Deformation (cont’d)
• Dilation (𝛻 ∙ 𝑉) is related to the compressibility of the flow. Exercise : The velocity field 𝑉 = 0.3𝑥 𝑖 − 0.3𝑦𝑗 represents the flow turning at a 90o
corner. A square is marked in the fluid as shown in 𝑡 = 0. Evaluate the new position of
• For incompressible flows dilation is zero, i.e. fluid element’s size can not change.
four corner points when corner ‘‘a’’ has moved to 𝑥 = 1.5 m after 𝜏 seconds.
• Evaluate the size changes and linear strains in 𝑥 and 𝑦 directions.
Incompressible → 𝛻∙𝑉 = 0
• Calculate area change and dilation of the element.
• Is this an incompressible flow?
Exercise : In the cylindrical coordinate system divergence of velocity is
1 𝜕 𝑟𝑉𝑟 1 𝜕𝑉𝜃 𝜕𝑉𝑧 𝑦 [m]
𝛻∙𝑉 = + +
𝑟 𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧
𝑑𝑟
Repeat the dilation calculation of the previous slide for a 2 d c
differential fluid element in cylindrical coordinate system 𝑟
𝑑𝑧 1
a b
and see if you can get the above result or not.
𝑑𝜃 𝑥 [m]
1 2
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3
3) Rotation (cont’d) 4) Angular Deformation
• Angular velocity vector is defined as • Angular deformation is related to the rate of 𝑑𝛼𝑥𝑦
𝑑𝑦
change of the right angle between sides AB 2 C’
1 𝜕𝑤 𝜕𝑣 𝜕𝑢 𝜕𝑤 𝜕𝑣 𝜕𝑢 1 and AD, which is
𝜔 = − 𝑖+ − 𝑗+ − 𝑘 = 𝛻×𝑉
2 𝜕𝑦 𝜕𝑧 𝜕𝑧 𝜕𝑥 𝜕𝑥 𝜕𝑦 2
𝑑𝛼𝑥𝑦 𝑑𝛼𝐴𝐵 𝑑𝛼𝐴𝐷 𝜕𝑣 𝜕𝑢 D D’ C
= + = +
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝜕𝑥 𝜕𝑦
Curl of velocity
• In cylindrical coordinate system where 𝛼𝑥𝑦 is the shear strain in the 𝑥𝑦 plane.
B’
𝑑𝛼𝑥𝑦
1 1 1 𝜕𝑉𝑧 𝜕𝑉𝜃 𝜕𝑉𝑟 𝜕𝑉𝑧 1 𝜕 𝑟𝑉𝜃 𝜕𝑉𝑟 A B 𝑑𝑥
𝜔 = 𝛻×𝑉 = − 𝑖 + − 𝑖 + − 𝑖 • For a 3D flow field rate of shear strains in 𝑦𝑧 2
2 2 𝑟 𝜕𝜃 𝜕𝑧 𝑟 𝜕𝑧 𝜕𝑟 𝜃 𝑟 𝜕𝑟 𝜕𝜃 𝑧
and 𝑥𝑧 planes can be defined in a similar way
𝑑𝛼𝑦𝑧 𝜕𝑤 𝜕𝑣
• Vorticity of a flow field is defined as = +
𝑑𝑡 𝜕𝑦 𝜕𝑧
𝜉 = 2𝜔 = 𝛻 × 𝑉 𝑑𝛼𝑥𝑧 𝜕𝑤 𝜕𝑢
= +
• For an irrotational flow vorticity (or angular velocity, or curl of velocity) is zero 𝑑𝑡 𝜕𝑥 𝜕𝑧
everywhere in the flow field.
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4
Exercises for Kinematics of Fluid Flow Differential Formulation of Continuity Equation
𝑦
Exercise : Fluid particles in a 2D flow field are rotating • Consider the following infinitesimal control volume. At its centroid
in circular paths about the z-axis at a constant angular 𝜌𝑉 = 𝜌𝑢𝑖 + 𝜌𝑣𝑗 + 𝜌𝑤𝑘
velocity of 𝜔, as if they were a rigid body. The velocity 𝑉𝜃
𝑥 • Mass flow rates passing through the faces can be determined using first order TSE.
field is given as 𝑉 = 𝜔𝑟 𝑖𝜃 . This flow is known as a
forced vortex. Is this a rotational flow field ?
𝜕(𝜌𝑤) 𝑑𝑧
𝜌𝑤 + 𝑑𝑥𝑑𝑦
𝜕𝑧 2 𝜕(𝜌𝑢) 𝑑𝑥
𝑦 𝜌𝑢 − 𝑑𝑦𝑑𝑧
𝜕𝑥 2
Rate of change of Net mass outflow • For a steady flow, using the first boxed equation : 𝛻 ∙ 𝜌𝑉 = 0
mass within the per unit time
differential CV • For an incompressible flow, using the second boxed equation : 𝛻∙𝑉 = 0
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Exercises for Continuity Equation Streamfunction (𝜓 (psi))
Exercise : Velocity components for a certain incompressible steady flow are as • Streamfunction is a mathematical tool that can be used to define a flow field using a
follows. Determine 𝑤 (Munson’s book). single scalar instead of multiple velocity components.
𝑢 = 𝑥2 + 𝑦2 + 𝑧2 • It can be defined for ‘‘2D incompressible’’ or ‘‘2D steady’’ flows.
𝑣 = 𝑥𝑦 + 𝑦𝑧 + 𝑧 • Consider the 2D incompressible flow in the 𝑥𝑦 plane case.
𝑤 =? • Continuity equation : 𝛻 ∙ 𝑉 = 0 →
𝜕𝑢
+
𝜕𝑣
=0 (for a flow in the 𝑥𝑦 plane)
𝜕𝑥 𝜕𝑦
Exercise : For an incompressible flow, even if the flow is unsteady no time derivative • Velocity field is defined by two components 𝑢 and 𝑣, but they are related via the
remains in the continuity equation. What does this mean physically? continuity equation.
• If we define a function 𝜓 (𝑥, 𝑦) as
Exercise : Consider a differential CV in the cylindrical coordinate system, similar to 𝜕𝜓 𝜕𝜓
the one given in Slide 6-9. Using the procedure described in Slides 6-18 and 6-19 𝑢= , 𝑣=−
𝜕𝑦 𝜕𝑥
derive the following continuity equation in the cylindrical coordinate system.
𝜕𝜌 𝜕𝜌 1 𝜕 𝑟𝜌𝑉𝑟 1 𝜕 𝜌𝑉𝜃 𝜕 𝜌𝑉𝑧 continuity equation is automatically satisfied, i.e.
+ 𝛻 ⋅ 𝜌𝑉 = + + + = 0
𝜕𝑡 𝜕𝑡 𝑟 𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧 𝜕𝑢 𝜕𝑣 𝜕 𝜕𝜓 𝜕 𝜕𝜓 𝜕2 𝜓 𝜕2 𝜓
+ = + − = − = 0
𝜕𝑥 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑦 𝜕𝑥 𝜕𝑥𝜕𝑦 𝜕𝑥𝜕𝑦
6-21 6-22
6
Euler’s Equation of Motion Euler’s Equation (cont’d)
• Euler’s equation is the differential form of linear momentum conservation for inviscid • Sum of all the forces will accelerate the fluid element as follows
flows.
• To derive it consider the pressure and body forces acting on a differential fluid 𝑑 𝐹 = 𝑑𝑚 𝑎 → −𝛻𝑝 𝑑∀ + 𝜌 𝑑∀ 𝑓𝑏 = 𝜌 𝑑∀ 𝑎
element. Pressure is taken as 𝑝 at the element’s centroid.
1 𝜕𝑉 1
𝜕𝑝 𝑑𝑧 𝑎 = 𝑓𝑏 − 𝛻𝑝 or + (𝑉 ∙ 𝛻)𝑉 = 𝑓𝑏 − 𝛻𝑝
𝑝+ 𝑑𝑥𝑑𝑦 𝜌 𝜕𝑡 𝜌
𝜕𝑧 2 𝜕𝑝 𝑑𝑥
𝑝− 𝑑𝑦𝑑𝑧
𝜕𝑥 2
• Three components of the Euler’s equation in the Cartesian coordinate system are
𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 1 𝜕𝑝
𝑑𝑧 𝜕𝑝 𝑑𝑦 𝑎𝑥 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑥 −
𝜕𝑝 𝑑𝑦 𝑝 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥
𝑝− 𝑑𝑥𝑑𝑧 𝑝+ 𝑑𝑥𝑑𝑧
𝜕𝑦 2 𝜕𝑦 2
𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑣 1 𝜕𝑝
𝑧 𝑎𝑦 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑦 −
𝑑𝑥 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑦
𝑑𝑦 𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑤 1 𝜕𝑝
𝑑𝐹𝑏 = 𝜌𝑑∀ 𝑓𝑏 𝑦 𝑎𝑧 = +𝑢 +𝑣 +𝑤 = 𝑓𝑏 𝑧 −
𝜕𝑝 𝑑𝑥 𝑥 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑧
𝑝+ 𝑑𝑦𝑑𝑧
𝜕𝑥 2 𝑓𝑏 is the body force per unit mass. It
𝜕𝑝 𝑑𝑧
𝑝− 𝑑𝑥𝑑𝑦 Typically 𝑓𝑏𝑥 = 𝑓𝑏𝑦 = 0 and 𝑓𝑏𝑧 = −𝑔
𝜕𝑧 2 is −𝑔𝑘 for the weight of the fluid.
6-25 6-26
Euler’s Equation (cont’d) Use of Euler’s Equation for Fluids in Rigid Body Motion
• Three components of the Euler’s equation in the cylindrical coordinate system are • Consider a body of fluid that is in rigid body motion, i.e. it moves as if it is a solid
body with fluid particles having no relative motion with respect to each other.
𝜕𝑉𝑟 𝜕𝑉𝑟 𝑉𝜃 𝜕𝑉𝑟 𝑉𝜃2 𝜕𝑉𝑟 1 𝜕𝑝
𝑎𝑟 = + 𝑉𝑟 + − + 𝑉𝑧 = 𝑓𝑏 𝑟 − • In such a case, fluid is free of shear stress.
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 𝜕𝑧 𝜌 𝜕𝑟
𝜕𝑉𝜃 𝜕𝑉𝜃 𝑉𝜃 𝜕𝑉𝜃 𝑉𝑟 𝑉𝜃 𝜕𝑉𝜃 1 1 𝜕𝑝 • Two examples of this are fluids moving with constant linear acceleration and fluids
𝑎𝜃 = + 𝑉𝑟 + − + 𝑉𝑧 = 𝑓𝑏 𝜃 − rotating around an axis with constant angular velocity.
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 𝜕𝑧 𝜌 𝑟 𝜕𝜃
𝜕𝑉𝑧 𝜕𝑉𝑧 𝑉𝜃 𝜕𝑉𝑧 𝜕𝑉𝑧 1 𝜕𝑝
𝑎𝑧 = + 𝑉𝑟 + + 𝑉𝑧 = 𝑓𝑏 𝑧 −
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧 𝜌 𝜕𝑧
Constant linear acceleration
𝑎
Liquid causes a tilted planar free
Exercise : 𝑥 component of the velocity in a 2D, incompressible, irrotational, frictionless surface.
flow is given as 𝑢 = 6𝑥. At point (2,0,0) the 𝑦 component of velocity is known to be
zero. 𝑤 = 0 everywhere. Body force is −𝑔𝑘. Obtain an expression for 𝑣. Find the Liquid
acceleration at point (2,0,0). Obtain an expression for the pressure field if the pressure 𝜔
is known to be 𝑝0 at (0,0,0). Stationary liquid Rotation at constant speed
with a horizontal causes a curved (parabolic)
free surface free surface.
Liquid
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7
Fluids in Rigid Body Motion (cont’d) Fluids in Rigid Body Motion (cont’d)
• For a fluid in rigid body motion, there are no viscous forces. 1
𝑎 = 𝑔 − 𝛻𝑝
• There are only pressure and body forces, similar to a static fluid. 𝜌
• But the difference is, now we have nonzero acceleration. For a fluid moving with For a fluid rotating at
For a static fluid
• Euler’s equation is valid for fluids in rigid body motion. constant linear acceleration constant speed
𝑎=0
1 𝑎 = constant 𝑎 = 𝑎𝑟 𝑖𝑟
𝑎 = 𝑓𝑏 − 𝛻𝑝 𝛻𝑝 = 𝜌𝑔
𝜌 𝛻𝑝 = 𝜌(𝑔 − 𝑎) 𝛻𝑝 = 𝜌(𝑔 − 𝑎)
𝑎 was zero for a static fluid.
𝜔
But here it is not zero. Typically 𝑓𝑏 = 𝑔
𝑎
𝑔 𝛻𝑝 𝑔 𝑔
𝛻𝑝
• Nonzero acceleration will cause a change in the pressure distribution, compared to a
static fluid.
Fluids in Rigid Body Motion (cont’d) Fluids in Rigid Body Motion (cont’d)
Exercise : We want to use the following U-tube filled with a liquid as a crude Exercise : A cylindrical tank, with its top open to atmospheric pressure has a Radius of
accelerometer in our car. As the car speeds up with constant acceleration we should 𝑅 = 0.5 m and a height of 𝐻 = 2 m. It is completely filled with water and rotated
observe a difference between the levels of the two liquid columns. Determine about its axis at an angular velocity of 𝜔 = 5 rad/s. Determine
a) the pressure distribution inside the liquid a) the pressure distribution inside the water 𝜔
b) relation between acceleration and the parameters of our device. b) the pressures at (𝑟 = 0, 𝑧 = 0) and (𝑟 = 0.5 m, 𝑧 = 0)
c) the pressure distribution on the side wall of the tank
d) the force exerted by the water on the bottom of the tank
e) the volume of the spilled water. Water
𝑎 ℎ
𝑎
𝜌
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8
Navier-Stokes Equation Navier-Stokes Equation (cont’d)
• Navier-Stokes equation is the differential form of linear momentum conservation for • Add all the forces and substitute the sum into Newton’s 2 nd Law of Motion.
viscous flows. It is Newton’s second law written for fluid flow. • Express normal and viscous stresses in terms of pressure and velocity components.
• Pressure, viscous and body forces need to be considered. • Skipping the details (you are NOT responsible for them), for a Newtonian fluid with
constant fluid properties (viscosity and density), we get
Note : Only 𝑥 components 𝜕𝜏𝑧𝑥 𝑑𝑧
of the surface forces are 𝜏𝑧𝑥 + 𝑑𝑥𝑑𝑦
𝜕𝑧 2 𝜕𝜎𝑥𝑥 𝑑𝑥 𝜕𝑉 1
shown for clarity. 𝜎𝑥𝑥 − 𝑑𝑦𝑑𝑧 𝑎 = + 𝑉 ∙ 𝛻 𝑉 = 𝑓𝑏 − 𝛻𝑝 + 𝜈 𝛻 2 𝑉
𝜕𝑥 2 𝜕𝑡 𝜌
𝑦 flow ℎ
Exercise : Find the three components of the Navier-Stokes equations in cylindrical 𝑥
coordinate system from a fluid mechanics textbook and write them at the back of this
slide for future reference.
6-35 6-36
9
Hagen-Poiseuille Flow Flow Between Concentric Cylinders
Exercise : Repeat the exercise of the 𝑟 Exercise : A liquid fills the annular gap between vertical concentric cylinders. Inner
previous slide for the steady, incompressible 𝑧 flow 𝑅 cylinder is stationary and outer one rotates at constant speed. Simplify the continuity
flow inside a constant diameter pipe. and Navier-Stokes equations for this steady, laminar flow and determine
• the velocity profile
𝑅2
• shear stress distribution 𝜔
𝑅1
Flow Down an Inclined Plane Compare the shear stress at the surface of the
Exercise : An incompressible fluid flows down an inclined plane in a steady, fully inner cylinder with that computed from a planar
developed laminar film of thickness ℎ. This time fluid weight is not negligible. approximation obtained by “unwrapping” the
annulus into a plane and assuming a linear velocity 𝑧
Simplify the continuity and N-S equations for this flow and study the flow field in
detail. profile across the gap. Determine the ratio of
𝑦 𝑝𝑎𝑡𝑚
cylinder radii for which the planar approximation
𝜃
Hint: At the free surface consider that 𝑥 predicts the correct shear stress at the surface of
the air applies negligible shear force to the inner cylinder within 1 % accuracy. 𝑟
ℎ
the liquid. (Reference: Fox’s book)
𝜃
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10