Chapter 3

Conservation Equations

3.1 Three Basic Laws

System: A system is a region enclosed by a rigid or flexible boundary with a quantity of matter
of fixed mass and identity. Heat and work can cross the boundary of a system.

Control volume: A control volume is a finite region in space that may be fixed or moving in
space. Mass, momentum, heat and work can cross the boundary of the region called the control
surface.

If the laws of physics are written for a fixed region of space, i.e., for different fluid particles
occupy this region at different times, then, the frame of reference is said to be Eulerian.
However, if the laws govern the same fluid particles in a particular region that moves with the
fluid, the laws are written in Lagrangian reference frame.

Basic conservation laws can be applied more easily to an arbitrary collection of matter of fixed
identity (a system composed of the same quantity of matter at all times) than to a volume fixed in
space. Applying conservation laws to matter of fixed identity gives rise to Lagrangian reference
frame and the associated substantial derivatives of volume integrals. However, control volumes
of fixed shape is preferred (Eulerian reference frame) for the following reasons of difficulty with
the Lagrangian reference frame.

• The fluid media is capable of continuous distortion and deformation, since it is often
extremely difficult to identify and follow the same mass of fluid at all times as must be
done in Lagrangian reference frame.

• Also, our primary interest often is not in the motion of a given mass of fluid, but rather in
the effect of the overall fluid motion on some device or structure.

Thus the basic laws applied to a fixed mass in Lagrangian reference frame must be transformed
to equivalent expressions in Eulerian reference frame. The theorem which permits this
transformation is called Reynolds' transport theorem.

Conservation of mass:

The conservation of mass simply state that the mass, M, of the system is constant.

- 1/23 -
Writing as an equation, one obtained:

dM S d d
=0 or ( ∫ dm) = ( ∫ ρ dV ) = 0
dt dt S dt S

Conservation of Linear Momentum (Newton’s Second Law):

Sum of all external forces acting on the system is equal to the time change rate of the linear
momentum of the system.

r d r d r
F acting on a system
= ( ∫ V dm) = ( ∫ V ρ dV )
dt S dt S

Conservation of Energy (First Law of Thermodynamics):

dE
δW system
+ δQ system
= δE system
or W& system
+ Q& system
= system
dt

E system
= ∫ e dm = ∫ e ρ dV
system V

Where e is the specific inner energy.

- 2/23 -
3.2 Reynolds Transport Theorem
Let N be any extensive property of the identifiable fixed mass (system) such as total mass,
momentum, or energy. The corresponding intensive property (extensive property per unit mass)
will be designated as α .

Then if :

N system
= ∫ α dm = ∫ α ρ dV
system V

Let us follow this identifiable specific mass of fluid for a short period of time δ t as it flows.

Since a specific mass of fluid is being considered and since X 0 , Y0 , Z 0 and t are the independent
variables in the Lagrangian framework, the quantity N will not be a function of t only as the
specific mass moves:

i.e., N system
= N ( X 0 , Y0 , Z 0 , t ) in general

For a specific mass, it becomes

N system
= N (t ) only as X 0 , Y0 , Z 0 are fixed.

Note: N is not a function of x, y, z - the coordinates in the Eulerian space.

The rate of change of N can be written:

DN 1
δ t V (t∫+δ t )
= lim { [ α (t + δ t ) ρ (t + δ t ) dV − ∫ α (t ) ρ (t ) dV ]}
Dt system δ t →0
V (t )

α (t ) ρ (t ) can be thought of as an extensive property per unit volume, and denoted by β .

Therefore, the above integral becomes:

DN 1
δ t V (t∫+δ t )
= lim { [ β (t + δ t ) dV − ∫ β (t ) dV ]}
Dt system δ t →0
V (t )

Where V is the volume of the specified mass and it may change the size and shape as it moves.

The quantity β (t + δ t ) integrated over volume V (t ) will be subtracted and then added again
inside the above limit to yield:

- 3/23 -
 D ∫ β dV
DN 1
δ t V (t∫+δ t )
= V
= lim { [ β (t + δ t ) dV − ∫ β (t + δ t ) dV + ∫ β (t + δ t ) dV − ∫ β (t ) dV ]}
Dt system
Dt δ t →0
V (t ) V (t ) V (t )
first two
6444444 7444444 8 64444sencond 474 two
44448
1
= lim { [ ∫ β (t + δ t ) dV − ∫ β (t + δ t ) dV + ∫ β (t + δ t ) dV − ∫ β (t ) dV ]}
δ t →0 δ t
V ( t +δ t ) V (t ) V (t ) V (t )

The first two integrals inside the limit correspond to holdup the integrand fixed and permitting
the control volume V to vary, while the second two integrals correspond to holding V fixed
and permitting the integrand β to vary.

The second two integrals is by definition the local derivative in Eulerian reference frame.

Therefore,

64444sencond 474 two

44448
D ∫ β dV
1
6444444 first two
74444448 ∫ β (t + δ t ) dV − ∫ β (t ) dV ]}
= lim { ( ∫ β (t + δ t ) dV − ∫ β (t + δ t ) dV )} + lim {
V V (t ) V (t )
}
Dt δ t →0 δ t δ t →0 δt
V ( t +δ t ) V (t )
first two
6444444 74444448
1 ∂
= lim { ( ∫ β (t + δ t ) dV − ∫ β (t + δ t ) dV )} + ∫ β dV
δ t →0 δ t ∂t V
V ( t +δ t ) V (t )

The remaining limit corresponds to holdup the integrand β fixed, and permitting the control
volume V to vary.
D ∫ β dV r
1 ∂ V
= lim { ∫ β (t + δ t ) dV )} + ∫ β dV
V
( ên dA
Dt δ t →0 δ t V (t +δ t )−V (t ) ∂t V

Geometrically, this can be visualized as the adjacent

figure, and thus the limit is to be carried in the shadowed
region.

In the limiting sense, the perpendicular distance from any

r
point on the inner surface to the outer surface is V • eˆnδ t V (t )
r
and therefore, dV can be equate to V • eˆnδ t dS . V (t + δ t )

Thus, the volume integral may be transformed to surface integral.

- 4/23 -
D ∫ α ρ dV D ∫ β dV
1 ∂
= = lim { ∫ β (t + δ t ) dV )} + ∫ β dV
V V
(
Dt Dt δ t →0 δ t V (t +δ t )−V (t ) ∂t V
1 r ∂
= lim { ( ∫ β (t + δ t ) (V • eˆn )δt dA)} + ∫ β dV
δ t →0 δ t ∂t V
S (t )
r ∂
= lim ( ∫ β (t + δ t ) (V • eˆn ) dA) + ∫ β dV
δ t →0
S (t )
∂t V
r ∂ r ∂
= ∫ β (t ) (V • eˆn ) dA) + ∫ β dV = ∫ β (V • eˆn ) dA + ∫ β dV
C .S (t )
∂t V S
∂t V
r r ∂ r r ∂
= ∫ β V • dA + ∫ β dV = ∫ α ρ V • dA + ∫ α ρ dV
C .S
∂t V C .S
∂t V

The Lagrangian derivative of a volume integral has been converted into a surface integral in
which the integrands contain only Eularian derivatives.

Physical meaning:

D ∫ α ρ dV
DN s
= V
is the total rate of change of any arbitrary extensive property of the
Dt Dt
system.
∂
∂ t V∫
α ρ dV is the time rate of change of the arbitrary extensive property N with the

control volume evaluated by an observer fixed in the moving control

volume.
r r
∫ α ρ V • dA
C .S .
is the net rate of efflux of the extensive property N through the control

surface to the control volume.

The equation:

D ∫ α ρ dV
DN s ∂ r r
∂ t C∫.V . ∫
= V
= α ρ dV + ( α ρ V ) • dA
Dt Dt C .S .

Where α is any intensive property corresponding to N. (i.e., α = N per unit mass), and it can be
used for different quantities as follows.

- 5/23 -
NS α

Mass 1
r
Linear momentum V
r r
Angular momentum R ×V

Energy e

Entropy s

- 6/23 -
3.3 Conservation of Mass

The conservation of mass simply state that the mass, M, of the system is constant.

DM s
=0
Dt

Using Reynolds’ transport theory, this can be converted to Euler formulation as:
D ∫ α ρ dV
DN s ∂ r r
Dt
= C .V .
Dt
= ∫ α ρ dV + ∫ (α ρ V ) • dA
∂ t C .V . C .S .
when α = 1 , then

DM s ∂ r r
∂ t C∫.V . ∫
= ρ dV + ( ρ V ) • dA =0
Dt C .S .

Physically,

⎡Rate of change of mass ⎤ ⎡ Net rate of mass efflux (outflow) ⎤

⎢inside a control volume ⎥ + ⎢ through the control surface ⎥=0
⎣ ⎦ ⎣ ⎦

Since the control volume is fixed with respect to a coordinate system attached to it, the limits of
integration are also fixed. Hence, the time derivative can be placed inside the volume integral,
and the equation can be re-written as:

∂ρ r r
∫
C .V .
∂t
dV + ∫ ( ρ V ) • dA = 0
C .S .

States the conservation of mass law in a finite space.

Applying Guess divergence theorem, we convert the surface integral to volume integral to
obtain:

∂ρ r r ∂ρ r ∂ρ r
∫ ∂t
C .V .
d V + ∫ (
C .S .
ρ V ) • d A = ∫ ∂t
C .V .
d V + ∫ ∇
C .V .
• ( ρ V ) d V = ∫ ∂t
C .V .
[ + ∇ • ( ρ V )] dV =0

Therefore:
∂ρ r
∫ [ ∂ t + ∇ • ( ρ V )] dV =0
C .V .

- 7/23 -
Since the control volume V was arbitrarily chosen, the only way this equation can be satisfied is
for the integrand to be zero at all points within the control volume. Thus, by setting the
integrand to zero, we have the partial equation of conservation law:

∂ρ r
+ ∇ • ( ρV) = 0
∂t

Mathematically, the variation of the above equation can be:

∂ρ r ∂ρ r r
+ ∇ • ( ρV) = + V • ∇ρ + ρ ∇ • V
∂t ∂t
Dρ r
= + ρ∇ •V = 0
Dt

Simplifications:

Form incompressible flows:

∂ρ
ρ is constant, then = 0; ∇ρ = 0
∂t

Therefore,
r
∇ •V = 0

- 8/23 -
3.4 Conservation of Momentum
Newton’s second law:

[Time change rate of momentum of a system] = [Resultant external force acting on the system]
r
dM S r r r
i.e., = ∑ FS = ∑ FSurface + ∑ Fbody
dt
r r r r
Use α = V in Reynolds’ transport theorem apply to M S where M S = ∫ ρ dV = total
V
C .V .

momentum
r
dM s d r ∂ r r r r
dt
= ∫ V ρ dV =
dt C .V . ∫ V ρ dV + ∫ (V ρ V ) • dA
∂ t C .V . C .S .

Therefore;

∂ r r r r r r
∂ t C∫.V . ∫
V ρ d V + ( V ρ V ) • d A = Fsurface + Fbody
C .S .

r
Fsurface Surface forces such as pressure and shear stress. The surface forces usually can be
r ~ r ~
expressed as Fsurface = ∫ P • dA , where P is the stress tensor exerted by the
C .S .
~ ~
surroundings on the particle surface. P = − PI + τ~

r
Fbody Body forces such as electromagnetic, gravitational forces. Usually the body force
r r r
can be expressed as Fbody = ∫ ρ f dV , where f is a vector which references the
C .V .

resultant force per unit mass.

Then, the momentum equation reduces to:

∂ r rr r ~ r r
∂ t C∫.V . ∫ ∫ ∫ dV
ρ V d V + ( ρ V V ) • d A = P • d A + ρ f
C .S . C .S . C .V .

Using divergence theorem for the control surface integrals, we obtained following equation after
noting that the limits do not change.

- 9/23 -
 ∂ r rr ~ r
∫ ρ V dV + ∫ ∇ • ( ρ V V ) dV = ∫ ∇ • P dV + ∫ ρ f dV
∂ t C .V . C .S . C .S . C .V .
r
∂ ( ρV ) r r ~ r
⇒ ∫ [ + ∇ • ( ρ V V ) − ∇ • P − ρ f ]dV = 0
C .V .
∂t
r
∂( ρV ) rr ~ r
⇒ + ∇ • (ρ V V ) − ∇ • P − ρ f = 0
∂t
r r r
Expand the above equation using ∇ • (φ A) = ( A • ∇)φ + φ ∇ • A
r
∂( ρV ) rr ~ r
+ ∇ • (ρ V V ) − ∇ • P − ρ f = 0
∂t
r
r ∂ρ ∂V r r r r ~ r
⇒V +ρ + V∇ • ( ρ V ) + ( ρV • ∇) V − ∇ • P − ρ f =0
∂t ∂t
r
r ∂ρ r ∂V r r ~ r
⇒ V [ + ∇ • ( ρ V )] + ρ + ( ρ V • ∇) V − ∇ • P − ρ f =0
∂t ∂t
r
∂V r r ~ r
⇒ρ + ( ρ V • ∇) V − ∇ • P − ρ f = 0
∂t
r
DV ~ r
⇒ρ −∇•P − ρ f = 0
Dt

Therefore, the differential form of the momentum equation is:

r
DV ~ r
ρ −∇•P − ρ f = 0
Dt

- 10/23 -
3.5 The Navier-Stokes Equations
r
∂ ( ρV ) rr ~ r
+ ∇ • (ρ V V ) − ∇ • P − ρ f = 0
∂t

1 0 0 σ xx τ yx τ zx
~ ~ ~ ~ ~
Where P = − PI + τ , and tensor I = 0 1 0 ; and τ = τ xy σ yy τ zy
0 0 1 τ xz τ yz σ zz

Re-writing the equation after substitution leads to:

r
∂( ρV ) rr ~ r
+ ∇ • ( ρ V V ) − ∇ • (− PI + τ~ ) − ρ f = 0
∂t
r
∂( ρV ) rr ~ r
+ ∇ • ( ρ V V + PI − τ~ ) − ρ f = 0
∂t
~ ~ ~
Since ∇ • ( PI ) = P∇ • I + ( I • ∇) P = ∇P

Therefore: r
∂( ρV ) rr r
+ ∇ • ( ρ V V ) + ∇P − ∇ • τ~ − ρ f = 0
∂t

Another form of Navier-Stokes equation:

r
∂ ( ρV ) rr r
+ ∇ • ( ρ V V ) + ∇P − ∇ • τ~ − ρ f = 0
∂t
r
∂V r ∂ρ r r r r r
⇒ρ +V + V∇ • ( ρ V ) + ( ρ V • ∇) V ) + ∇P − ∇ • τ~ − ρ f = 0
∂t ∂t
r
r ∂ρ r ∂V r r r
⇒ V [ + ∇ • ( ρ V )] + ρ + ( ρ V • ∇) V ) + ∇P − ∇ • τ~ − ρ f = 0
∂t ∂t
144244 3
continuity equation
r r
∂V r r r D V r
⇒ ρ( + V • ∇ V ) + ∇P − ∇ • τ~ − ρ f = 0 ⇒ ρ + ∇P − ∇ • τ~ − ρ f = 0
∂t Dt
14 4244 3
subst tan tial derivative
r
DV r
i.e., ρ + ∇P − ∇ • τ~ − ρ f = 0
Dt

- 11/23 -
Stress Tensor
Z σzz
The stress tensor has nine components:

σ xx τ yx τ zx τzy
τ~ = τ xy σ yy τ zy τzx
τyz
τ xz τ yz σ zz
τxz σyy
Newtonian fluid,
r r 2 r ~
τ~ = μ[∇V + (∇V ) T − (∇ • V ) I ] τyx Y
3 τxy
σxx
For incompressible flow, in Cartesian
coordinate system X

∂u i ∂u j
τ ij = μ ( + )
∂x j ∂xi

τ xy = τ yx ; τ xz = τ zx τ zy = τ yz

- 12/23 -
3.6 Expansion of the Navier-Stokes Equation in
Cylindrical Coordinate
r
∂ ( ρV ) rr r
+ ∇ • ( ρ V V ) + ∇P − ∇ • τ~ − ρ f = 0
∂t
r
V = Vr eˆr + Vθ eˆθ + VZ eˆZ
r
∂ ( ρV ) ∂[ ρ (Vr eˆr + Vθ eˆθ + VZ eˆZ ] ∂ ( ρV ) r ∂ ( ρV )θ ∂ ( ρV ) Z
= = eˆr + eˆθ + eˆ Z
∂t ∂t ∂t ∂t ∂t
rr
∇ • ( ρ V V ) = ∇ • [ ρ (Vr eˆr + Vθ eˆθ + VZ eˆZ )(Vr eˆr + Vθ eˆθ + VZ eˆZ )]
⎡ 647 B1
48 647 B2
48 647 B3
48 ⎤
⎢ ρVrVr eˆr eˆr + ρVθ Vr eˆθ eˆr + ρVZ Vr eˆ Z eˆr ⎥
⎢ ⎥
⎢ 6474 48 6475 48 6476 48 ⎥
B B B

= ∇ • ⎢+ ρVrVθ eˆr eˆθ + ρVθ Vθ eˆθ eˆθ + ρVZ Vθ eˆZ eˆθ ⎥

⎢ ⎥
ρVrVZ eˆr eˆ + ρVθ VZ eˆθ eˆZ + ρVZ VZ eˆZ eˆ Z ⎥
⎢+ 1 424 3 14243 14243
⎢ B7 Z B8 B9 ⎥
⎢⎣ ⎥⎦

A1 A2 A3
6 7 8 67 8 67 8
∂ eˆθ ∂ ∂
∇ = eˆr + + eˆZ
∂r r ∂θ ∂Z

Then:
⎡ 647 B1
48 647 B2
48 647 B3
48 ⎤
⎢ ρVrVr eˆr eˆr + ρVθ Vr eˆθ eˆr + ρVZ Vr eˆZ eˆr ⎥
⎢ ⎥
⎢ ⎥
B4 B5 B6
rr 6 4 7 4 8 6 4 7 4 8 6 4 7 4 8
∇ • ( ρ V V ) = ∇ • ⎢+ ρVrVθ eˆr eˆθ + ρVθ Vθ eˆθ eˆθ + ρVZ Vθ eˆ Z eˆθ ⎥
⎢ ⎥
ρVrVZ eˆr eˆ + ρVθ VZ eˆθ eˆ Z + ρVZ VZ eˆ Z eˆZ ⎥
⎢+ 1 424 3 14243 14243
⎢ B7 Z B8 B9 ⎥
⎢⎣ ⎥⎦
= ( A1 + A2 + A3 ) • ( B1 + B2 + B3 + K + B9 )

- 13/23 -
 rr
∇ • ( ρ V V ) = ( A1 + A2 + A3 ) • ( B1 + B2 + B3 + K + B9 )
⎡ 647 A1 B1
4 8 64A7 2 B4
4 8 64A7 3 B7
48 6A7 2 B1
8 6A7 2 B5
8⎤
⎢ ∂ ( ρVrVr ) ∂ ( ρVθ Vr ) ∂ ( ρVZ Vr ) Vr Vr Vθ Vθ ⎥
= eˆr ⎢ + + +ρ −ρ ⎥
⎢ ∂ r r ∂ θ ∂ r r r ⎥
⎢⎣ ⎥⎦
⎡ 64A7 1 B2
4 8 64A7 2 B5
48 64A7 3 B8
48 6A7 2 B2
8 6A7 2 B4
8⎤
⎢ ∂ ( ρVrVθ ) ∂ ( ρVθ Vθ ) ∂ ( ρVZ Vθ ) VV VV ⎥
+ eˆθ ⎢ + + +ρ r θ +ρ θ r⎥
⎢ ∂r r∂θ ∂r r r ⎥
⎢⎣ ⎥⎦
⎡ 64A7 1 B3
4 8 64A7 2 B6
4 8 64A7 3 B9
48 6A7 8⎤
2 B1

⎢ ∂ ( ρVrV z ) ∂ ( ρVθ V z ) ∂ ( ρVZ V z ) VV ⎥

+ eˆ z ⎢ + + +ρ r z⎥
⎢ ∂r r∂θ ∂r r ⎥
⎣⎢ ⎦⎥
For example
∂ ( ρV r V r eˆ r eˆ r ) ∂ ( ρV r V r ) ∂ (eˆ r eˆ r )
A1 • B1 = eˆ r • = eˆ r • [ eˆ r eˆ r + ρV r V r ]
∂r ∂r ∂r
∂ ( ρV r V r ) ∂eˆ ∂eˆ
= eˆ r • { eˆ r eˆ r + ρV r V r [ r eˆ r + eˆ r r ]}
∂r ∂r ∂r
∂ ( ρV r V r )
= eˆ r • [ eˆ r eˆ r + ρV r V r (0 + 0)]
∂r
∂ ( ρV r V r )
= eˆ r • eˆ r eˆr
∂r
∂ ( ρV r V r )
= eˆ r
∂r
eˆ ∂ ( ρV r V r eˆ r eˆ r ) eˆθ ∂ ( ρV r V r ) ∂ (eˆ r eˆ r )
A2 • B1 = θ • = •[ eˆ r eˆr + ρV r V r ]
r ∂θ r ∂θ ∂θ
eˆ ∂ ( ρV r V r ) ∂eˆ ∂eˆ
= θ •{ eˆr eˆ r + ρV r V r [ r eˆ r + eˆ r r ]}
r ∂θ ∂θ ∂θ
ˆeθ ∂ ( ρV r V r )
= •[ eˆ r eˆ r + ρV r V r (eˆθ eˆr + eˆr eˆθ )]
r ∂θ
∂ ( ρV r V r ) eˆθ eˆ eˆ
= • eˆ r eˆ r + ρV r V r ( θ • eˆθ eˆ r + θ • eˆr eˆθ )]
∂θ r r r
ρV r V r
= 0+ (eˆ r + 0)
r
ρV r V r
= eˆr
r

- 14/23 -
 eˆθ ∂ ( ρVθ eˆθ V r eˆ r ) eˆθ ∂ ( ρV r Vθ ) ∂ (eˆ r eˆθ )
A2 • B 2 = • = •[ eˆ r eˆθ + ρV r Vθ ]
r ∂θ r ∂θ ∂θ
eˆ ∂ ( ρV r Vθ ) ∂eˆ ∂eˆ
= θ •{ eˆ r eˆθ + ρV r Vθ [ r eˆθ + eˆ r θ ]}
r ∂θ ∂θ ∂θ
eˆ ∂ ( ρV r Vθ )
= θ •[ eˆ r eˆθ + ρV r Vθ (eˆθ eˆθ − eˆ r eˆ r )]
r ∂θ
∂ ( ρV r Vθ ) eˆθ eˆ eˆ
= • eˆ r eˆθ + ρV r Vθ ( θ • eˆθ eˆθ − θ • eˆ r eˆ r )]
∂θ r r r
ρV rVθ
= 0+ (eˆθ + 0)
r
ρV r Vθ
= eˆθ
r

∂P eˆ ∂ P ∂P
∇ P = eˆ r + θ + eˆ Z
∂r r ∂θ ∂Z
r r
ρ f = eˆr f r + eˆθ f θ + eˆZ f Z

r r 2 r ~
τ~ = μ[∇V + (∇V ) T − (∇ • V ) I ]
3

r ∂ eˆθ ∂ ∂
∇ V = (eˆr + + eˆZ )(eˆrVr + eˆθ Vθ + eˆZ VZ )
∂r r ∂θ ∂Z
= ( A1 + A2 + A3 )( B1 + B2 + B3 )
∂ (eˆrVr + eˆθ Vθ + eˆZ VZ ) eˆθ ∂ (eˆrVr + eˆθ Vθ + eˆZ VZ ) ∂ (eˆrVr + eˆθ Vθ + eˆ Z VZ )
= eˆr + + eˆ Z
∂r r ∂θ ∂Z
∂eˆ ∂V ∂ (eˆθ ) ∂V ∂VZ ∂eˆ Z
= eˆr { r Vr + eˆr r + Vθ + θ eˆθ + eˆ Z + VZ ]
∂r ∂r ∂r ∂r ∂r ∂r
eˆ ∂eˆ ∂V ∂ (eˆθ ) ∂V ∂VZ ∂eˆZ
+ θ { r Vr + eˆr r + Vθ + θ eˆθ + eˆ Z + VZ ]
r ∂θ ∂θ ∂θ ∂θ ∂θ ∂θ
∂eˆ ∂V ∂ (eˆθ ) ∂V ∂VZ ∂eˆZ
+ eˆZ { r Vr + eˆr r + Vθ + θ eˆθ + eˆZ + VZ ]
∂Z ∂Z ∂Z ∂Z ∂Z ∂Z
∂eˆ ∂V ∂ (eˆθ ) ∂V ∂VZ ∂eˆZ
= eˆr [ r Vr + eˆr r + Vθ + θ eˆθ + eˆ Z + VZ ]
∂r ∂r ∂r ∂r ∂r ∂r
eˆ ∂eˆ ∂V ∂ (eˆθ ) ∂V ∂VZ ∂eˆZ
+ θ [ r Vr + eˆr r + Vθ + θ eˆθ + eˆZ + VZ ]
r ∂θ ∂θ ∂θ ∂θ ∂θ ∂θ
∂eˆ ∂V ∂ (eˆθ ) ∂V ∂VZ ∂eˆZ
+ eˆZ { r Vr + eˆr r + Vθ + θ eˆθ + eˆZ + VZ ]
∂Z ∂Z ∂Z ∂Z ∂Z ∂Z

- 15/23 -
 r ∂V ∂V ∂VZ eˆθ eˆ ∂V eˆ ∂V eˆ eˆ ∂VZ
∇V = eˆr eˆr r + θ eˆr eˆθ + eˆr eˆ Z + eˆθ Vr + θ eˆr r − θ eˆrVθ + θ θ eˆθ + θ eˆ Z
∂r ∂r ∂r r r ∂θ r ∂θ r r ∂θ
∂V ∂V ∂VZ
+ eˆ Z eˆr r + θ eˆ Z eˆθ + eˆZ eˆ Z
∂Z ∂Z ∂Z
⎛ ∂Vr ∂Vθ ∂VZ ⎞
⎜ ⎟
⎜ ∂r ∂r ∂r ⎟
1 ∂Vr Vθ Vr 1 ∂Vθ 1 ∂VZ ⎟
=⎜ − +
⎜ r ∂θ r r r ∂θ r ∂θ ⎟
⎜ ∂Vr ∂Vθ ∂VZ ⎟
⎜ ⎟
⎝ ∂Z ∂Z ∂Z ⎠

⎛ ∂Vr 1 ∂Vr Vθ ∂Vr ⎞

⎜ − ⎟
⎜ ∂r r ∂θ r ∂Z ⎟
r T ⎜ ∂Vθ Vr 1 ∂Vθ ∂Vθ ⎟
(∇V ) = +
⎜ ∂r r r ∂θ ∂Z ⎟
⎜ ∂VZ 1 ∂VZ ∂VZ ⎟
⎜ ⎟
⎝ ∂r r ∂θ ∂Z ⎠

⎛1 0 0⎞
2 r ~ 2 r⎜ ⎟
− (∇ • V ) I = − (∇ • V )⎜ 0 1 0 ⎟
3 3 ⎜0 0 1⎟
⎝ ⎠
Thus,

r r 2 r ~
τ~ = μ[∇V + (∇V ) T − μ (∇ • V ) I ]
3
⎛ ∂Vr 2 r 1 ∂Vr Vθ ∂Vθ ∂Vr ∂VZ ⎞
⎜2 − (∇ • V ) − + + ⎟
⎜ ∂r 3 r ∂θ r ∂r ∂Z ∂r ⎟
1 ∂Vr Vθ ∂Vθ Vr 1 ∂Vθ r ∂Vθ 1 ∂VZ ⎟
= μ⎜
2
− + 2( + ) − (∇ • V ) +
⎜ r ∂θ r ∂r r r ∂θ 3 ∂Z r ∂θ ⎟
⎜ ∂VZ ∂Vr 1 ∂VZ ∂Vθ ∂VZ 2 r ⎟
⎜ + + − (∇ • V ) ⎟
⎝ ∂r ∂Z r ∂θ ∂Z ∂Z 3 ⎠
⎛ σ rr τ rθ τ rz ⎞
⎜ ⎟
= ⎜ τ θr σ θθ τ θz ⎟
⎜τ τ Zθ τ ZZ ⎟⎠
⎝ zr

- 16/23 -
 ⎛ σ rr τ rθ τ rz ⎞
∂ eˆθ ∂ ∂ ⎜ ⎟
~
∇ • τ = (eˆr + + eˆZ ) • ⎜ τ θr σ θθ τ θz ⎟
∂r r ∂θ ∂Z ⎜ ⎟
⎝ τ z r τ Zθ τ ZZ ⎠
∂ ∂ ∂
= (eˆr + eˆθ + eˆZ ) • (eˆr eˆr σ rr + eˆr eˆθ τ rθ + eˆr eˆZ τ rz
∂r r∂θ ∂Z
+ σ θ θ eˆθ eˆθ + eˆθ eˆrτ θz + eˆZ eˆrτ zr + τ zθ eˆ Z eˆθ + σ zz eˆZ eˆZ ]
∂σ rr ∂τ rθ ∂τ zr σ rr σ θ θ
= eˆr [ + + + − ]
∂r r∂θ ∂Z r r
∂τ ∂σ ∂τ τ τ
+ eˆθ [ rθ + θθ + zθ + rθ + θ r ]
∂r r∂θ ∂Z r r
∂τ ∂τ ∂σ zz τ rz
+ eˆZ [ rZ + θZ + + ]
∂r r∂θ ∂Z r
∂ (rσ rr ) ∂τ rθ ∂τ zr σ θ θ
= eˆr [ + + − ]
r∂r r∂θ ∂Z r
∂ (rτ rθ ) ∂σ θθ ∂τ zθ τ θ r
+ eˆθ [ + + + ]
r∂r r∂θ ∂Z r
∂ (rτ rZ ) ∂τ θZ ∂σ zz
+ eˆZ [ + + ]
r∂r r∂θ ∂Z

Therefore, the Navier-Stokes equation in cylindrical coordinate system will be:

∂ ( ρVr ) ∂ ( ρVrVr ) ∂ ( ρVθ Vr ) ∂ ( ρVZ Vr ) VV VV

+ + + +ρ r r −ρ θ θ
∂t ∂r r∂θ ∂Z r r
∂p ∂ (rσ rr ) ∂τ rθ ∂τ zr σ θ θ
= − +[ + + − ] + ρ fr
∂r r∂r r∂θ ∂Z r
r-direction: or
∂ ( ρVr ) ∂ ( ρ r VrVr ) ∂ ( ρVθ Vr ) ∂ ( ρVZ Vr ) VV
+ + + −ρ θ θ
∂t r ∂r r∂θ ∂Z r
∂p ∂ (rσ rr ) ∂τ rθ ∂τ zr σ θ θ
=− +[ + + − ] + ρ fr
∂r r∂r r∂θ ∂Z r

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 ∂ ( ρVθ ) ∂ ( ρVrVθ ) ∂ ( ρVθ Vθ ) ∂ ( ρVZ Vθ ) VV
+ + + +ρ r θ
∂t ∂r r∂θ ∂Z r
1 ∂p ∂ (rτ rθ ) ∂σ θθ ∂τ zθ τ θ r
=− +[ + + + ] + ρ fθ
r ∂θ r∂r r∂θ ∂Z r
θ -direction: or
∂ ( ρVθ ) ∂ ( ρ r VrVθ ) ∂ ( ρVθ Vθ ) ∂ ( ρVZ Vθ ) VV
+ + + +ρ r θ
∂t r ∂r r∂θ ∂Z r
1 ∂p ∂ (rτ rθ ) ∂σ θθ ∂τ zθ τ θ r
=− +[ + + + ] + ρ fθ
r ∂θ r∂r r∂θ ∂Z r
z-direction:
∂ ( ρVZ ) ∂ ( ρVrVZ ) ∂ ( ρVθ VZ ) ∂ ( ρVZ VZ ) ∂p ∂ (rτ rZ ) ∂τ θZ ∂σ zz
+ + + =− +[ + + ] + ρ fZ
∂t ∂r r∂θ ∂Z ∂Z r∂r r∂θ ∂Z

- 18/23 -
3.7 Discussion of Flow Governing Equations
The properties and the flow pattern of a moving fluid are governed by the fundamental laws of
physics expression:

• Conservation of mass
• Conservation of momentum
• Conservation of energy
• Equation of state

When the mathematical equations expression these laws are solved satisfying the approximate
initial and boundary conditions, the fluid properties and the flow pattern results.

These conservation equations involved three scalar fields (i.e., ρ , P, T ) and one vector field (i.e.,
r
V ) as the unknown functions.

• Independent variables: q1 , q 2 , q3 , t
• Dependent variables: ρ , P, T , V1 , V2 , V3
r
• Prescribed quantities: f , μ (T ), c p (T ), R , etc.
• There are six equations and six dependent variables ⇒ Equations can be solved.
• The sum of the order of the differential equations is equal to nine and we need nine
boundary conditions.
• The conservation equations are nonlinear, that is coefficients of some of the derivatives
are dependent variables. Need an interactive solution.
• All equations are coupled and hence must be solved for simultaneously.

In general, exact solutions to the conservation equations are unknown because they are nonlinear
and no general method is presently known for solving nonlinear differential equations. However
when restrictions are placed on the flow geometry and the fluid properties, several exact
solutions to the conservation equations are possible.

- 19/23 -
3.8 Hagan-Poiseuille Flow
Hagan-Poisuille flow results when the flow through a circular pipe has attained what is called a
fully developed profile.

Assumptions:

∂
1. Steady flow: ⇒ =0
∂t
2. Incompressible flows ⇒ ρ , μ are constant.
∂
3. Axial symmetry ⇒ =0
∂θ
4. In addition, we impose on velocity
Vr = 0 r
5. No body forces.
V(r)

Z
Continuity equation:
∂ρ r r
+ ∇ • (ρ V ) = 0 ⇒ ∇ •V = 0
∂t

1 ∂ (rVr ) ∂Vθ ∂ (rV z )

[ + + ]=0
r ∂r ∂θ ∂z
∂ (rVr ) ∂Vθ ∂ (rV z )
⇒ + + =0
∂r ∂θ ∂z
∂ (rV z ) ∂V
⇒ =0⇒ z =0
∂z ∂z
⇒ V z = V z (r )

V z is only the function of r, not functions of Z and θ [due to the axial symmetry assumption of
∂
= 0 ].
∂θ

Momentum equation:

∂ ( ρVr ) ∂ ( ρ r VrVr ) ∂ ( ρVθ Vr ) ∂ ( ρVZ Vr ) VV

+ + + −ρ θ θ
∂t r ∂r r∂θ ∂Z r
r-direction:
∂p ∂ (rσ rr ) ∂τ rθ ∂τ zr σ θ θ
=− +[ + + − ] + ρ fr
∂r r∂r r∂θ ∂Z r

- 20/23 -
 ⎛ ∂V r 2 r 1 ∂V r Vθ ∂Vθ ∂V r ∂V Z ⎞
⎜2 − (∇ • V ) − + + ⎟
⎛ σ rr τ rθ τ rz ⎞ ⎜ ∂r 3 r ∂θ r ∂r ∂Z ∂r ⎟
⎜ ⎟ ∂ ∂V V r 1 ∂Vθ r ∂Vθ 1 ∂V Z ⎟
⎟ = μ ⎜⎜
1 V V 2
⎜ τ θr σ θθ τ θz r
− θ + θ 2( + ) − (∇ • V ) +
⎜τ ⎟ r ∂θ r ∂r r r ∂θ 3 ∂Z r ∂θ ⎟
⎝ zr τ Zθ τ ZZ ⎠ ⎜ ∂V Z ∂V r 1 ∂V Z ∂Vθ ∂V Z 2 r ⎟
⎜ + + − (∇ • V ) ⎟
⎝ ∂r ∂Z r ∂θ ∂Z ∂Z 3 ⎠
⎛ ∂V Z ⎞
⎜ 0 0 μ ⎟
⎜ ∂r ⎟
=⎜ 0 0 0 ⎟
⎜μ ∂V Z ⎟
⎜ 0 0 ⎟
⎝ ∂r ⎠

therefore
∂V
∂(μ Z )
∂p ∂r − 0] + 0
0 + 0 + 0 + 0 − 0 = − + [0 + 0 +
∂r ∂Z
∂V
∂(μ Z )
∂p ∂r = μ ∂ VZ = μ ∂ ( ∂VZ ) = 0
2
⇒ =
∂r ∂Z ∂Z∂r ∂r ∂Z
∂p
⇒ =0
∂r

Leads to the conclusion of P = P(Z )

θ -direction:

∂ ( ρVθ ) ∂ ( ρ r VrVθ ) ∂ ( ρVθ Vθ ) ∂ ( ρVZ Vθ ) VV

+ + + +ρ r θ
∂t r ∂r r∂θ ∂Z r
1 ∂p ∂ (rτ rθ ) ∂σ θθ ∂τ zθ τ θ r
=− +[ + + + ] + ρ fθ
r ∂θ r∂r r∂θ ∂Z r
⇒ 0 + 0 + 0 + 0 + 0 = −0 + [0 + 0 + 0 + 0] + 0
⇒0=0

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Z-direction:
∂ ( ρVZ ) ∂ ( ρVrVZ ) ∂ ( ρVθ VZ ) ∂ ( ρVZ VZ ) ∂P ∂ (rτ rZ ) ∂τ rZ ∂σ zz
+ + + =− +[ + + ] + ρ fZ
∂t ∂r r∂θ ∂Z ∂Z r∂r r∂θ ∂Z
∂V
∂ ( rμ Z )
∂P ∂r + 0 + 0] + 0
⇒ 0+0+0+0 = − +[
∂Z r∂r
∂V
∂ (r Z )
∂P ∂r
⇒ =μ
∂Z
{ 142 r∂4
r3
Only a function of Z Only a function of r

The only way the above equation is true if the two side are both equal to a constant.

Therefore:
∂p
=C
∂Z
∂V where C is a constant.
∂ (r Z )
μ ∂r = C
r∂r

Boundary conditions:

• At the wall, r = r0 , VZ = 0 .
∂VZ
• At the centerline, slope of velocity profile is zero. r = 0, =0
∂r

∂VZ
∂ (r )
μ ∂r = C
r∂r
∂V
∂ (r Z )
∂r = Cr ⇒ ∂ (r ∂VZ ) = Cr ∂r Cr ∂r
⇒
∂r μ ∫ ∂r ∫ μ μ
∂VZ Cr 2
⇒r = + B1
∂r 2μ
∂VZ
Since r = 0, =0 ⇒ B1 = 0
∂r

- 22/23 -
 ∂VZ Cr 2
r =
∂r 2μ
∂V Cr
⇒ Z =
∂r 2μ
Cr
⇒ ∫ ∂VZ = ∫ ∂r
2μ
Cr 2
⇒ VZ = + B2
4μ
2
Cr
Since r = r0 , VZ = 0 ⇒ B2 = − 0
4μ
Therefore,

C 2
VZ = (r − r0 )
2

4μ
∂p
Since = C and P = P(Z )
∂Z

Therefore

1 dP 2
VZ = (r − r0 )
2

4μ dZ

Mass flow rate

r0 1 dP 2
m& = ∫ ρ VZ dA = ∫ ρ (r − r0 )(2πrdr )
2
0 4μ dZ
π dP r 4 r0 r 2 r0
2

=ρ ( − )
2μ dZ 4 2 0
π dP r0
4

=ρ (− )
2μ dZ 4
π dP 4
= −ρ r0
8μ dZ

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