Lecture 2

Kinematics of Fluid Motion (Part I)

M. FOUAD ZEDAN & S.

SADEK
 General Motion of Fluid Particle (Element)
2

 Motion of a Fluid Particle

Compiled by M F ZEDAN & S. Sadek

 Methods of Description of Fluid Motion
3

 Lagrangian (particle) Approach

- Obviously this approach is due to Lagrange
- In this approach we follow fluid particles in a
way similar to what you have done in classical
dynamics course
- A fluid particle is treated as a system
- Basically you consider a fluid particle, apply
forces acting on it (using some sort of
freebody diagram), and then use Newton’s
2nd law to predict its motion (pathline).
Compiled by M F ZEDAN & S. Sadek
 
Methods of Description of Fluid Motion
4

 Lagrangian Approach
- Equation of pathline:
xp = xp (t)
yp = yp (t)
zp = zp (t)

- Although this approach is straight forward, it

is not practical because of almost infinite
number of particles that we have to deal with.

Compiled by M F ZEDAN & S. Sadek

 Methods of Description of Fluid Motion
5

 Eulerian (Field) Approach

- In this approach we assume that flow
properties such as density, velocity, pressure,
etc. are continuous functions in space and
time irrespective of the fluid particle at a
location at a particular instant of time.
A function of space and time is called FIELD in
mathematics.
Density: since the density is a scalar quantity, therefore it
is scalar field, expressed as
ρ = ρ (x,y,z,t)
Compiled by M F ZEDAN & S. Sadek
 Methods of Description of Fluid Motion
6

 Eulerian Approach
 Pressure is also scalar field, expressed as

p= p(x,y,z,t)

 Velocity Fields
 A velocity Field gives the velocity of a fluid flow (fluid in
motion) at any point in space and instance of time.
𝑉 = 𝑉 𝑥, 𝑦, 𝑧, 𝑡
 Velocity is a vector quantity hence has a direction and
magnitude

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 Field Description
7

 Velocity Fields
 In Cartesian coordinates the velocity components are denoted
by u, v and w in the x, y and z directions, respectively.
𝑉 = 𝑢𝑖 + 𝑣𝑗 + 𝑤 𝑘

 Based on the velocity dependency the flow can be categorized

into different categories.

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 Field Description
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 Flow Fields
 Steady/Unsteady Flow
 A flow where properties don't change with time at every
point in the field is said to be steady flow,

ρ V
= 0, =0
t t
 One-, Two- and Three-Dimensional flow
 Flow fields are classified as one-, two- or three-dimensional
depending on the number of space coordinates required to
specify the velocity field

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 Field Description
9

Examples
 a, b and c are constants
V = ax 2 iˆ + bx 2 ˆj One-dimensional steady flow

V = ax 2 e bt iˆ One-dimensional unsteady flow

V = axiˆ  byˆj Two-dimensional steady flow


V = axiˆ  byˆj + t  cz kˆ Three-dimensional unsteady flow

Compiled by M F ZEDAN & S. Sadek

 Field Description
10

 The Eulerian description is utilized by applying

basic laws of physics to a volume in space that
we call control volume and study the flow as it
enters and leaves.
 The control volume can be finite (measurable) or
infinitesimal (differential)
 Equations Resulting from finite control volume
analysis are integral equations.
 Equations Resulting from infinitesimal control
volume analysis are differential equations.
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 General Motion of a Fluid Element
11

 Motion of a Fluid Particle (Kinematics)

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 General Motion of a Fluid Element
12

 Motion of a Fluid Particle

 Fluid particle motion can be decomposed into translation,
rotation, linear deformation and angular deformation

Compiled by M F ZEDAN & S. Sadek

 Rotation
13

 Motion of a Fluid Particle

 Fluid Rotation
 Fluid rotation in general will have components in all
coordinate axes. The angular velocity vector is written as,
𝜔 = 𝜔𝑥 𝑖 + 𝜔𝑦 𝑗 + 𝜔𝑧 𝑘
 To extract the rotation motion we consider a particle at
initial time t

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 Rotation
14

 Motion of a Fluid Particle

 Fluid Rotation
 How do we relate these deformations to flow field quantities?
 For small angles:
tan Δ𝛼 ≈ ∆𝛼 = ∆𝜂/Δ𝑥 and tan Δ𝛽 ≈ ∆𝛽 = Δ𝜉/𝑑𝑦
 In a time interval Δ𝑡 point o movement in the x and y directions are
given by, 𝑢Δ𝑡 and 𝑣Δ𝑡, respectively.
 Point a and b movement in the y and x directions are given by [𝑣 + 𝜕𝑣
/𝜕𝑥∆𝑥]∆𝑡 and 𝑢 + 𝜕𝑢/𝜕𝑦∆𝑦 ∆𝑡, respectively.
 Hence,
𝜕𝑢
∆𝜉 = 𝑢 + 𝜕𝑢/𝜕𝑦∆𝑦 Δ𝑡 − 𝑢Δ𝑡 = ∆𝑦∆𝑡
𝜕𝑦
𝜕𝑣
∆𝜂 = 𝑣 + 𝜕𝑣/𝜕𝑥∆𝑥 Δ𝑡 − 𝑣Δ𝑡 = 𝜕𝑥 ∆𝑥∆𝑡

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 Rotation
15

 Motion of a Fluid Particle

 Fluid Rotation
 We can write the z-component of the angular velocity as follows,
1 1 ∆𝜂 ∆𝜉 1 𝜕𝑣 Δ𝑥 𝜕𝑢 Δ𝑦
− ∆𝑡
2 ∆𝛼−∆𝛽 2 Δ𝑥−Δ𝑦 2 𝜕𝑥Δ𝑥 𝜕𝑦 Δ𝑦
𝜔𝑧 = lim = lim = lim
Δ𝑡→0 ∆𝑡 Δ𝑡→0 ∆𝑡 Δ𝑡→0 ∆𝑡
Then,
1 𝜕𝑣 𝜕𝑢
𝜔𝑧 = −
2 𝜕𝑥 𝜕𝑦
Considering perpendicular lines in the x-z and y-z planes we can
obtain similar relations for 𝜔𝑥 and 𝜔𝑦 , as follows,
1 𝜕𝑤 𝜕𝑣 1 𝜕𝑢 𝜕𝑤
𝜔𝑥 = − and 𝜔𝑦 = −
2 𝜕𝑦 𝜕𝑧 2 𝜕𝑧 𝜕𝑥

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 Rotation
16

 Motion of a Fluid Particle

 Fluid Rotation
 Hence the angular velocity vector can be written as follows,
1 𝜕𝑤 𝜕𝑣 𝜕𝑢 𝜕𝑤 𝜕𝑣 𝜕𝑢
𝜔= − 𝑖+ − 𝑗+ − 𝑘
2 𝜕𝑦 𝜕𝑧 𝜕𝑧 𝜕𝑥 𝜕𝑥 𝜕𝑦
 The rem in the square brackets is actually the curl of the velocity
field
𝜕𝑤 𝜕𝑣 𝜕𝑢 𝜕𝑤 𝜕𝑣 𝜕𝑢
𝑐𝑢𝑟𝑙 𝑉 = 𝛻 × 𝑉 = − 𝑖+ − 𝑗+ − 𝑘
𝜕𝑦 𝜕𝑧 𝜕𝑧 𝜕𝑥 𝜕𝑥 𝜕𝑦
 Hence the angular velocity is given by
1
𝜔 = 𝛻×𝑉
2

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 Vorticity and Circulation
17

 Motion of a Fluid Particle

 Fluid Rotation
 The Vorticity is defined as,
𝜉 ≡ 𝑐𝑢𝑟𝑙 𝑉 = 𝛻 × 𝑉 = 2𝜔
 A related quantity to the Vorticity is the Circulation Γ

Γ= 𝑉 ∙ 𝑑𝑠
𝑐
Where c is a closed loop. The circulations is related to the Vorticity
through Stokes Theorem.

Γ= 𝑉 ∙ 𝑑𝑠 = 𝛻 × 𝑉 ∙ 𝑑𝐴 = 𝜉 ∙ 𝑑𝐴
𝑐 𝐴 𝐴

Compiled by M F ZEDAN & S. Sadek

 Angular Deformation (Shear Strain)
18

 Motion of a Fluid Particle

 Angular Deformation
 This is given by the change in a 90° angle or ∆𝛼 + ∆𝛽 as
shown earlier.
 The rate at which this deformation occurs is called the rate
of deformation
 For the xy plane
𝑅𝑎𝑡𝑒 𝑜𝑓 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 ∆𝛼 + ∆𝛽
= lim
𝑑𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑥𝑦 𝑝𝑙𝑎𝑛𝑒 ∆𝑡→0 ∆𝑡
∆𝜂 ∆𝜉
𝑅𝑎𝑡𝑒 𝑜𝑓 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 +
∆𝑥 ∆𝑦
= lim
𝑑𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑥𝑦 𝑝𝑙𝑎𝑛𝑒 ∆𝑡→0 ∆𝑡

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 Angular Deformation (Shear Strain)
19

 Motion of a Fluid Particle

 Angular Deformation
 For the xy plane
𝜕𝑣 Δ𝑥 𝜕𝑢 Δ𝑦
𝑅𝑎𝑡𝑒 𝑜𝑓 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 + ∆𝑡 𝜕𝑣 𝜕𝑢
𝜕𝑥 Δ𝑥 𝜕𝑦 Δ𝑦
= lim = +
𝑑𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛 𝑖𝑛 𝑥𝑦 𝑝𝑙𝑎𝑛𝑒 ∆𝑡→0 ∆𝑡 𝜕𝑥 𝜕𝑦
 Similar expressions can be written for the rate of angular
deformation in the 𝑧𝑥 and 𝑦𝑧 planes,
𝜕𝑤 𝜕𝑣
Rate of angular deformation in 𝑦𝑧 plane = +
𝜕𝑦 𝜕𝑧
𝜕𝑤 𝜕𝑢
Rate of angular deformation in 𝑧𝑥 plane = +
𝜕𝑥 𝜕𝑧

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 Relation between Shear Stress and Shear Strain
20

 Motion of a Fluid Particle

 Angular Deformation
 For the xy plane
 Recall that the shear stress for a Newtonian fluid was
assumed to be proportional to the rate of deformation
𝜕𝑣 𝜕𝑢
τ𝑥𝑦 = 𝜏𝑦𝑥 =𝜇 +
𝜕𝑥 𝜕𝑦
Similarly,
𝜕𝑤 𝜕𝑢 𝜕𝑤 𝜕𝑣
𝜏𝑥𝑧 = 𝜏𝑧𝑥 = 𝜇 + 𝜕𝑧 , 𝜏𝑦𝑧 = 𝜏𝑧𝑦 = 𝜇 + 𝜕𝑧
𝜕𝑥 𝜕𝑦

 For a one-dimensional Newtonian flow this reduces to

𝜕𝑢
τ𝑥𝑦 = 𝜇
𝜕𝑦
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 Example on Rotation
21

 Rotation in Viscometric Flow

 Example:
A viscometric flow in the narrow gap between large parallel plates is shown.
The velocity field in the gap is given by 𝑉 = 𝑈(𝑦 ℎ)𝑖, Where 𝑈 = 4 𝑚 𝑠 and ℎ
= 4 𝑚𝑚. At time 𝑡 = 0 line segments ac and bd are marked in the fluid to form
a cross as shown. Evaluate the positions of the marked points at 𝑡 = 1.5 𝑠 and
sketch for comparison. Calculate the rate of angular deformation and the rate
of rotation of a fluid particle in this velocity field. Comment on your results.

Compiled by M F ZEDAN & S. Sadek

 Example on Rotation
22

 Rotation in Viscometric Flow

Solution:
 Assume there is no vertical velocity v=0. The velocity of each point will be u
and the position is given by, Δ𝑥 = 𝑢Δ𝑡.
𝑚𝑚
 Point b will move by an amount Δ𝑥𝑏 = 3 × 1.5 𝑠 = 4.5 𝑚𝑚
𝑠
 Similarly points a and c will move 3 mm each
 Line ac will remain horizontal and its length will be the same (𝑢𝑎 = 𝑢𝑐 )
𝑚𝑚
 Point d will move Δ𝑥𝑑 = 1 × 1.5 𝑠 = 1.5 𝑚𝑚
𝑠

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 Example on Rotation
23

 Rotation in Viscometric Flow

Solution:
 The rate of angular deformation is
𝜕𝑢 𝜕𝑣 1 𝑈 𝑚𝑚 1 1
+ =𝑈 +0= =4 × = 1𝑠 −1
𝜕𝑦 𝜕𝑥 ℎ ℎ 𝑠 4 𝑚𝑚
 The rate of rotation is given by
1 𝜕𝑣 𝜕𝑢 1 𝑈 1 4 𝑚𝑚 𝑠
𝜔𝑧 = − = 0− =− × = −0.5 𝑠 −1
2 𝜕𝑥 𝜕𝑦 2 ℎ 2 4 𝑚𝑚

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 Linear Deformation (normal Strain)
24

 Motion of a Fluid Particle

 Linear Deformation
 When a particle undergoes linear deformation straight
perpendicular lines remain straight and perpendicular (no
change in angles).
 In this case a particle will undergo changes in length of its
𝜕𝑢
boundaries. The length in the x direction will change hence
𝜕𝑥
𝜕𝑣 𝜕𝑤
≠ 0, similarly in the y and z directions ≠ 0 and ≠ 0,
𝜕𝑦 𝜕𝑧
respectively.
 Hence, the Volume Dilation is given by
𝜕𝑢 𝜕𝑣 𝜕𝑤
𝑉𝑜𝑙𝑢𝑚𝑒 𝐷𝑖𝑙𝑎𝑡𝑖𝑜𝑛 𝑟𝑎𝑡𝑒 = + + =𝛻∙𝑉
𝜕𝑥 𝜕𝑦 𝜕𝑧

Compiled by M F ZEDAN & S. Sadek