VIENNA UNIVERSITY OF TECHNOLOGY

Handbook of Equations

Continuity Equation
Continuity equation in cartesian coordinates

∂ux ∂uy ∂uz

+ + =0
∂x ∂y ∂z

Continuity equation in cylindrical coordinates

1 ∂ (rur ) 1 ∂uθ ∂uz

+ + =0
r ∂r r ∂θ ∂z

Continuity equation in spherical coordinates

1 ∂ r2 ur


1 ∂ (uθ sin θ) 1 ∂uϕ
2
+ + =0
r ∂r r sin θ ∂θ r sin θ ∂ϕ

1
Navier-Stokes Equations
Navier-Stokes equations in cartesian coordinates

Component x:
 2
∂ ux ∂ 2 ux ∂ 2 ux
  
∂ux ∂ux ∂ux ∂ux ∂P
ρ + ux + uy + uz =− +µ + +
∂t ∂x ∂y ∂z ∂x ∂x2 ∂y 2 ∂z 2

Component y:
 2
∂ 2 uy ∂ 2 uy
  
∂uy ∂uy ∂uy ∂uy ∂P ∂ uy
ρ + ux + uy + uz =− +µ + +
∂t ∂x ∂y ∂z ∂y ∂x2 ∂y 2 ∂z 2

Component z:
 2
∂ 2 uz ∂ 2 uz
  
∂uz ∂uz ∂uz ∂uz ∂P ∂ uz
ρ + ux + uy + uz =− +µ + +
∂t ∂x ∂y ∂z ∂z ∂x2 ∂y 2 ∂z 2

2
Navier-Stokes equations in cylindrical coordinates

Component r:

u2θ
 
∂ur ∂ur uθ ∂ur ∂ur
ρ + ur + − + uz =
∂t ∂r r ∂θ r ∂z
1 ∂ 2 ur ∂ 2 ur
   
∂P ∂ 1 ∂ 2 ∂uθ
− +µ (rur ) + 2 − 2 +
∂r ∂r r ∂r r ∂θ2 r ∂θ ∂z 2

Component θ:
 
∂uθ ∂uθ uθ ∂uθ uθ ur ∂uθ
ρ + ur + + + uz =
∂t ∂r r ∂θ r ∂z
1 ∂ 2 uθ ∂ 2 uθ
   
1 ∂P ∂ 1 ∂ 2 ∂ur
− +µ (ruθ ) + 2 + 2 +
r ∂θ ∂r r ∂r r ∂θ2 r ∂θ ∂z 2

Component z:
 
∂uz ∂uz uθ ∂uz ∂uz
ρ + ur + + uz =
∂t ∂r r ∂θ ∂z
1 ∂ 2 uz ∂ 2 uz
   
∂P 1 ∂ ∂uz
− +µ r + 2 +
∂z r ∂r ∂r r ∂θ2 ∂z 2

3
Navier-Stokes equations in spherical coordinates

Component r:
!
∂ur ∂ur uθ ∂ur uϕ ∂ur u2θ + u2ϕ
ρ + ur + + − =
∂t ∂r r ∂θ r sin θ ∂ϕ r
∂ 2 ur
    
∂P 1 ∂ 2 ∂ur 1 ∂ ∂ur 1
− +µ 2 r + 2 sin θ + 2 2
∂r r ∂r ∂r r sin θ ∂θ ∂θ r sin θ ∂ϕ2

2 2 ∂uθ 2 2 ∂uϕ
− 2 ur − 2 − 2 uθ cot θ − 2 −
r r ∂θ r r sin θ ∂ϕ

Component θ (azimuthal angle):

!
∂uθ ∂uθ uθ ∂uθ uϕ ∂uθ ur uθ u2ϕ cot θ
ρ + ur + + + − =
∂t ∂r r ∂θ r sin θ ∂ϕ r r
∂ 2 uθ
    
1 ∂P 1 ∂ 2 ∂uθ 1 ∂ ∂uθ 1
− +µ 2 r + 2 sin θ + 2 2
r ∂θ r ∂r ∂r r sin θ ∂θ ∂θ r sin θ ∂ϕ2

2 ∂ur uθ 2 cos θ ∂uϕ
+ 2 − 2 2 − 2 2
r ∂θ r sin θ r sin θ ∂ϕ

Component ϕ (polar angle):

 
∂uϕ ∂uϕ uθ ∂uϕ uϕ ∂uϕ ur uϕ uθ uϕ
ρ + ur + + + + cot θ =
∂t ∂r r ∂θ r sin θ ∂ϕ r r
∂ 2 uϕ
    
1 ∂P 1 ∂ ∂uϕ 1 ∂ ∂uϕ 1
− +µ 2 r2 + 2 sin θ + 2 2
r sin θ ∂ϕ r ∂r ∂r r sin θ ∂θ ∂θ r sin θ ∂ϕ2

uϕ 2 ∂ur 2 cos θ ∂uθ
− 2 2 + 2 + 2 2
r sin θ r sin θ ∂ϕ r sin θ ∂ϕ

4
Cauchy Equations
Cauchy Equations in cartesian coordinates

Component x:
 
∂ux ∂ux ∂ux ∂ux ∂p ∂τxx ∂τyx ∂τzx
ρ + ux + uy + uz =− + + + + ρgx
∂t ∂x ∂y ∂z ∂x ∂x ∂y ∂z

Component y:
 
∂uy ∂uy ∂uy ∂uy ∂p ∂τxy ∂τyy ∂τzy
ρ + ux + uy + uz =− + + + + ρgy
∂t ∂x ∂y ∂z ∂y ∂x ∂y ∂z

Component z:
 
∂uz ∂uz ∂uz ∂uz ∂p ∂τxz ∂τyz ∂τzz
ρ + ux + uy + uz =− + + + + ρgz
∂t ∂x ∂y ∂z ∂z ∂x ∂y ∂z

Cauchy Equations in cylindrical coordinates

Component r:

u2θ
 
∂ur ∂ur uθ ∂ur ∂ur
ρ + ur + − + uz =
∂t ∂r r ∂θ r ∂z
∂p 1 ∂ 1 ∂τrθ τθθ ∂τrz
− + (rτrr ) + − + ρgr
∂r r ∂r r ∂θ r ∂z
Component θ:
 
∂uθ ∂uθ uθ ∂uθ uθ ur ∂uθ
ρ + ur + + + uz =
∂t ∂r r ∂θ r ∂z
1 ∂p 1 ∂ 1 ∂τθθ ∂τθz
− + 2 (r2 τrθ ) + + + ρgθ
r ∂θ r ∂r r ∂θ ∂z
Component z:
 
∂uz ∂uz uθ ∂uz ∂uz
ρ + ur + + uz =
∂t ∂r r ∂θ ∂z
∂p 1 ∂ 1 ∂τθz ∂τzz
− + (rτrz ) + + + ρgz
∂z r ∂r r ∂θ ∂z

5
Cauchy Equations in spherical coordinates

Component r:
!
∂ur ∂ur uθ ∂ur uϕ ∂ur u2 + u2ϕ
ρ + ur + + − θ =
∂t ∂r r ∂θ r sin θ ∂ϕ r
∂p 1 ∂ 1 ∂ 1 ∂τrϕ τθθ + τϕϕ
− + 2 (r2 τrr ) + (τrθ sin θ) + − + ρgr
∂r r ∂r r sin θ ∂θ r sin θ ∂ϕ r

Component θ (azimuthal angle):

!
∂uθ ∂uθ uθ ∂uθ uϕ ∂uθ ur uθ u2ϕ cot θ
ρ + ur + + + − =
∂t ∂r r ∂θ r sin θ ∂ϕ r r
1 ∂p 1 ∂ 2 1 ∂ 1 ∂τθϕ τrθ cot θ
− + (r τrθ ) + (τθθ sin θ) + + − τϕϕ + ρgθ
r ∂θ r2 ∂r r sin θ ∂θ r sin θ ∂ϕ r r

Component ϕ (polar angle):

 
∂uϕ ∂uϕ uθ ∂uϕ uϕ ∂uϕ ur uϕ uθ uϕ
ρ + ur + + + + cot θ =
∂t ∂r r ∂θ r sin θ ∂ϕ r r
1 ∂p 1 ∂ 1 ∂τθϕ 1 ∂τϕϕ τrϕ 2 cot θ
− + 2 (r2 τrϕ ) + + + + τθϕ + ρgϕ
r sin θ ∂ϕ r ∂r r ∂θ r sin θ ∂ϕ r r

6
Stress tensor components
Cartesian coordinates

 
∂ux 2
τxx = µ 2 − (∇ · v)
∂x 3
 
∂ux ∂uy
τyx = τxy = µ +
∂y ∂x
 
∂uy 2
τyy = µ 2 − (∇ · v)
∂y 3
 
∂ux ∂uz
τzx = τxz = µ +
∂z ∂x
 
∂uz 2
τzz = µ − (∇ · v)
∂z 3
 
∂uy ∂uz
τzy = τyz = µ +
∂z ∂y

Cylindrical coordinates

 
∂uz 2
τzz = µ 2 − (∇ · v)
∂z 3
 
∂uz ∂ur
τzr = τrz = µ +
∂r ∂z
 
∂ur 2
τrr = µ 2 − (∇ · v)
∂r 3
 
∂  uθ  1 ∂ur
τrθ = τθr = µ r +
∂r r r ∂θ
   
ur 1 ∂uθ 2
τθθ =µ 2 + − (∇ · v)
r r ∂θ 3
 
∂uθ 1 ∂uz
τθz = τzθ = µ +
∂z r ∂θ

7
Spherical coordinates

 
∂ur 2
τrr = µ 2 − (∇ · v)
∂r 3
 
∂ uθ  1 ∂ur
τrθ = τθr = µ r +
∂r r r ∂θ
   
1 ∂uθ ur 2
τθθ = µ 2 + − (∇ · v)
r ∂θ r 3
 
sin θ ∂  uϕ  1 ∂uθ
τθϕ = τϕθ = µ +
r ∂θ sin θ r sin θ ∂ϕ
  
ur uθ 1 ∂uθ 2
τϕϕ =µ + cot θ + − (∇ · v)
r r r sin θ ∂ϕ 3
 
1 ∂ur ∂  uϕ 
τϕr = τrϕ = µ +r
r sin θ ∂ϕ ∂r r