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Kinematics 1
Kinematics 1
Kinematics 1
Written out in full the rate of strain tensor (or matrix) has Cartesian components
∂u ∂v ∂w
exx = ; eyy = ; ezz = (Bba10)
∂x ∂y ∂z
1 ∂u ∂v
exy = eyx = + (Bba11)
2 ∂y ∂x
1 ∂v ∂w
eyz = ezy = + (Bba12)
2 ∂z ∂y
1 ∂w ∂u
ezx = exz = + (Bba13)
2 ∂x ∂z
In cylindrical coordinates, (r, θ, z), with velocities ur , uθ , uz in the r, θ, z directions, the strain rate tensor
has components:
∂ur 1 ∂uθ ur ∂uz
err = ; eθθ = + ; ezz = (Bba14)
∂r r ∂θ r ∂z
1 1 ∂ur ∂uθ uθ
erθ = eθr = + − (Bba15)
2 r ∂θ ∂r r
1 1 ∂uz ∂uθ
eθz = ezθ = + (Bba16)
2 r ∂θ ∂z
1 ∂ur ∂uz
ezr = erz = + (Bba17)
2 ∂z ∂r
In spherical coordinates, (r, θ, φ), with velocities ur , uθ , uφ in the r, θ, φ directions, the strain rate tensor
has components:
∂ur 1 ∂uθ ur 1 ∂uφ ur uθ cot θ
err = ; eθθ = + ; eφφ = + + (Bba18)
∂r r ∂θ r r sin θ ∂φ r r
1 ∂ uθ 1 ∂ur
erθ = eθr = r + (Bba19)
2 ∂r r r ∂θ
1 sin θ ∂ uφ 1 ∂uθ
eθφ = eφθ = + (Bba20)
2 r ∂θ sin θ r sin θ ∂φ
1 1 ∂ur ∂ uφ
eφr = erφ = +r (Bba21)
2 r sin θ ∂φ ∂r r
The other key kinematic property is the rate of rotation tensor, ωij∗ given by
∗ ∗ 1 ∂ui ∂uj
ωij = −ωji = − (Bba22)
2 ∂xj ∂xi
Since ωij∗ = −ωji
∗
this also allows us to define a very important kinematic property of a flow namely the
vorticity, denoted by ωk which is just twice the rate of rotation tensor ωij∗ so that
∂uj ∂ui
ωk = −2ωij∗ = − (Bba23)
∂xi ∂xj
The vorticity is a key characteristic of a flow and will be addressed in many sections of this book.
Written out in terms of its Cartesian components, the vorticity components are
∗ ∗ ∂w ∂v
ωx = 2ωzy = −2ωyz = − (Bba24)
∂y ∂z
∗ ∗ ∂u ∂w
ωy = 2ωxz = −2ωzx = − (Bba25)
∂z ∂x
∗ ∗ ∂v ∂u
ωz = 2ωyx = −2ωxy = − (Bba26)
∂x ∂y
In cylindrical coordinates, (r, θ, z), with velocities ur , uθ , uz in the r, θ, z directions, the rotation tensor
and vorticity have components:
∗ ∗ 1 ∂uz ∂uθ
ωr = 2ωzθ = −2ωθz = − (Bba27)
r ∂θ ∂z
∗ ∗ ∂ur ∂uz
ωθ = 2ωrz = −2ωzr = − (Bba28)
∂z ∂r
∗ ∗ 1 ∂(ruθ ) 1 ∂ur
ωz = 2ωθr = −2ωrθ = − (Bba29)
r ∂r r ∂θ
In spherical coordinates, (r, θ, φ), with velocities ur , uθ , uφ in the r, θ, φ directions, the rotation tensor
and vorticity have components:
∗ ∗ 1 ∂(ruφ sin θ) ∂(ruθ )
ωr = 2ωφθ = −2ωθφ = 2 − (Bba30)
r sin θ ∂θ ∂φ
∗ ∗ 1 ∂ur ∂(ruφ sin θ)
ωθ = 2ωrφ = −2ωφr = − (Bba31)
r sin θ ∂φ ∂r
∗ ∗ 1 ∂(ruθ ) ∂ur
ωφ = 2ωθr = −2ωrθ = − (Bba32)
r ∂r ∂θ