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Introduction to Engineering
Fluid Mechanics
Introduction
to Engineering
Fluid Mechanics
Marcel Escudier
3
3
Great Clarendon Street, Oxford, OX2 6DP,
United Kingdom
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© Marcel Escudier 2017
The moral rights of the author have been asserted
First Edition published in 2017
Impression: 1
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Published in the United States of America by Oxford University Press
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CPI Group (UK) Ltd, Croydon, CR0 4YY
Links to third party websites are provided by Oxford in good faith and
for information only. Oxford disclaims any responsibility for the materials
contained in any third party website referenced in this work.
To my wife Agnes, our son Stephen, and the memory of my Mother
and Grandmother
Preface
A fluid is a material substance in the form of a liquid, a gas, or a vapour. The most common
examples, to be found in both everyday life and in engineering applications, are water, air, and
steam, the latter being the vapour form of water. The flow (i.e. motion) of fluids is essential to
the functioning of a wide range of machinery, including the internal-combustion engine, the
gas turbine (which includes the turbojet, turbofan, turboshaft, and turboprop engines), wind
and hydraulic turbines, pumps, compressors, rapidly rotating discs (as in computer drives),
aircraft, spacecraft, road vehicles, and marine craft. This book is concerned primarily with
Newtonian fluids, such as water and air, for which the viscosity is independent of the flow. The
quantitative understanding of fluid flow, termed fluid dynamics, is based upon the application
of Newton’s laws of motion together with the law of mass conservation. To analyse the flow
of a gas or a vapour, for which the density changes in response to pressure changes (known
as compressible fluids), it is also necessary to take into account the laws of thermodynamics,
particularly the first law in the form of the steady-flow energy equation. The subject of fluid
mechanics encompasses both fluid statics and fluid dynamics. Fluid statics concerns the vari-
ation of pressure in a fluid at rest (as will be seen in Chapter 4, this limitation needs to be stated
more precisely), and is the basis for a simple model of the earth’s atmosphere.
This text is aimed primarily at students studying for a degree in mechanical engineering
or any other branch of engineering where fluid mechanics is a core subject. Aeronautical (or
aerospace), chemical, and civil engineering are all disciplines where fluid mechanics plays an
essential rôle. That is not to say that fluid flow is of no significance in other areas, such as
biomedical engineering. The human body involves the flow of several different fluids, some
quite ordinary such as air in the respiratory system and water-like urine in the renal system.
Other fluids, like blood in the circulatory system, and synovial fluid, which lubricates the joints,
have complex non-Newtonian properties, as do many synthetic liquids such as paint, slurries,
and pastes. A brief introduction to the rheology and flow characteristics of non-Newtonian
liquids is given in Chapters 2, 15, and 16.
As indicated in the title, this text is intended to introduce the student to the subject of
fluid mechanics. It covers those topics normally encountered in a three-year mechanical-
engineering-degree course or the first and second years of a four-year mechanical-engineering-
degree course, as well as some topics covered in greater detail in the final years. The first ten
chapters cover material suitable for a first-year course or module in fluid mechanics. Com-
pressible flow, flow through axial-flow turbomachinery blading, internal viscous fluid flow,
laminar boundary layers, and turbulent flow are covered in the remaining eight chapters. There
are many other textbooks which cover a similar range of material as this text but often from
a much more mathematical point of view. Mathematics is essential to the analysis of fluid
flow but can be kept to a level within the capability of the majority of students, as is the in-
tention here where the emphasis is on understanding the basic physics. The analysis of many
viii PREFACE
flow situations rests upon a small number of basic equations which encapsulate the underly-
ing physics. Between these fundamental equations and the final results, which can be applied
directly to the solution of engineering problems, can be quite extensive mathematical manip-
ulation and it is all too easy to lose sight of the final aim. A basic understanding of vectors is
required but not of vector analysis. Tensor notation and analysis is also not required and the
use of calculus is kept to a minimum.
The approach to certain topics may be unfamiliar to some lecturers. A prime example is di-
mensional analysis, which we suggest is approached using the mathematically simple method
of sequential elimination of dimensions (Ipsen’s method). The author believes that this tech-
nique has clear pedagogical advantages over the more widely used Rayleigh’s exponent method,
which can easily leave the student with the mistaken (and potentially dangerous) idea that any
physical process can be represented by a simple power-law formula. The importance of dimen-
sions and dimensional analysis is stressed throughout the book. The author has also found that
the development of the linear momentum equation described in Chapter 9 is more straightfor-
ward to present to students than it is via Reynolds transport theorem. The approach adopted
here shows very clearly the relationship with the familiar F = ma form of Newton’s second
law of motion and avoids the need to introduce an entirely new concept which is ultimately
only a stepping stone to the end result. The treatment of compressible flow is also subtly dif-
ferent from most texts in that, for the most part, equations are developed in integral rather
than differential form. The analysis of turbomachinery is limited to flow through the blading
of axial-flow machines and relies heavily on Chapters 3, 10, and 11.
‘Why do we need a fluid mechanics textbook containing lots of equations and algebra, given
that computer software packages, such as FLUENT and PHOENICS, are now available which
can perform very accurate calculations for a wide range of flow situations?’ To answer this
question we need first to consider what is meant by accurate in this context. The description of
any physical process or situation has to be in terms of equations. In the case of fluid mechanics,
the full set of governing equations is extremely complex (non-linear, partial differential equa-
tions called the Navier-Stokes equations) and to solve practical problems we deal either with
simplified, or approximate, equations. Typical assumptions are that all fluid properties remain
constant, that viscosity (the essential property which identifies any material as being a fluid)
plays no role, that the flow is steady (i.e. there are no changes with time at any given location
within the fluid), or that fluid and flow properties vary only in the direction of flow (so-called
one-dimensional flow). The derivation of the Navier-Stokes equations, and the accompanying
continuity equation, is the subject of Chapter 15. Exact analytical solution of these equations
is possible only for a handful of highly simplified, idealised situations, often far removed from
the real world of engineering. Although these solutions are certainly mathematically accur-
ate, due to the simplifications on which the equations are based they cannot be said to be an
accurate representation of physical reality. Even numerical solutions, however numerically ac-
curate, are often based upon simplified versions of the Navier-Stokes equations. In the case
of turbulent flow, the topic of Chapter 18, calculations of practical interest are based upon
approximate equations which attempt to model the correlations which arise when the Navier-
Stokes equations are time averaged. It is remarkable that valuable information about practical
engineering problems can be obtained from considerations of simplified equations, such as the
PREFACE ix
one-dimensional equations, at minimal cost in terms of both time and money. What is essen-
tial, however, is a good physical understanding of basic fluid mechanics and a knowledge of
what any computer software should be based upon. It is the aim of this text to provide just that.
Already in this brief Preface the names Navier, Newton, Rayleigh, Reynolds, and Stokes
have appeared. In Appendix 1 we provide basic biographical information about each of the
scientists and engineers whose names appear in this book and indicate their contributions to
fluid mechanics.
Acknowledgements
The author gratefully acknowledges the influence of several outstanding teachers, both as a
student at Imperial College London and subsequently as a Research Associate at the Massachu-
setts Institute of Technology. My interest in, and enjoyment of, fluid mechanics was sparked
when I was an undergraduate by the inspiring teaching of Robert Taylor. Brian Spalding, my
PhD supervisor, and Brian Launder are not only internationally recognised for their research
contributions but were also excellent communicators and teachers from whom I benefitted
as a postgraduate student. As a research associate at MIT I attended lectures and seminars
by Ascher H. Shapiro, James A. Fay, Ronald F. Probstein, and Erik Mollo-Christensen, all in-
spiring teachers. Finally, my friend Fernando Tavares de Pinho has given freely of his time to
answer with insight many questions which have arisen in the course of writing this book.
Marcel Escudier
Cheshire, August 2016
Contents
Notation xxi
1 Introduction 1
7.1 Net force on an elemental slice of fluid flowing through a streamtube 174
7.2 Acceleration of a fluid slice 176
7.3 Euler’s equation 178
xvi CONTENTS
Under Peter’s care the boy remained till the close of 1142, when,
as we have seen, he was sent to England in company with his uncle
Robert of Gloucester. Henry now entered upon a third phase of
education. For the next four years his uncle took charge of him and
kept him in his own household at Bristol under the care of one
Master Matthew, by whom he was to be “imbued with letters and
instructed in good manners, as beseemed a youth of his rank.”[1089]
This arrangement may have been due to the Empress, or it may
have originated with Geoffrey when he sent the boy over sea in the
earl’s company; for much as they differed in other matters, on the
subject of a boy’s training the two brothers-in-law could hardly fail to
be of the same mind. A well-balanced compound of soldier,
statesman and scholar was Earl Robert’s ideal no less than Count
Geoffrey’s; an ideal so realized in his own person that he might
safely be trusted to watch over its developement in the person of his
little nephew. As far as the military element was concerned, the earl
of Gloucester, with his matured experience and oft-proved valour,
was no less capable than the count of Anjou of furnishing a model of
all knightly prowess, skill and courtesy; and if Henry’s chivalry was to
be tempered with discretion—if it was to be regulated by a wise and
wary policy—if he was to acquire any insight into the principles of
sound and prudent state-craft—Robert was certainly, among the
group of adventurers who surrounded the Empress, the only man
from whom he could learn anything of the kind. The boy was indeed
scarce ten years old, and even for the heir of Anjou and England it
was perhaps somewhat too early to begin such studies as these. For
the literary side of his education, later years proved that Robert’s
choice of a teacher was as good as Geoffrey’s had been; the seed
sowed by Peter of Saintes was well watered by Matthew, and it
seems to have brought forth in his young pupil’s mind a harvest of
gratitude as well as of learning, for among the chancellors of King
Henry II. there appears a certain “Master Matthew” who can hardly
be any other than his old teacher.[1090]
[1093] Gerv. Cant. (Stubbs), vol. i. pp. 140, 141. Cf. Hen.
Hunt., l. viii. c. 29 (Arnold, p. 282). Joh. Hexh. (Raine), p. 159.
Rob. Torigni, a. 1149. The writer of Gesta Steph. (pp. 128, 129)
has a most romantic account of Henry’s adventures. Henry, he
says, came over with a very small force, and nothing to pay them
with except promises. He made an attempt upon Bourton and
Cricklade, and was repulsed; whereupon his troops all fell away
and left him so helpless that he was obliged to ask his mother for
some money. She had none to give him; he then asked his uncle
Gloucester, but the latter, “suis sacculis avide incumbens,”
refused. Then Henry in desperation appealed to the king,
beseeching his compassion for the sake of their kindred blood;
and Stephen at once sent him the needful sum. The trait is just
what might be expected in Stephen; but it is hard to conceive
Henry ever getting into such a plight; and the mention of Robert
of Gloucester as still alive shews there must be something wrong
in the story.
[1096] Joh. Hexh. (Raine), pp. 159, 160. Ralf had agreed to
give up his claims on Carlisle and accept instead the honour of
Lancaster for himself and the hand of one of David’s
granddaughters for his son; he promised on these conditions to
join David and Henry in an attack upon Lancaster, but was, as
usual, false to the tryst.
[1109] Ann. Winton. a. 1151 (Luard, Ann. Monast., vol. ii. pp.
54, 55).
[1111] Hist. Pontif. (Pertz, Mon. Germ. Hist., vol. xx.), p. 542.
[1114] Suger, Vita Ludov. (Rer. Gall. Scriptt., vol. xii.) p. 62.
Chron. Mauriniac. (ibid.) p. 83. Hist. Franc. (ibid.), p. 116. Ord.
Vit. as above. See also Besly, Comtes de Poitou, p. 137.
For Louis had now returned from Palestine;[1125] and so great was
his wrath at Geoffrey’s treatment of his favourite that he consented to
join Eustace in an attack upon the Norman duchy. Its defence was
left to its young duke, then busy with the siege of Torigni on the Vire,
held against him by his cousin Richard Fitz-Count—a son of Earl
Robert of Gloucester.[1126] Louis and Eustace marched upon
Arques; Henry led a force of Normans, Angevins and Bretons to
meet them; but his “older and wiser” barons averted a battle,[1127]
and nothing more came of the expedition. Geoffrey had never stirred
from his camp before Montreuil. Despite a formidable array of
engines,[1128] he made little progress; every breach made in the
walls by day was mended by night with oaken beams, of which the
besieged seemed to have a never-ending supply. Geoffrey was
characteristically taking counsel with his books as to the best method
of overcoming this difficulty when some monks of Marmoutier came
to him on an errand for their convent. One of them took up the book
which the count laid down— the treatise of Vegetius Renatus De Re
Militari, then, and long after, the standard work on military
engineering. It may have been some memory of bygone days when
he, too, had worn helm and hauberk instead of cowl and scapulary
that brought into the monk’s eyes a gleam which made Geoffrey
exclaim, “Stay with me till to-morrow, good brother, and what you are
now reading shall be put in action before you.” Next day a large red-
hot iron vessel filled with boiling oil was launched from the beam of a
mangonel against one of the timber insertions in the wall, and its
bursting set the whole place on fire.[1129] Gerald, his spirit broken at
last, came forth with his family and his garrison “like serpents
crawling out of a cave,” as a hostile chronicler says,[1130] and
surrendered to the mercy of the count, who sent him to prison at
Angers. The keep was razed at once, save one fragment of wall, left
by Geoffrey, and still standing at this hour, as a memorial of his
victory and of the skill and perseverance by which it had been won.
[1131]
[1129] Hist. Gaufr. Ducis (as above), pp. 286, 287. The monk is
called “frater G.” M. Marchegay suggests that he may have been
the “Gauterius Compendiensis,” monk of Marmoutier, whom the
writer names among his authorities in the Proœmium to his Hist.
Abbrev. (ib. p. 353). If so, this detailed account of the last scene
at the siege of Montreuil is due to an eye-witness.
The count of Anjou now moved northward to help his son against
the king. By the help of a brother of his old ally William Talvas he
gained possession of La Nue, a castle belonging to the king’s
brother Count Robert of Dreux.[1132] Louis and Robert avenged
themselves by burning the town of Séez. Presently after, in August,
Louis gathered together all his forces and brought them down the
Seine to a spot between Meulan and Mantes. Geoffrey and Henry
collected an opposing army on their side of the Norman border; but
an attack of fever detained the king in Paris, and a truce was made
until he should recover.[1133] The ostensible ground of the dispute
was Geoffrey’s treatment of Gerald of Montreuil, which certainly
seems to have been unjustly cruel. Not content with receiving his
unconditional surrender, razing his castle, and forcing him to make
full atonement to the injured monks of S. Aubin, Geoffrey still
persisted in keeping in prison not only Gerald himself but also his
whole family. The Pope anathematized him for his unchristianlike
severity;[1134] but anathemas usually fell powerless upon an Angevin
count. Geoffrey was in truth visiting upon Gerald his wrath at the
double-dealing of Gerald’s royal master; for he was well aware that
King Louis’s interference was prompted by far other motives than
disinterested sympathy for his seneschal. Louis was, according to
his wont, playing fast and loose with the rival claimants of Normandy,
in such shameless fashion that his own chief minister, Suger, had
been the first to reprove him in strong terms for his unwarrantable
attack upon the Angevins, had stood firmly by Geoffrey all through
the struggle, and was now endeavouring, through the mediation of
the count of Vermandois and the bishop of Lisieux, to baffle the
schemes of Eustace and his party and bring the king back to his old
alliance with Anjou.[1135]
[1137] Hist. Ludov., Rer. Gall. Scriptt., vol. xii. p. 127; Chron.
Reg. Franc. (ibid.), p. 213. Both these writers, however, tell an
apocryphal story of Louis, at Geoffrey’s and Henry’s request,
reconquering the duchy for them and receiving these
concessions in return for his help.
Geoffrey was but just entering his thirty-ninth year, and one can
hardly help speculating for a moment as to his plans for his own
future. For him, now that his work in the west was done, there was
no such brilliant opening in the east as there had been for Fulk V.
when he, too, in the prime of manhood, had chosen to make way for
a younger generation. But Geoffrey had begun public life at an
earlier age than either his father or his son; and he seems to have
had neither the moral nor the physical strength which had enabled
one Angevin count to carry on for half a century, without break and
without slackening, the work upon which he had entered before he
was fifteen, and to die in harness at the very crowning-point of his
activity and his success. Geoffrey Plantagenet was no Fulk Nerra; he
was not even a Fulk of Jerusalem; and he may well have been
weary of a political career which must always have been embittered
by a feeling that he was the mere representative of others, labouring
not for himself, hardly even for his country or his race, but only that
the one might be swallowed up in the vast dominions and the other
merged in the royal line of his ancestors’ Norman foe. He may have
seriously intended to pass the rest of his days among his books; or
he may have felt an inner warning that those days were to be very
few. With a perversity which may after all have been partly the effect
of secretly failing health, although he had now set Gerald at liberty
he still refused to acknowledge that he had treated him with unjust
severity, or to seek absolution from the Pope’s censure; and he even
answered with blasphemous words to the gentle remonstrances of
S. Bernard. “With what measure thou hast meted it shall be meted to
thee again” said the saint at last as he turned away; one of his
followers, more impetuous, boldly prophesied that Geoffrey would
die within a year. He did die within a fortnight.[1140] On his way home
from the king’s court,[1141] overcome with the heat, he plunged into a
river to cool himself;[1142] a fever was the consequence; he was
borne to Château-du-Loir, and there on September 7 he passed
away.[1143] His last legacy to his son was a piece of good advice,
given almost with his dying breath:—not to change the old customs
of the lands over which he was called to rule, whether by bringing
those of Normandy and England into Anjou, or by seeking to transfer
those of the Angevin dominions into the territories which he inherited
from his mother.[1144] Dying in the little border-fortress whence his
grandfather Elias had gone forth to liberate Maine, Geoffrey was
buried, by his own desire, not among his Angevin forefathers at
Tours or at Angers, but in his mother’s home at Le Mans.[1145] A
splendid tomb, bearing his effigy adorned with gold and gems, was
raised over his remains in the cathedral church,[1146] whence it has
disappeared to become a mere antiquarian curiosity in a museum.
Geoffrey’s sole surviving monument is the one which he made for
himself—the ruined, blackened fragment of his great ancestor’s keep
at Montreuil.
Stephen could not do what Geoffrey had done. His kingdom was
no mere fief to be passed from hand to hand by a formal ceremony
of surrender and investiture; the crowned and anointed king of
England could not so easily abdicate in favour of his son. He might
however do something to counterbalance Henry’s advancement by
obtaining a public recognition of Eustace as his heir. In Lent 1152,
therefore, he summoned a great council in London, at which all the
earls and barons swore fealty to Eustace.[1147] Still the king felt that
his object was far from being secured. He himself was a living proof
how slight was the worth of such an oath when the sovereign who
had exacted it was gone. There was, however, one further step
possible, a step without precedent in England, but one which the
kings of France had taken with complete success for several
generations past: the solemn coronation and unction of the heir to
the throne during his father’s lifetime. It was at this that Stephen had
aimed when he sent Archbishop Henry of York to Rome. He took an
unusually wise as well as a characteristically generous measure in
intrusting his cause to a reconciled enemy; nevertheless the attempt
failed. Pope Eugene by his letters absolutely forbade the primate to
make Eustace king; therefore, when Stephen called upon Theobald
and the other bishops to anoint and crown the youth, they one and
all refused. Father and son were both equally vexed and angry. They
shut up all the bishops in one house and tried to tease them into
submission. A few, remembering that “King Stephen never had loved
clerks,” and that it was not the first time he had cast bishops into
prison,[1148] were so frightened that they gave way; the majority
stood firm, and the primate himself escaped down the Thames in a
fishing-boat, made his way to Dover, and thence retreated beyond
sea.[1149] Without him there was nothing to be done, and of his
yielding there was no chance whatever; for close at his side stood
the real fount and source of the papal opposition—Thomas of
London.[1150]