Governing equations

Purposes:Derivation of the equations of continuity and motion

in 3-D coordinates
1. Partial derivative of first-order.


2.Total derivative of w

dy
y
f
dx
x
f
dw
c
c
+
c
c
=
) , ( y x f w=
x
y x f y x x f
x
w
x
A
A
A
) , ( ) , (
lim
0
+
=
c
c

y
y x f y y x f
y
w
y
A
A
A
) , ( ) , (
lim
0
+
=
c
c

) , ( ) , ( y x f y y x x f w + + = A A A
) , ( ) , ( ) , ( ) , ( y x f y y x f y y x f y y x x f + + + + + = A A A A
y
y
y x f y y x f
x
x
y y x f y y x x f
A
A
A
A
A
A A A ) , ( ) , ( ) , ( ) , ( +
+
+ + +
=
, 0 0 0
( , ) ( , ) ( , ) ( , )
lim lim lim
x y x y
f x x y y f x y y f x y y f x y
x y
x y
w
A A A A
+ A + A + A + A
= A + A
A A
A
then,
(1)
(2)
(3)
(4)
(5)
Exercise
Derive total derivative of w(x,y,z) by using the same process as Eq.(4)
( , , ) ( , , ) w f x x y y z z f x y z A = +A +A +A
Substantial Time Derivative
Total derivative of c is,
) , , , ( t z y x c c =
dt
t
c
dz
z
c
dy
y
c
dx
x
c
dc
c
c
+
c
c
+
c
c
+
c
c
=
where x,y,z,t are independent variables. When x, y and z are the
function of time t, the total derivative of c with respect to time
becomes,
t
c
dt
dz
z
c
dt
dy
y
c
dt
dx
x
c
dt
dc
c
c
+
c
c
+
c
c
+
c
c
=
Suppose c is the concentration of fish in the sea observed by you
from a submarine and x,y and z are the position of the submarine.
(6)
(7)
Fish concentration-1
fish
submarine
Case 1 The submarine stays at a fixed position
t
c
t
c
dt
dz
z
c
dt
dy
y
c
dt
dx
x
c
dt
dc
c
c
=
c
c
+
c
c
+
c
c
+
c
c
=

Case 2 The submarine moves freely
t
c
z
c
w
y
c
v
x
c
u
dt
dc
s s s
c
c
+
c
c
+
c
c
+
c
c
=
u
s
,v
s
,w
s
are velocities of the submarine

current
Fish concentration-2
Case 3 The submarine floats along with the current of the sea
t
c
z
c
w
y
c
v
x
c
u
Dt
Dc
f f f
c
c
+
c
c
+
c
c
+
c
c
=
u
f
,v
f
,w
f
are velocities of the current

This derivative is referred to as the substantial time derivative
or sometimes the derivative following the motion
If the valuable considered is velocity u
f
f f f f f
f f f
Du u u u u
u v w
Dt x y z t
c c c c
= + + +
c c c c
This means acceleration of u
f
following the motion of the current with
velocity u
f
,v
f
and w
f


The equation of continuity -1
A mass balance over a stationary volume x y z
is,
rate of rate of rate of
mass = mass - mass
(8)
accumulation in out

x
y
z
z
y
x
The direction of each velocity
The equation of continuity -2
:density of fluid, v
x
, v
y
, v
z
: the components of the
local fluid velocity v

In the x direction,
x x x x x
v z y v z y
A
A A A A
+
) ( ) (
in out
In the y direction,
y y y y y
v z x v z x
A
A A A A
+
) ( ) (
In the z direction,
z z z z z
v y x v y x
A
A A A A
+
) ( ) (
The left hand side of Eq.8 is,



t
z y x
c
c
A A A
+
The equation of continuity -3
( ) ( )
( ) ( )
( ) ( )
x x x x x
x x x x x
z z z z z
x y z y z v y z v
t
y z v y z v
x y v x y v

+A
+A
+A
c
A A A = A A A A
c
+A A A A
+A A A A
By dividing this entire equation by x y z and taking the
limit as these dimensions approach zero,
) (
z y x
v
z
v
y
v
x t

c
c
+
c
c
+
c
c
=
c
c
(9)
This is the equation of continuity,which describes the rate of change
of fluid density at a fixed point in space.
The equation of continuity -4
By performing the differentiation on the right side of Eq.9
and collecting all derivatives of on the left side:
) (
z
v
y
v
x
v
z
v
y
v
x
v
t
z
y
x
z y x
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c


( )
D
Dt

= V v
The left side of this equation is the substantial derivative of
density:
For a fluid of constant density,
0 V = v
(10)
(called ) nabula
x y z
c c c
V = + +
c c c
i j k
( the dot means inner
product)
The equation of continuity -5
Eq.10 is valid when remain constant for a fluid
element as it moves along a streamline.
Flow
0
D
Dt

=
D/Dt=0, as a result
0 V = v
Dye or salt
The equation of continuity in
curvilinear coordinates
x
y
z
x
y

r
(x,y,z),(r,,z)
x
y
z
x
y

r
z

(x,y,z),(r,,)
Cylindrical coordinates
spherical coordinates
z z
x y r y
y x r r x
=
= =
+ = =
) / arctan( , sin
, cos
2 2
u u
u
) / arctan( , cos
) / arctan( , sin sin
, cos sin
2 2
2 2 2
x y r z
z y x r y
z y x r r x
= =
+ = =
+ + = =
u
u u
u
o m F =
Momentum Equation of one dimensional
open channel flow
F = force, m = mass, and o = acceleration.
x
u
u
t
u
t
t
t
u
t u
x
u
t
u t
t
u
x
x
u
u
t
t x u t t x x u
Dt
Du
c
c
+
c
c
=
A
A
c
c
+ A
c
c
=
A
A
c
c
+ A
c
c
+
=
A
A + A +
= =
) , ( ) , (
o
Not just
t
u
c
c
1
1
1 1 V h h
m h
W gV gh

= =
=
= =
W
1
F
2
F
Body Force
1
H
F ghi gh
x

c
= =
c
Friction
2
1 1 F t t = =
1 2
2 2
2/ 3 1/ 2
4/ 3
2 2
4/ 3
1

f f f
F m
F F m
H u u
gh h u
x t x
u u H
u g
t x x h
n u
ghI u R I I
n R
n u
g
R
o
o
t
t

=
=
c c c
| |
= +
|
c c c
\ .
c c c
+ =
c c c
= = =
=

t coefficien roughness Manning's stress, shear bed

density, elevation, surface water time,
direction, downstream velocity, depth,
= =
= = =
= = =
=

c
c
=
c
c
+
c
c
=
c
c
+
c
c
n
H t
x u h
h
u u gn
h
h x
H
g
x
u
u
t
u
x
hu
t
h
t

t

t
3 / 4
2
| |
0
) (
When the channel width is not constant
0
B
x
c
=
c
Continuity
Q
Q
Q x
x
c
+ A
c
x A
A
A A t
t
c
+ A
c
Q A
Q Q x t A t A x
x t
c c
| | | |
+ A A = + A A
`
| |
c c
\ . \ .
)
0
A Q
t x
c c
+ =
c c
2
4/ 3
0
| |
A Q
t x
u u H gn u u
u g
t x x h
c c
+ =
c c
c c c
+ =
c c c
Steady State
2
4/ 3
| | u H gn u u
u g
x x h
c c
=
c c
2
1
2
u u
u
x x
c c
=
c c
2 2 2
4/ 3
0
2
H u n u
x x g h
| |
c c
+ + =
|
c c
\ .
2 2 2
2 2 4/ 3
0
2
H Q n Q
x x A g A h
| |
c c
+ + =
|
c c
\ .
Non-uniform flow equation
in open channel flow
()
0
) (
=
c
c
+
c
c
x
hu
t
h
Continuity Equation
When constant, = u
0 =
c
c
+
c
c
x
h
u
t
h
Advection Equation
Advection Term
Pure Advection Equation
Solution of pure advection equation.
T X
u
t X x
t
T
x
T
u
t
X
x
X
T t
T
X t
X
t T x
T
X x
X
x
t T ut x X
c
c
+
c
c
=
c
c
c
c
=
c
c
=
c
c
=
c
c
=
c
c
=
c
c
c
c
c
c
+
c
c
c
c
=
c
c
c
c
c
c
+
c
c
c
c
=
c
c
= =
,
, , ,
,
,
1 0 1
0
0
0
constant
h h
u
t x
h h h
u u
X T X
h
T
h
c c
+ =
c c
c c c
+ + =
c c c
c
=
c
=