Aerodynamics

Lecture 3
Prof. Jaime Alberto Escobar G.
Faculty of Engineering
Aerodynamics
THE SUBSTANTIAL
DERIVATIVE
• Infinitesimal small fluid element moving
with the flow.
• The vector velocity field is given by:
⃗ ⃗ 𝑣 ⃗𝑗+ 𝑤 ⃗
𝑉 =𝑢 𝑖+ 𝑘 1
⃗
𝑉1
u  ux, y,z,t 
Velocity components v  v x, y,z,t  𝑡1
𝜌1
w  w x, y,z,t 

• The scalar density field is given by: 2

⃗
𝑉2
𝜌 =𝜌 (
𝑥 , 𝑦 , 𝑧 ,𝑡 ) 𝑡2
𝜌2

• At point 1 the density of the fluid element is 𝜌 1= 𝜌 ( 𝑥1 , 𝑦 1 , 𝑧 1 , 𝑡 1 )

• At point 2 the density of the fluid element is 𝜌 2 = 𝜌 ( 𝑥2 , 𝑦 2 , 𝑧 2 , 𝑡 2 )

Lecture 3 Page 2 of 18
Aerodynamics
THE SUBSTANTIAL DERIVATIVE
(Cont’d)
• Since 𝜌 =𝜌 ( 𝑥 , 𝑦 , 𝑧 ,𝑡 ) we can expand this function in a Taylor
series about point 1
as follows:

• Taking the first five terms and dividing by t2-t1:

𝜌 2 − 𝜌 1 𝑥 2 − 𝑥1 𝜕 𝜌 𝑦2 − 𝑦 1 𝜕 𝜌 𝑧2− 𝑧1 𝜕 𝜌
𝑡 2 − 𝑡1
= ( ) + ( ) +
𝑡 2 − 𝑡 1 𝜕 𝑥 1 𝑡 2 −𝑡 1 𝜕 𝑦 1 𝑡 2 − 𝑡 1 𝜕 𝑧 ( ) ( )
1
+
𝜕𝜌
𝜕𝑡 1

∆ 𝜌 Average time rate of change in density of the fluid element as it moves from
:
∆ 𝑡 point 1 to point 2.

• As t2 approaches to t1: 𝜌 2− 𝜌 1 𝐷 𝜌
lim =
𝑡 → 𝑡 𝑡 2 −𝑡 1
1 2
𝐷𝑡
𝐷 𝜌 Instantaneous time rate of change in density 𝐷𝜌 𝜕𝜌
: ≠
𝐷𝑡 of the element as it moves through point 1. 𝐷𝑡 𝜕 𝑡
Lecture 3 Page 3 of 18
 Aerodynamics
THE SUBSTANTIAL DERIVATIVE
(Cont’d)
• Also:
𝑥2 − 𝑥1 𝜕 𝑥 𝑦2− 𝑦1 𝜕 𝑦 𝑧2− 𝑧1 𝜕 𝑧
lim ≡ =𝑢 lim ≡ =𝑣 lim ≡ =𝑤
𝑡1 → 𝑡2 𝑡 2 − 𝑡1 𝜕𝑡 𝑡1 → 𝑡2 𝑡 2 − 𝑡1 𝜕𝑡 𝑡1 → 𝑡2 𝑡 2 − 𝑡1 𝜕𝑡

Therefore, 𝐷 𝜌 𝜕𝜌 𝜕𝜌 𝜕𝜌 𝜕𝜌
= +𝑢 +𝑣 +𝑤
𝐷𝑡 𝜕 𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
A more general form:
𝐷 𝜕 𝜕 𝜕 𝜕
= +𝑢 +𝑣 +𝑤
𝐷𝑡 𝜕 𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
• In Cartesian coordinates the vector operator⃗
𝛻 (Nabla – Hamilton) is defined
as: ⃗ 𝜕 ⃗ 𝜕 ⃗ 𝜕 ⃗
𝛻≡ 𝑖+ 𝑗+ 𝑘
𝜕𝑥 𝜕𝑦 𝜕𝑧
• D
can be written as: 𝐷 𝜕
Dt = + (⃗
𝑉 ∙⃗
𝛻)
𝐷𝑡 𝜕 𝑡

D 𝜕
: Substantial derivative. ⃗ ∙⃗
Local derivative. ( 𝑉 𝛻 )Convective derivative.
 Dt 𝜕𝑡
Lecture 3 Page 4 of 18
Aerodynamics
THE GOVERNING EQUATIONS OF FLUID
DYNAMICS
Physical principles:

a. Mass is conserved. c. Energy is conserved.

b. Momentum is conserved (Newton’s Second Law).

To obtain the basic equations of fluid motion it is recommended to follow the

following steps:

1. Choose the appropriate fundamental physical principles: a, b, and c.

2. Apply these physical principles to a suitable model of the flow.

3. Extract the mathematical equation which embody the physical

principles

Lecture 3 Page 5 of 18
Aerodynamics
THE GOVERNING EQUATIONS OF FLUID DYNAMICS
(Cont’d)
Models used to analyze the flow:
Integral Form

Finite control volume moving with the fluid such

Finite control volume fixed in space with that the same fluid particles are always in the
moving through it. same control of volume
Partial Differential
Equation Form

Infinitesimal fluid element along a stream line

Infinitesimal fluid element fixed in space
with the velocity equal to the local velocity at
with the fluid moving through it.
each point.
Conservation form Non-Conservation form Page 6 of 18
Aerodynamics
THE CONTINUITY
EQUATION
Physical principle Mass is conserved.

Net mass flow out of control volume Time rate of decrease of mass inside
through S control volume
❑ ❑
𝜕
∬ 𝜌 ⃗𝑉 ∙𝑑 ⃗𝑠 + 𝜕𝑡 ∭ 𝜌 𝑑 𝕍 =0 Integral form
Conservation form
𝑠 𝕍
❑
𝐷
∭
𝐷𝑡 𝕍
𝜌 𝑑 𝕍 =0 Integral form
Non-conservation form

𝜕𝜌 Differential form
+𝛻∙(𝜌 ⃗
𝑉 ) =0
𝜕𝑡 Conservation form

𝐷𝜌 Differential form
+𝜌 ⃗
𝛻∙⃗
𝑉 =0
𝐷𝑡 Non-conservation form
Lecture 3 Page 7 of 18
Aerodynamics
THE MOMENTUM
EQUATION
⃗ ⃗ Newton’s second law.
𝐹 =𝑚 ⋅ 𝑎
Physical principle

𝐷𝑢 𝜕 𝑃 𝜕 𝜏 𝑥𝑥 𝜕 𝜏 𝑦 𝑥 𝜕 𝜏 𝑧 𝑥
𝜌 =− + + + +𝜌 𝑓 𝑥
𝐷𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝐷𝑣 𝜕 𝑃 𝜕 𝜏 𝑥𝑦 𝜕𝜏 𝑦𝑦 𝜕 𝜏 𝑧𝑦 Differential Form
𝜌 =− + + + +𝜌 𝑓 𝑦
𝐷𝑡 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑧 Non-conservation form
𝐷𝑤 𝜕 𝑃 𝜕 𝜏 𝑥𝑧 𝜕 𝜏 𝑦𝑧 𝜕 𝜏 𝑧𝑧
𝜌 =− + + + +𝜌 𝑓 𝑧
𝐷𝑡 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

𝜕 (𝜌 𝑢) ⃗ 𝜕 𝑃 𝜕 𝜏 𝑥𝑥 𝜕 𝜏 𝑦 𝑥 𝜕 𝜏 𝑧 𝑥
+𝛻∙(𝜌 𝑢⃗
𝛻 ) =− + + + +𝜌 𝑓 𝑥
𝜕𝑡 𝜕 𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕 (𝜌 𝑣 ) ⃗ 𝜕 𝑃 𝜕 𝜏 𝑥𝑦 𝜕 𝜏 𝑦𝑦 𝜕 𝜏 𝑧𝑦 Differential Form
+𝛻∙(𝜌 𝑣 ⃗
𝛻 )=− + + + +𝜌 𝑓 𝑦
𝜕𝑡 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑧 Conservation form
𝜕 (𝜌 𝑤 ) ⃗ 𝜕 𝑃 𝜕 𝜏 𝑥𝑧 𝜕 𝜏 𝑦𝑧 𝜕 𝜏 𝑧𝑧
+𝛻∙(𝜌 𝑤 ⃗𝛻 ) =− + + + +𝜌 𝑓 𝑧
𝜕𝑡 𝜕 𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

03/05/2024 Lecture 3 Page 8 of 18

Aerodynamics
THE MOMENTUM EQUATION
(Cont’d)
For Newtonian fluids:

𝜏 𝑥𝑥 = 𝜆 ( ⃗
𝛻∙⃗
𝑉 ) + 2𝜇
𝜕𝑢
𝜕𝑥
𝜏 𝑥𝑦 =𝜏 𝑦 𝑥 =𝜇
[ 𝜕𝑣 𝜕𝑢
+
𝜕𝑥 𝜕𝑦 ]
𝜏 𝑦𝑦 =𝜆 ( ⃗
𝛻∙⃗
𝑉 ) +2 𝜇
𝜕𝑣
𝜕𝑦
𝜏 𝑥𝑧 =𝜏 𝑧 𝑥 =𝜇
[ 𝜕𝑢 𝜕𝑤
+
𝜕 𝑧 𝜕𝑥 ]
𝜏 𝑧𝑧 =𝜆 ( ⃗
𝛻∙⃗
𝑉 ) +2 𝜇
𝜕𝑤
𝜕𝑧
𝜏 𝑦𝑧 =𝜏 𝑧𝑦 =𝜇
[ 𝜕𝑤 𝜕𝑣
+
𝜕 𝑦 𝜕𝑧 ]

2
𝜆=− 𝜇 Stokes
3

03/05/2024 Lecture 3 Page 9 of 18

Aerodynamics
THE ENERGY
EQUATION
Physical principle Energy is conserved

Rate
Rate of
of change
change ofof Net
Net Flux
Flux of
of Rate
Rate of
of work
work done
done on
on the
the
energy
energy inside
inside the
the fluid
fluid heat
heat into
into the
the element:
element: due
due to
to body
body and
and
element.
element. element.
element. surface
surface forces.
forces.

Differential Form
Non-conservation form
03/05/2024 Lecture 3 Page 10 of 18
Aerodynamics
EQUATIONS OF FLUID MOTION -
SUMMARY
Five equation and six variables:

Momentum Momentum Momentum

Continuity Energy
x component y component z component

𝜌 , 𝑃 ,𝑢, 𝑣 ,𝑤 ,𝑒
We introduce:
𝑃=𝜌 𝑅𝑇
Seventh unknown

So we introduce a seventh equation:

e  eT , P 
For a calorically perfect gas this will be
Constant specific heat
e  CvT
03/05/2024 Lecture 3 Page 11 of 18
Aerodynamics
EULER
EQUATIONS
Viscosity Mass diffusion Thermal conductivity

Neglected

𝜕𝜌
Non-conservation form +𝛻∙(𝜌 ⃗
𝑉 ) =0
𝜕𝑡

Continuity
𝐷𝜌
Conservation form +𝜌 ⃗
𝛻∙⃗
𝑉 =0
𝐷𝑡

03/05/2024 Lecture 3 Page 12 of 18

Aerodynamics
EULER EQUATIONS
(Cont’d)
𝐷𝑢 𝜕𝑃
𝜌 =− +𝜌 𝑓 𝑥
𝐷𝑡 𝜕𝑥
𝐷𝑣 𝜕𝑃
Non-conservation form 𝜌 =− +𝜌 𝑓 𝑦
𝐷𝑡 𝜕𝑦
𝐷𝑤 𝜕𝑃
𝜌 =− +𝜌 𝑓 𝑧
𝐷𝑡 𝜕𝑧

Momentum

𝜕 (𝜌 𝑢 ) ⃗ 𝜕𝑃
+𝛻∙(𝜌 𝑢⃗
𝛻 ) =− +𝜌 𝑓 𝑥
𝜕𝑡 𝜕𝑥
𝜕 (𝜌 𝑣 ) ⃗ 𝜕𝑃
Conservation form +𝛻∙(𝜌 𝑣 ⃗
𝛻 )=− +𝜌 𝑓 𝑦
𝜕𝑡 𝜕𝑦
𝜕 (𝜌 𝑤 ) ⃗ 𝜕𝑃
+𝛻∙(𝜌 𝑤 ⃗
𝛻 ) =− +𝜌 𝑓 𝑧
𝜕𝑡 𝜕𝑧

03/05/2024 Lecture 3 Page 13 of 18

Aerodynamics
EULER EQUATIONS
(Cont’d)

Energy

Non-conservation form

( )
2
𝐷𝑒 𝑉 𝜕 ( 𝑃𝑢 ) 𝜕 ( 𝑃 𝑣 ) 𝜕 ( 𝑃 𝑤 )
𝜌 𝑒+ =𝑝 𝑞˙ − − − +𝜌 ⃗
𝑓 ∙⃗
𝑉
𝐷𝑡 2 𝜕𝑥 𝜕𝑦 𝜕𝑧

Conservation form

[( )] [( )] 𝜕 ( 𝑃𝑢 ) 𝜕 ( 𝑃 𝑣 ) 𝜕 ( 𝑃 𝑤 )
2 2
𝜕 𝑉 𝑉
𝜌 𝑒+ +⃗
𝛻 𝜌 𝑒+ =𝑝 𝑞
˙− − − +𝜌 ⃗ ⃗
𝑓 ∙𝑉
𝜕𝑡 2 2 𝜕𝑥 𝜕𝑦 𝜕𝑧

03/05/2024 Lecture 3 Page 14 of 18

Aerodynamics
BERNOULLI’S
EQUATION
Steady flow Incompressible flow Inviscid flow

Bernoulli’s Equation
x-component of the momentum equation
neglecting the body forces.

𝐷 𝜕
= =( ⃗
𝐷𝑡 𝜕 𝑡
𝑉 ∙⃗
∇) 𝜌 ( 𝜕𝑢
𝜕𝑡
+𝑢
𝜕𝑢
𝜕𝑥
+𝑣
𝜕𝑢
𝜕𝑦
+𝑤
𝜕𝑢
𝜕𝑧
=− )
𝜕𝑃
𝜕𝑥
𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕 𝑃
𝜌 +𝜌 𝑢 +𝜌𝑣 +𝜌 𝑤 + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥
𝜕𝑢 𝜕𝑢 𝜕𝑢 1 𝜕 𝑃
𝑢 +𝑣 +𝑤 + =0
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥
𝜕𝑢 𝜕𝑢 𝜕𝑢 1 𝜕𝑃
Multiplying by dx: 𝑢 𝑑𝑥+ 𝑣 𝑑𝑥 +𝑤 𝑑𝑥 + 𝑑𝑥=0
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥
Substituting v by and w by from the streamline equation (to be
discussed latter):
03/05/2024 Lecture 3 Page 15 of 18
Aerodynamics
BERNOULLI’S EQUATION
(Cont’d)
𝑢 ( 𝜕𝑢
𝜕𝑥
𝑑𝑥 +
𝜕𝑢
𝜕𝑦
𝑑 𝑦+
𝜕𝑢
𝜕𝑧
𝑑𝑧 +
1 𝜕𝑃
𝜌 𝜕𝑥 )
𝑑𝑥=0

1 𝜕𝑃
𝑢 𝑑𝑢+ 𝑑𝑥 =0
𝜌 𝜕𝑥
1 2 1 𝜕𝑃
𝑑𝑢 + 𝑑𝑥 =0 x component
2 𝜌 𝜕𝑥
1 2 1 𝜕𝑃
2
𝑑𝑣 +
𝜌 𝜕𝑦
𝑑𝑦 =0 y component
1
2 (
𝑑 ( 𝑢 2+ 𝑣 2+ 𝑤 2 ) +
1 𝜕𝑃
𝜌 𝜕𝑥
𝑑𝑥 +
𝜕𝑃
𝜕𝑦
𝑑 𝑦+
𝜕𝑃
𝜕𝑧 )
𝑑 𝑧 =0

1 2 1 𝜕𝑃
𝑑𝑤 + 𝑑𝑧 =0 z component
2 𝜌 𝜕𝑧 1 2 1
𝑑 𝑉 + 𝑑𝑃 =0
2 𝜌
𝑉2 𝑃2
1
∫ 𝑉 ∙ 𝑑𝑉 +∫ 𝜌 𝑑 𝑃 =0
𝑉1 𝑃1
Constant
1 2 1
2
( 𝑉 2 −𝑉 1 ) + ( 𝑃 2 − 𝑃 1) =0
2
𝜌
1 2 1 2
𝜌 𝑉 1+ 𝑃 1= 𝜌 𝑉 2+ 𝑃 2
2 2
03/05/2024 Lecture 3 Page 16 of 18
Aerodynamics
PATHLINE
S 𝑡1 + ∆ 𝑡1
Path followed by a fluid
particle in a unsteady
flow:
𝑡 1 + ∆ 𝑡 1 +∆ 𝑡 2
 
V1  V x, y, z , t 
STREAMLINE
S
The curve whose tangent at any point is in the direction of the velocity vector at
that point.
• For unsteady flows, the stream
line pattern is different at
different times.

• The stream line is like a picture

of the motion of every fluid
element.

• For steady flows the pathlines and stream lines are identical.
03/05/2024 Lecture 3 Page 17 of 18
Aerodynamics
HOMEWOR
K

1. Read from the book: Anderson, Jr., J.D., Fundamentals of Aerodynamics, 3rd
Edition, Singapure, McGraw Hill, 2001, Sections: 2.12, 2.13, 2.14, 2.15, 2.16, and
3.7

Lecture 3 Page 18 of 18