APPENDIX 1

EQUATIONS OF MOTION IN CYLINDRICAL

AND SPHERICAL COORDINATES
A1.1 COORDINATE SYSTEMS
A1.1.1

CYLINDRICAL COORDINATES

x = rCose
y = rSine
z = z
r = ( x2 + y2 )
y
r

12

e = Tan 1 ( y x )

A1.1.2

SPHERICAL POLAR COORDINATES

x = rSin e Cos q
y = rSin e Sin q
z = rCos e

r = ( x2 + y2 + z2 )
y
x

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12

1
2
2 12
e = Tan ( x + y )
z
1

q = Tan ( y x )

A2.1

4/6/13

Transformation of Vector Components

A1.2 TRANSFORMATION OF VECTOR COMPONENTS

Basic trigonometry can be used to show that the Cartesian and curvilinear
comnponents are related as follows.
A1.2.1

CYLINDRICAL COORDINATES

U r = U x Cos e + U y Sin e
U e = U x Sin e + U y Cos e
Uz = Uz
(A1.1)

U x = U r Cos e U e Sin e
U y = U r Sin e + U e Cos e
Uz = Uz

A1.2.2

SPHERICAL POLAR COORDINATES

U r = U x Sin e Cos q + U y Sin e Sin q + U z Cos e

U e = U x Cos e Cos q + U y Cos e Sin q U z Sin e
U q = U x Sin q + U y Cos q
(A1.2)

U x = U r Sin e Cos q + U e Cos e Cos q U q Sin q

U y = U r Sin e Sin q + U e Cos e Sin q + U q Cos q
U z = U r Cos e U e Sin e

A1.3 SUMMARY OF DIFFERENTIAL OPERATIONS

A1.3.1

CYLINDRICAL COORDINATES

1,
1 ,U e ,U z
U = --- ----- ( rU r ) + --- ---------- + ---------r ,r
r ,e
,z

4/6/13

A2.2

(A1.3)

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Summary of differential operations

1 , ,l
1, l , l
l = --- ----- r ------ + ----- --------- + --------2 2
2
r ,r ,r
r ,e
,z
2

,Ur
,Uz
1 ,Ue Ur
o : U = o rr ---------- + o ee --- ---------- + ------ + o zz ---------- +
r ,e
,r
,z
r
,Uz ,Ur
1 ,Ur
, Ue
1 ,Uz ,Ue
o r e r ----- ------- + --- ---------- + o e z --- ---------- + ---------- + o rz ---------- + ----------
r ,e
,r
, r r r ,e
,z
,z

l
l
l

U
U

(A1.4)

(A1.5)

,l
= -----r
,r
1 ,l
= --- -----e
r ,e

(A1.6)

,l
= -----z
,z

1 ,U z ,U e
= --- ---------- ---------r
r ,e
,z

,U r ,U z
= ---------- ---------e
,r
,z

(A1.7)

1 ,U r
1,
-----U =
( rU e ) --- ---------z
r ,e
r ,r

1 ,o r e o ee ,o rz
1,
= --- ----- ( r o rr ) + --- ----------- -------- + ---------r
r ,e
r ,r
r
,z

2
1 ,o ee 1 , ( r o r e ) ,o e z
o = --- ----------- + ----- --------------------- + ----------e
2
,r
r ,e
,z
r

(A1.8)

1 ,o e z ,o zz
1,
o = --- ----- ( r o rz ) + --- ----------- + ---------z
r ,e
r ,r
,z

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A2.3

4/6/13

Summary of differential operations

2 ,U e U r
U = U r ----- ---------- -----r
2
2
r ,e
r
2

2
2 ,U r U e
= U e + ----- ---------- ------e
2
2
r ,e
r
2

(A1.9)

= Uz
z

where
2

1, ( ) , ( )
1 , ,( )
2
( ) = --- ----- r ----------- + ----- -------------- + -------------2
r , r , r r 2 ,e 2
,z

(A1.10)

,U r U e ,U r U e
,U r
-----------------------------U U = U r
------- + U z +
r
,r
r ,e
,z
r
,U e U e ,U e U r U e
,U e
U U = U r ---------- + ------- ---------- + -------------- + U z ---------e
,r
r ,e
,z
r
U U

A1.3.2

(A1.11)

,U z U e ,U z
,U z
= U r ---------- + ------- ---------- + U z ---------z
,r
r ,e
,z

SPHERICAL POLAR COORDINATES

1 , ( U e Sin e )
1 ,U q
1 , 2
------------------------------------------------------ ------------- U =
(r Ur) +
+
2 ,r
rSin
rSin
e
,e
e
,q
r
2

,l
1 , 2 ,l
,
, l
1
1
l = ----- ----- r ------ + ----------------- ------ Sin e ------ + -------------------- --------2
2
2
2
2
,e
,r
r ,r
r Sin e ,q
r Sin e ,e
2

4/6/13

(A1.12)

A2.4

(A1.13)

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Summary of differential operations

,Ur
1 ,Ue Ur
o : U = o rr ---------- + o ee --- ---------- + ------ +
,r
r ,e
r
1 ,Ur
1 , U q U r U e Cot e
, Ue
o qq -------------- ---------- + ------ + -------------------- + o r e r ----- ------- + --- ---------- +
rSin e ,q

, r r r ,e
r
r

,Uq
1 , U e U q Cot e
1 ,Ur Uq
1 ,Uq
o r q ---------- + -------------- ---------- ------- + o eq --- ---------- + -------------- ---------- --------------------
,r
r ,e

rSin e ,q
rSin e ,q
r
r

l
l
l

(A1.14)

,l
= -----r
,r
1 ,l
= --- -----e
r ,e

(A1.15)

1 ,l
= -------------- -----rSin e ,q

1 , ( U q Sin e )
1 ,U e
= -------------- ---------------------------- -------------- ---------r
,e
rSin e
rSin e ,q

1 ,U r 1 ,
= -------------- ---------- --- ----- ( rU q )
e
rSin e ,q r , r

(A1.16)

1 ,U r
1,
= --- ----- ( rU e ) --- ---------q
r ,e
r ,r

o ee + o qq
1 ,o r q
1 , 2
1 , ( o r e Sin e )
o r = ----- ----- ( r o rr ) + -------------- ---------------------------- + -------------- ----------- ------------------------

2
rSin e ,q
rSin e
,e
r
r ,r
1 ,o eq o r e Cot e
1 , 2
1 , ( o ee Sin e )
o e = ----- ----- ( r o r e ) + -------------- ----------------------------- + -------------- ----------- + ------- ------------- o qq
2
rSin e ,q
rSin e
,e
r
r
r ,r
1 , 2
o q = ----- ----- ( r o r q ) +
2
r ,r

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(A1.17)

1 ,o qq o r q 2Cot e
1 ,o eq
--- ----------- + -------------- ----------- + ------- + ---------------- o eq
rSin e ,q
r ,e
r
r

A2.5

4/6/13

Continuity

2U r 2 , U e 2U e Cot e
2 ,Uq
2
2
U r = U r ---------- ----- ---------- ------------------------ ----------------- ---------2
2
2
2
r Sin e ,q
r ,e
r
r
Ue
2 ,Ur
2Cos e , U q
2
2
U e = U e + ----- ---------- -------------------- -------------------- ---------2
2
2
2
2
r ,e r Sin e r Sin e ,q

(A1.18)

Uq
2Cos e , U e
2 ,Ur
2
2
U q = U q -------------------- + ----------------- ---------- + -------------------- ---------2
2
2
2
2
r Sin e ,q
r Sin e r Sin e ,q

where
2

1
1
,
, ( )
1 , 2 ,( )
,( )
2
( ) = ----- ----- r ----------- + ----------------- ------ Sin e ----------- + -------------------- -------------2
, r r 2 Sin e ,e
,e r 2 Sin 2 e ,q 2
r ,r

(A1.19)

,Ur Ue ,Ur
Uq ,Ur (Ue + Uq)
U U r = U r ---------- + ------- ---------- + -------------- ---------- --------------------------,r
r ,e
rSin e ,q
r
2
,Ue Ue ,Ue
U q , U e U r U e U q Cot e
U U = U r ---------- + ------- ---------- + -------------- ---------- + -------------- -------------------e
,r
r ,e
rSin e ,q
r
r

(A1.20)

,Uq Ue ,Uq
U q , U q U r U q U e U q Cot e
U U = U r ---------- + ------- ---------- + -------------- ---------- + -------------- + ---------------------------q
,r
r ,e
rSin e ,q
r
r

A1.4 CONTINUITY
A1.4.1

CYLINDRICAL COORDINATES

,
1 ,
,l 1 ,
------ + --- ----- ( l rU r ) + --- ------ ( l U e ) + ----- ( l U z ) = 0
,z
r ,e
,t r ,r

A1.4.2

(A1.21)

SPHERICAL POLAR COORDINATES

2
1 ,
1 ,
,l 1 ,
------ + ----- ----- ( l r U r ) + -------------- ------ ( l U e Sin e ) + -------------- ------ ( l U q ) = 0 (A1.22)
rSin e ,e
rSin e ,q
,t r2 ,r

4/6/13

A2.6

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Momentum

A1.5 MOMENTUM
A1.5.1

CYLINDRICAL COORDINATES

r - component
2

,Ur Ue ,Ur Ue
, U r , P
,Ur
l ---------- + U r ---------- + ------- ---------- ------- + U z ---------- + ------- =
,r
r ,e
,z ,r
r
,t
1,
--- ----- ( r o rr ) +
r ,r

1 ,o r e o ee ,o rz
--- ----------- -------- + ---------- + l g r
r ,e
r
,z

e - component
,Ue Ue ,Ue UrUe
,Ue
,Ue
1 ,P

l ---------- + U r ---------- + ------- ---------- + -------------- + U z ---------- + --- ------- =

,t

r ,e
,r
r ,e
,z
r

(A1.23)

2
1 , ( r o r e ) 1 ,o ee ,o e z
----- --------------------- + --- ----------- + ----------- + l g e
2
r ,e
,r
,z
r

z - component

,Uz Ue ,Uz
,Uz
,Uz
,P
l ---------- + U r ---------- + ------- ---------- + U z ---------- + ------- =
,t
,r
r ,e
,z ,z
1,
--- ----- ( r o rz ) +
r ,r

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1 ,o e z ,o zz
--- ----------- + ---------- + l g z
r ,e
,z

A2.7

4/6/13

Momentum

A1.5.2

SPHERICAL POLAR COORDINATES

r - component
2

,Ur Ue ,Ur
U q , U r ( U e + U q ) , P
,Ur
l ---------- + U r ---------- + ------- ---------- + -------------- ---------- --------------------------- + ------- =
,r
r ,e
rSin e ,q
r
,r
,t

o ee + o qq
1 ,o r q
1 , 2
1 , ( o r e Sin e )
----- ----- ( r o rr ) + -------------- ---------------------------- + -------------- ----------- ------------------------ + l g r

2
rSin e ,q
rSin e
,e
r
r ,r
e - component
2
,Ue Ue ,Ue
U q , U e U r U e U q Cot e 1 , P
,Ue
l ---------- + U r ---------- + ------- ---------- + -------------- ---------- + -------------- -------------------- + --- ------- =
,r
r ,e
rSin e ,q
r
r
,t
r ,e

(A1.24)

1 ,o eq o r e Cot e
1 , ( o ee Sin e )
1 , 2
----- ----- ( r o r e ) + -------------- ----------------------------- + -------------- ----------- + ------- ------------- o qq + l g e
2
rSin e ,q
rSin e
,e
r
r
r ,r

q - component
,Uq Ue ,Uq
U q , U q U r U q U e U q Cot e
,Uq
1 ,P
l ---------- + U r ---------- + ------- ---------- + -------------- ---------- + -------------- + ---------------------------- + -------------- ------- =
,t
rSin e ,q
,r
r ,e
rSin e ,q
r
r
1 , 2
----- ----- ( r o r q ) +
2
r ,r

4/6/13

1 ,o qq o r q 2Cot e
1 ,o eq
--- ----------- + -------------- ----------- + ------- + ---------------- o eq + l g q
rSin e ,q
r ,e
r
r

A2.8

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Energy equation

A1.6 ENERGY EQUATION

Recall that the stagnation enthalpy is
P
h t = e + --- + k
l

A1.6.1

(A1.25)

CYLINDRICAL COORDINATES

,
1 ,
,l ( e + k ) 1 ,
------------------------- + --- ----- ( r l h t U ) + --- ------ ( l h t U ) + ----- ( l h t U ) +
r
e
z
r ,r
,z
r ,e
,t
,
1--- ----( rQ r ) +
r ,r

,Uz
1 ,Ue Ur
1 , Q e , Q z , U r
--- ---------- + --------- o rr ---------- + o ee --- ---------- + ------ + o zz ----------
r ,e
r ,e
,r
,z
,z
r

,U
,U
,U
,U
, U e 1 , U r
o r ---- ----------z + ---------r- + o 1--- ----------z + ----------e
--------------+
o
+
rz , r
e z r ,e
r e , r r r ,e
,z
,z
1,
U r --- ----- ( r o rr ) +
r ,r

1 ,o r e o ee ,o rz
--- ----------- -------- + ----------
r ,e
r
,z

(A1.26)

2
1 ,o ee
1 , ( r o r e ) ,o e z
U e --- ----------- + ----- --------------------- + -----------
2
,r
,z
r ,e
r

1,
U z --- ----- ( r o rz ) +
r ,r

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1 ,o e z ,o zz
--- ----------- + ---------- = { power sources }
r ,e
,z

A2.9

4/6/13

Energy equation

A1.6.2

SPHERICAL POLAR COORDINATES

1 , ( l ht U q )
1 , ( l h t U e Sin e )
,l ( e + k ) 1 , 2
------------------------- + ----- ----- ( r l h t U ) + -------------- ------------------------------------- + -------------- ------------------------ +
r
2
rSin e
rSin e
,e
,q
,t
r ,r
1 , 2
1 , Q q
1 , ( Q e Sin e )
---------------------------------------------------------------------
(
Q
)
r
+
+
2
r
rSin e ,q
rSin e
,e
r ,r

,Ur
1 ,Ue Ur
o rr ---------- o ee --- ---------- + ------
,r
r ,e
r
1 ,Ur
1 , U q U r U e Cot e
, Ue
o qq -------------- ---------- + ------ + -------------------- o r e r ----- ------- + --- ----------
rSin e ,q

, r r r ,e
r
r

,Uq
1 , U e U q Cot e
1 ,Ur Uq
1 ,Uq
o r q ---------- + -------------- ---------- ------- o eq --- ---------- + -------------- ---------- --------------------
,r
r ,e

rSin e ,q
rSin e ,q
r
r

(A1.27)

o ee + o qq
1 , 2
1 ,o r q
1 , ( o r e Sin e )
U r ----- ----- ( r o rr ) + -------------- ---------------------------- + -------------- ----------- ------------------------

rSin e ,q
rSin e
,e
r
r2 ,r
1 , 2
1 ,o eq o r e Cot e
1 , ( o ee Sin e )
U e ----- ----- ( r o r e ) + -------------- ----------------------------- + -------------- ----------- + ------- ------------- o qq
rSin e ,q
rSin e
,e
r
r
r2 ,r

1 , 2
U q ----- ----- ( r o r q ) +
r2 ,r

4/6/13

1 ,o qq o r q 2Cot e
1 ,o eq
--- ----------- + -------------- ----------- + ------- + ---------------- o eq = { power sources }
rSin e ,q
r ,e
r
r

A2.10

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Components of the stress tensor

A1.7 COMPONENTS OF THE STRESS TENSOR

A1.7.1

CYLINDRICAL COORDINATES

,Ur
2
o rr = 2 ---------- --- v U

,r 3
2
1 ,Ue Ur
o ee = 2 --- ---------- + ------ --- v U
r ,e

r 3

,Uz
2
o zz = 2 ---------- --- v U

,z 3

(A1.28)

1 ,Ur
, Ue
o r e = r ----- ------- + --- ----------
, r r r ,e

,Ur ,Uz
o rz = ---------- + ----------
,z
,r
,Ue 1 ,Uz
o e z = ---------- + --- ----------
,z
r ,e

A1.7.2

SPHERICAL POLAR COORDINATES

,Ur
2
o rr = 2 ---------- --- v U

3
,r
2
1 ,Ue Ur
o ee = 2 --- ---------- + ------ --- v U
r ,e

3
r
2
1 , U q U r U e Cot e
o qq = 2 -------------- ---------- + ------ + -------------------- --- v U
rSin e ,q

3
r
r

(A1.29)

1 ,Ur
, Ue
o r e = r ----- ------- + --- ----------
, r r r ,e
1 ,Ur
, Uq
o r q = -------------- ---------- + r ----- -------
rSin e ,q
,r r
1 ,Ue
Sin e , U q
o eq = ------------ ------ ------------ + -------------- ----------
r ,e Sin e rSin e ,q

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A2.11

4/6/13

Kinetic energy dissipation function

A1.8 KINETIC ENERGY DISSIPATION FUNCTION

= o:U

Cylindrical coordinates
,Ur 2
,Uz 2
1 ,Ue Ur 2
, Ue
1 ,Ur 2
= 2 ---------- + --- ---------- + ------ + ---------- + r ----- ------- + --- ---------- +
r ,e
,r
,z
, r r r ,e
r
,Ur ,Uz 2
,Ue 1 ,Uz 2
2
2
---------- + ---------- + ---------- + --- ---------- --- v ( U )
,z

r ,e
3
,r
,z

(A1.30)

Spherical coordinates
,Ur 2
1 ,Ue Ur 2
1 , U q U r U e Cot e 2
= 2 ---------- + --- ---------- + ------ + -------------- ---------- + ------ + -------------------- +
r ,e
rSin e ,q

,r
r
r
r
1 ,Ur 2
, Ue
1 ,Ur
, Uq 2
r ----- ------- + --- ---------- + -------------- ---------- + r ----- ------- +
rSin e ,q
, r r r ,e
,r r

(A1.31)

2
1 ,Ue 2 2
Sin e , U q
------------ ------ ------------ + -------------- ---------- --- v ( U )

r ,e Sin e rSin e ,q 3

4/6/13

A2.12

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