13.021 Marine Hydrodynamics, Fall 2004 Lecture 3 Copyright c 2004 MIT - Department of Ocean Engineering, All rights reserved.

13.021 Marine Hydrodynamics Lecture 3

1.2 - Stress Tensor

Stress Tensor ij : . The stress (force per unit area) at a point in a uid needs nine components to be completely specied, since each component of the stress must be dened not only by the direction in which it acts but also the orientation of the surface upon which it is acting. The rst index species the direction in which the stress component acts, and the second identies the orientation of the surface upon which it is acting. Therefore, the ith component of the force acting on a surface whose outward normal points in the j th direction is ij .
X2

22

12 32

21

23

11

13

31

33

X1

X3

Figure 1: Shear stresses on an innitesimal cube whose surface are parallel to the coordinate system.

X2

A1

A3 Q

X1

R area A0 X3 A2

Figure 2: Consider an innitesimal body at rest with a surface PQR that is not perpendicular to any of the Cartesian axis. The unit normal vector to that surface is n = n1 x 1 + n2 x 2 + n3 x 3 . The area of the surface = A0 , and the area of each surface perpendicular to Xi is Ai = A0 ni , for i = 1, 2, 3. Newtons law:
all4f aces

Fi = (volume force)i for i = 1, 2, 3 : surface forces 2 : volume forces 3

If is the typical dimension of the body

An example of surface forces is the shear force and an example of volumetric forces is the gravity force. At equilibrium, the surface forces and volumetric forces are in balance. As the body gets smaller, the mass of the body goes to zero, which makes the volumetric forces equal to zero and leaving the sum of the surface forces equal zero. So, as 0, all4f aces Fi = 0 for i = 1, 2, 3 and i A0 = i1 A1 + i2 A2 + i3 A3 = ij Aj . But the area of each surface to Xi is Ai = A0 ni . Therefore i A0 = ij Aj = ij (A0 nj ), where ij Aj is the notation (represents the sum of all components). Thus i = ij nj for i = 1, 2, 3, where i is the component of stress in the ith direction on a surface with a normal n . We call i the stress vector and we call ij the stress matrix or tensor. Example: Pascals Law for hydrostatics In a static uid, the stress vector cannot be dierent for dierent directions of the surface normal since there is no preferred direction in the uid. Therefore, at any point in the uid, the stress vector must have the same direction as the normal vector n and the same magnitude for all directions of n .

no summation Pascals Law: for hydrostatics ij = (pi ) (ij ) p1 0 0 = 0 p2 0 0 0 p3 where pi is the pressure acting perpendicular to the ith surface. If po is the pressure acting perpendicular to the surface PQR, then i = ni p0 , but i = ij nj = (pi )ij nj = (pi )(ni ). Therefore po = pi , i = 1, 2, 3 and n is arbitrary. Symmetry of the Stress Tensor To prove the symmetry of the stress tensor we follow the steps:
j
ij

ji

ji

o
ij

Figure 3: Material element under tangential stress. 1. The of surface forces = body forces + mass acceleration. Assume no symmetry. Balance of the forces in the ith direction gives: ( )(ij )T OP ( )(ij )BOT T OM = O( 2 ), since surface forces are 2 , where the O( 2 ) terms include the body forces per unit depth. Then, as 0, (ij )T OP = (ij )BOT T OM . of surface torque = body moment + angular acceleration. Assume no symmetry. The 2. The balance moment with respect to o gives:

(ji ) (ij ) = O( 3 ), since the body moment is proportional to 3 . As 0 , ij = ji . 1.3 Mass and Momentum Conservation Consider a material volume m and recall that a material volume is a xed mass of material. A material volume always encloses the same uid particles despite a change in size, position, volume or surface area over time. 1.3.1 Mass Conservation The mass inside the material volume is: M (m ) =
m(t)

Sm(t)

m ( t )

Figure 4: Material volume m (t) with surface Sm (t). Therefore the time rate of increase of mass inside the material volume is:
d M (m ) dt

d dt m (t)

d = 0,

which implies conservation of mass for the material volume m .

1.3.2 Momentum Conservation The velocity of uid inside the material volume in the ith direction is denoted as ui . Linear momentum of the material volume in the ith direction is ui d
m(t)

Newtons law of motion: The time rate of change of momentum of the uid in the material control volume must equal the sum of all the forces acting on the uid in that volume. Thus: d (momentum)i =(body force)i + (surface force)i dt d ui d = Fi d + ij nj dS dt
m (t)

m (t)

Sm (t)

Divergence Theorems:

For vectors:

v d = v.n dS
ij d xj
vj xj

vj nj

For tensors:

= ij nj dS
S

Thus using divergence theorems:

d dt

ui d =
m(t) m(t)

Fi +

ij xj

d,

which gives the conservation of the momentum for the material volume m . 1.4 Kinematic Transport Theorems Consider a ow through some moving control volume (t) during a small time interval t. Let f (x, t) be any (Eulerian) uid property per unit volume of uid (e.g. mass, momentum, etc.). Consider the integral

I (t) =
(t)

f (x, t) d

According with the denition of the derivative, we can write d I (t + t) I (t) I (t) = lim t0 dt t 1 = lim f (x, t + t)d t0 t
(t+t)

f (x, t)d
(t)

S(t+t)
( t + t )

( t )

S(t)

Figure 5: Control volume and its bounding surface S at instants t and t + t. Next, we consider the steps 1. Taylor series expansion of f about t. f (x, t + t) = f (x, t) + t 2.
(t+t)

f (x, t) + O((t)2 ) t

d =
(t)

d +

d where

d =
S (t)

[Un (x, t)t] dS and Un (x, t) is the normal velocity

of S (t).

S(t+t)

S(t)

U n ( x, t )t + O( t ) 2

dS

Figure 6: Element of the surface S at instants t and t + t. So we have d 1 I (t) = lim t0 t dt

df + t
(t) (t)

f + t t
S (t)

dSUn f
(t)

df + O(t)2

Kinematic Transport Theorem (KTT) Leibnitz rule in 3D

d dt

f (x, t)d =
(t) (t)

f (x,t) d t

+
S (t)

f (x, t)Un (x, t)dS

If the control volume is a material volume: (t) = m (t) and Un = v n , where v is the uid particle velocity. Then the Kinematic Transport theorem (KTT) assume the form d dt
m (t)

f (x, t)d =
m (t)

f (x, t) d + t

f (x, t)(v n ) dS
Notation)

Sm (t) f vi ni (Einstein

Using the divergence theorem: d = n dS

xi i

(1)

i n i

1st Kinematic Transport Theorem (KTT)


d dt m (t)

f (x, t) d =
m (t)

f (x,t) d, + ( f v ) t
(f vi ) xi

where f is a uid property per unit volume. 1.5 Continuity Equation Let the uid property per unit volume be mass per unit volume ( f = ) 0 =
conservation of mass

d dt
m (t)

d
1st

=
KTT m (t)

+ (v ) d t

since m is arbitrary, so the integrand 0 everywhere. Therefore, the dierential form of conservation of mass i.e. Continuity equation follows: + (v ) = 0 t + [ v + v ] = 0 t
D Dt

Therefore,
D Dt

+ v = 0

In general, = (p, T, . . .). We consider the special case of incompressible ow (Note, the density of the entire ow is not constant when we have more than one uid, like water and oil, as illustrated in the picture above).

Constant

fluid particle 2 fluid particle 1 oil water

Figure 7: Interface of two uids (oil-water) Therefore, for an incompressible ow:

D Dt

=0

Then v or

vi = 0, which is the Continuity equation for incompressible uid. xi

rate of volume dilatation

1.6 Eulers Equation (dierential form of conservation of momentum) 2nd Kinematic Transport Theorem ( = 1st KTT + continuity equation). If G = uid property per unit mass, then G = uid property per unit volume d dt
m (t)

Gd =
m (t)

(G) + (Gv ) d t G + v t G + + v G t
DG Dt

d,

=
m (t)

0 from mass conservation

and the 2nd Kinematic Transport Theorem (KTT) follows:

d dt

Gd =
m m

DG d Dt

Application: We consider G as the ith momentum per unit mass ( vi ). Then, Fi +

m (t)

ij xj

=
conservation of momentum

d dt
m (t)

vi d
2nd

=
KTT m (t)

Dvi d Dt

But m (t) is an arbitrary material volume, therefore the integral identity gives Eulers equation
ij , xj

v i i = Fi + Dv + v v i Dt t
vj xi
v j

and its Vector Tensor Form Dv Dt

v t

+ v v = F +