MDB 2053-FLUID MECHANICS II

Introduction to Navier Stokes

Part 1
Dr. Jundika Candra Kurnia
Department of Mechanical Engineering
Room: 19-03-20
Phone: 605 368 7157
jundika.kurnia@utp.edu.my
September 2016

Review previous lecture

In the previous lecture we have learned:
General information on MDB2053-Fluid Mechanics II

Course outcome
Schedule
Assessments
Grouping

Review fundamental of fluid mechanics

Definition, classification and first principles of fluid mechanics
Definition of fluid and solid
Dimension and unit

Introduction
Why do we learn fluid mechanics?
We use product/system related to fluid mechanics
in our daily life: water supply, car, airplane,
hydraulic system, computer cooling system, pump,
ventilation, and many others.
As engineer, fluid mechanics is one of determining
aspects in designing our system for betterment of
society

Introduction

Car aerodynamic analysis

Introduction

Airplane aerodynamics

Introduction

Pump, fan and cooling system

Introduction
In all these application, understanding of fluid
behavior (dynamics) is utmost important.
Fluid behavior is govern by conservation
equation of mass and momentum
Therefore in this class we will learn how the
conservation of mass and momentum are
formulated

Lesson outcome
At the end of this lecture, student should be able to
Implement concept of finite control volume to
derive conservation of mass and momentum for
infinitesimal control volume
Develop of Navier Stokes equations from
conservation of mass and momentum

Conservation of mass
Recalled conservation of mass in finite volume
analysis
DM sys
Dt

0, where M sys dV

D
dV

Dt sys

Time rate of
change of the mass
of the coincident
sy stem

sys

dV

t CV

Time rate of change of

the massof the contents of
the coincident
control volume

V n dA

CS

Net rate of flow

of mass through
the control surfaces

Conservation of mass
Taking a small cubical control volume
y

dV V n dA 0

t CV
CS
Rate of change of mass within
control volume

d
V

xyz

t CV
t

The control volume is cubical

element with sides length of x,
y, z
Volume of the studied control
volume

V xyz
Center of the cubical control
volume is located at (0,0,0)
Velocity at the center of CV is

V ui vj wk

Conservation of mass
The rate of mass flow through the surface of control volume
y

For x-component, the mass flux at the center is represented by u.

Thus, the mass flux at the left face and right face can be calculated
by using Taylor series
f x f x0

f ' x0
1!

x x0

f '' x0
2!

x x0
2

f ''' x0
3!

x x0
3

For the right face

u x x 2 u

u x 1 u x 1 u x

...
x 2 2! x 2 3! x 2
2

Conservation of mass
Applying the same approach for the left face and neglecting the
higher order,
u x
u x
u x x 2 u
x 2
u x
u x x 2 u
x 2

left face

right face

right face

slope

left face

x
2

x
2

Thus, the net rate of mass flow through the surface of control
volume in x-direction is

V n dA
CS

u x
u x

yz

x 2
x 2

x direction

u
x

Conservation of mass
or
u

xyz
CS V n dA
x
x direction

Applying similar approach to y and z direction, we found

V n dA

CS

xyz
y
y direction

xyz
CS V n dA
z
z direction

u v w

xyz
Therefore V ndA

y
z
x
CS

Conservation of mass
Recalling conservation of mass for the CV

dV V n dA 0

t CV
CS
u v w

xyz

xyz 0

t
y
z
x
u v w

0
t
x
y
z

Conservation equation in
Cartesian coordinate

For any coordinate, the conservation of mass in vector notation is

V 0
t

Symbol represent Nabla or Del operator

Conservation of mass
Special cases:
Steady flow compressible fluid (no change with respect to time)
V 0

In Cartesian coordinate
u v w

0
x
y
z

Steady, incompressible fluid ( is constant)

V 0

In Cartesian coordinate
u v w

0
x y z

Conservation of mass
Problem example:
The velocity components for certain incompressible steady flow are
u x 2 y 2 z 2 , v xy yz z, w ?
Determine the z-component, w, required to satisfy the conservation
of mass
Ans: conservation of mass for steady incompressible flow is
u v w
Thus, w u v 2 x ( x z ) 3x z

0
z
x y
x y z
u 2

x y 2 z 2 2x
x x

v
xy yz z x z
y y

Integrating with respect to z

z2
w 3x z dz 3xz f x, y
2

Unknown, can have any form

Conservation of momentum
Newtons second law of motion
DmV
Dt

Fsys

Time rate of changeof the

linear momentum of the system

or

sum of external forces

acting on thesystem

D
VV Fsys

Dt sys

For an infinitesimal (very small) control volume

DV
V
V
V
V
DmV
where
a
u
v
w
F
Dt
t
x
y
z
Dt
u
u
u
u
or
ax
u
v w
or in
t
x
y
z
DV
component
m
F
v
v
v
v
Dt
ay u v w
form

u v w
Dt t
x
y
z

is material derivative

t
x
y
z
w
w
w
w
az
u
v
w
t
x
y
z

Conservation of momentum
Important notes on conservation of momentum
The forces acting on the fluid CV are body force and surface forces
The only body force considered is one associated with gravity
The surface forces include force due to normal and shear stress
The normal stress may consist of pressure and viscous stress
Acting forces:

F
Total forces
acting on CV

Fs
surface forces

Fb

bodyforces

Normal stresses Shear stresses

xx , yy , zz
xy , yx , zx

The first subscript indicates the direction of the normal to the plane where the
stress act, second subscript indicate the direction of the stress

Conservation of momentum
Taking a small cubical control volume

(shear stress)

y
(normal stress)
z

By using Taylor series, the surface forces in x-direction (Fsx) are

xx x
xx x

z
right
face

xx

xx
yz
x 2
x 2

yx y
yx y

xz
bottom face yx
xz top face
yx

y 2
y 2

zx z
zx z

rear face
zx
xy front face zx
xy
z 2
z 2

left face

Conservation of momentum
Summing all these surface forces in the x-direction yields

xx yx zx
xyz
Fsx

y
z
x
Applying similar approach to y and z direction, we found

xy yy zy
xyz
Fsy

y
z
x
xz yz zz
xyz
Fsz

y
z
x
The resultant surface force is

Fs Fsxi Fsy j Fszk

Conservation of momentum
Meanwhile The only body force considered is one associated with
gravity

Fb mg
Recalling

m V and V xyz
In component form for Cartesian coordinate

Fbx xyzg x
Fby xyzg y
Fbz xyzg z

Conservation of momentum
Recalling Newtons second law of motion
DV
DV
m
F where F Fs Fb and
a
Dt
Dt

We can now write for x-direction

max Fsx Fbx

Note that m V and V xyz

xx yx zx
xyz xyzg x
xyzax

y
z
x
xx yx zx
g x
a x

y
z
x
u
u
u
u xx yx zx
g x
u v w

x
y
z x
y
z
t

Conservation of momentum
Thus

u
u
u
u xx yx zx
u v w

g x
x
y
z
x
y
z
t
Similarly for y and z direction

v
v
v
v xy yy zy
u v w

g y
x
y
z x
y
z
t
w
w
w
w xz yz zz
u
v
w

g z
x
y
z x
y
z
t

Conservation of momentum
The normal stresses consist of
pressure and viscous stress. In
Cartesian coordinate they can
be expressed as

u
xx p 2
x
v
yy p 2
y
w
zz p 2
z

The shear stresses in Cartesian

coordinate can be expressed
as

xy
yz

u v
yx
y x
v w

zy
z y

w u
xz zx
x z

is the dynamic viscosity of the

fluid

Valid for isotropic Newtonian fluids

Conservation of momentum
Recalling the conservation of momentum in x-direction

u
u
u
u xx yx zx
u v w

g x
x
y
z
x
y
z
t
The right-hand-side can be expanded by introducing the definition
of normal and shear stresses
xx yx zx

g x
x
y
z

u u v w u
p 2
g x
x
x y y x z x z
p
2u
2u
v
w
2u
2 2 2

2 g x
x
x
y
y x
z x
z
p
2u
2u
2u
2u
v
w
2 2 2 2

g x
x
x
y
z
x
x y
x z

Conservation of momentum
Cont
2u 2u 2u
p
u v w
g x
2 2 2
x
y
z
x x y z
x

Therefore

u
2u 2u 2u
u
u
u
p
u v w
u v w 2 2 2 g x
x
y
z
x
y
z
x x y z
t
x

Similarly, for y and z direction

v
2v 2v 2v
v
v
v
p
u v w
u v w 2 2 2 g y
x
y
z
y
y
z
y x y z
t
x
w
2w 2w 2w
w
w
w
p
u v w
g z
u
v
w 2 2 2
x
y
z
z
y
z
z x y z
t
x

Conservation of momentum
For incompressible fluid, we know that
u v w

0
x y z
Therefore
2u 2u 2u
u
u
u
u
p
u v w
u v w 2 2 2 g x
x
y
z
x
y
z
x x y z
t
x

Similarly, for y and z direction

v
2v 2v 2v
v
v
v
p
u v w
u v w 2 2 2 g y
x
y
z
y
y
z
y x y z
t
x
w
2w 2w 2w
w
w
w
p
u v w
g z
u
v
w 2 2 2

Conservation of momentum
Thus
u
2u 2u 2u
u
u
u
p
u v w 2 2 2 g x
x
y
z
x
y
z
t
x

v
2v 2v 2v
v
v
v
p
u v w 2 2 2 g y
x
y
z
y
y
z
t
x
w
2w 2w 2w
w
w
w
p
u
v
w 2 2 2 g z
x
y
z
z
y
z
t
x

These equations are the famous Navier-Stokes equation

Non-linear, second-order, partial differential equations
Exact solution only available for few special cases
Provide accurate prediction for incompressible flow

Conservation of momentum
For any coordinate, the Navier Stokes equations in vector notation
is
V

V V p 2 V g
t

where
2
2
2
2 2 2
x y
z
2

is Laplace operator

Together with conservation of mass, these equations provide a

complete mathematical description of incompressible Newtonian
fluid flow.
It has four variables (unkowns) u, v, w and p and four equations of
motion (1 conservation of mass, 3 conservation of momentum)
hence the problem is well-posed

Conservation of momentum
For inviscid flow where the effect of viscosity is negligible, the
conservation of momentum become
u
u
u
u
p
u v w g x
x
y
z
x
t

v
v
v
v
p
u v w g y
x
y
z
y
t

w
w
w
w
p
u
v
w g z
x
y
z
z
t

These equations are commonly referred as Eulers equations of

motion
V

V V p g
t

Summary
What we have learned in this lecture
Implementation of concept of control volume to derive
conservation of mass (continuity) and momentum for
infinitesimal (very small) control volume
Development of Navier Stokes equations from
conservation of mass and momentum