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4-1 Lagrangian
g g and Eulerian Descriptions
p
4-2 Fundamentals of Flow Visualization
4-3 Kinematic Description
p
4-4 Reynolds Transport Theorem (RTT)
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-1 Lagrangian and Eulerian Descriptions (1)
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-1 Lagrangian and Eulerian Descriptions (2)
4-2
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-1 Lagrangian and Eulerian Descriptions (3)
Acceleration Field
Consider a fluid particle
r and Newton
Newton'ss second law law,
r
Fparticle = m particle a particle
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-1 Lagrangian and Eulerian Descriptions (4)
dx particle dy particle dz particle
Since = u, = v, =w
dt dt dt
r r r r
r ∂V ∂V ∂V ∂V
a pparticle = +u +v +w
∂t ∂x ∂y ∂z
In vector form, the acceleration can be written as
r r
dV ∂V r r r
r
a ( x, y , z , t ) =
dt
=
∂t
+ V ∇ V ( )
First term is called the local acceleration and is nonzero only for unsteady
flows.
Second term is called the advective acceleration and accounts for the
effect of the fluid particle moving to a new location in the flow, where the
velocity is different.
4-4
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-1 Lagrangian and Eulerian Descriptions (5)
The total derivative operator d/dt is call the material derivative
and is often ggiven special
p notation,, D/Dt.
r r r
DV dV ∂V r r r
Dt
=
dt
=
∂t
+ V ∇ V ( )
Advective acceleration is nonlinear: source of many
phenomenon
h andd primary
i challenge
h ll in
i solving
l i fluid
fl id flow
fl
problems.
Provides ``transformation''
transformation between Lagrangian and Eulerian
frames.
Other names for the material derivative include: total,, p
particle,,
Lagrangian, Eulerian, and substantial derivative.
v
∂V
Steady: =0
∂t 4-5
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (1)
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (2)
A Streamline is a curve that is
everywhere tangent to the
instantaneous local velocity
vector.
C
Consider
id an arc llength
th
r r r r
dr = dxi + dyj + dzk
r
dr must be parallel to the local
velocity vector
r r r r
V = ui + vj + wk
Geometric arguments results
in the equation for a streamline
dr dx dy dz
= = = 4-7
V u v w
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (3)
Airplane surface pressure contours,
NASCAR surface pressure contours and volume streamlines,, and surface
streamlines
li streamlines
4-8
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (4)
4-9
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (5)
4-10
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (6)
A Streakline is the
locus of fluid particles
that have passed
p
sequentially through a
pprescribed ppoint in the
flow.
Easy to generate in
experiments: dye in a
water flow,
flow or smoke in
an airflow.
4-11
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (7)
4-12
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (8)
Comparison
For steady flow, streamlines, pathlines, and
streaklines are identical
identical.
For unsteady flow, they can be very different.
Streamlines
St li are an instantaneous
i t t picture
i t off the
th flow
fl field
fi ld
Pathlines and Streaklines are flow patterns that have a time
them
history associated with them.
Streakline: instantaneous snapshot of a time-integrated
flow pattern.
pattern
Pathline: time-exposed flow path of an individual particle.
4-13
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (9)
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-2 Fundamentals of Flow Visualization (10)
4-15
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (1)
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (2)
r1 ⎛ ∂w ∂v ⎞ r 1 ⎛ ∂u ∂w ⎞ r 1 ⎛ ∂v ∂u ⎞ r
ω= ⎜ − ⎟i + ⎜ − ⎟ j + ⎜ − ⎟k
2 ⎝ ∂y ∂z ⎠ 2 ⎝ ∂z ∂x ⎠ 2 ⎝ ∂x ∂y ⎠ 4-17
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (3)
Linear Strain Rate is defined as the rate of increase in length per unit length.
In Cartesian coordinates
∂u ∂v ∂w
ε xx = , ε yy = , ε zz =
∂x ∂y ∂z
Volumetric strain rate in Cartesian coordinates
1 DV ∂u ∂v ∂w
= ε xx + ε yy + ε zz = + +
V Dt ∂x ∂y ∂z
Since the volume of a fluid element is constant for an incompressible flow,
the volumetric strain rate must be zero.
4-18
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (4)
1 ⎛ ∂u ∂v ⎞ 1 ⎛ ∂w ∂u ⎞ 1 ⎛ ∂v ∂w ⎞
ε xy = ⎜ + ⎟ , ε zx = ⎜ + ⎟ , ε yz = ⎜ + ⎟
2 ⎝ ∂y ∂x ⎠ 2 ⎝ ∂x ∂z ⎠ 2 ⎝ ∂z ∂y ⎠
4-19
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (5)
⎛ ∂u 1 ⎛ ∂u ∂v ⎞ 1 ⎛ ∂u ∂w ⎞ ⎞
⎜ ⎜ + ⎟ ⎜ + ⎟⎟
⎜ ∂x 2 ⎝ ∂y ∂x ⎠ 2 ⎝ ∂z ∂x ⎠ ⎟
⎛ ε xx ε xy ε xz ⎞ ⎜
⎜ ⎟ 1 ⎛ ∂v ∂u ⎞ ∂v 1 ⎛ ∂v ∂w ⎞ ⎟
ε ij = ⎜ ε yx ε yy ε yz ⎟ = ⎜ ⎜ + ⎟ ⎜ + ⎟ ⎟
⎜ ε zx ⎟ ⎜ 2 ⎝ ∂x ∂y ⎠ ∂y 2 ⎝ ∂z ∂y ⎠ ⎟
⎝ ε zy ε zz ⎠ ⎜ ⎟
⎜ 1 ⎛ ∂w + ∂u ⎞ 1 ⎛ ∂w ∂v ⎞ ∂w ⎟
⎜ 2 ⎝⎜ ∂x ∂z ⎠⎟ ⎜ + ⎟ ⎟
⎝ 2 ⎝ ∂y ∂z ⎠ ∂z ⎠
4-20
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (6)
Purpose
p of our discussion of fluid element kinematics:
Better appreciation of the inherent complexity of fluid
dynamics
Mathematical sophistication required to fully describe fluid
motion
Strain-rate
Strain rate tensor is important for numerous reasons.
reasons
For example,
Develop relationships between fluid stress and strain rate.
rate
Feature extraction and flow visualization in CFD
simulations.
4-21
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (7)
The vorticity
r r vector
r
is defined as the curl of the velocity
vector ζ = ∇ × V
Vorticity is
r equal
r
to twice the angular velocity of a fluid
particle ζ = 2ω
particle.
Cartesian coordinates
r ⎛ ∂w ∂v ⎞ r ⎛ ∂u ∂w ⎞ r ⎛ ∂v ∂u ⎞ r
ζ =⎜ − ⎟i + ⎜ − ⎟ j + ⎜ − ⎟k
⎝ ∂y ∂z ⎠ ⎝ ∂z ∂x ⎠ ⎝ ∂x ∂y ⎠
Cylindrical coordinates
r ⎛ 1 ∂u z ∂uθ ⎞ r ⎛ ∂ur ∂u z ⎞ r ⎛ ∂ ( ruθ ) ∂ur ⎞r
ζ =⎜ − ⎟ er + ⎜ − ⎟ eθ + ⎜ − ⎟ ez
⎝ r ∂θ ∂z ⎠ ⎝ ∂z ∂r ⎠ ⎝ ∂r ∂θ ⎠
In regions where z = 0,
0 the flow is called irrotational.
irrotational
Elsewhere, the flow is called rotational.
4-22
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (8)
4-23
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-3 Kinematic Description (9)
Special case: consider two flows with circular streamlines
ur = 0, uθ = ω r ur = 0, uθ =
K
⎞ r 1 ⎛ ∂ (ω r )
r
r 1 ⎛ ∂ ( ruθ ) ∂ur
2
⎞r
ζ = ⎜
r
− 0 ⎟ ez = 2ωez r 1 ⎛ ∂ ( ruθ ) ∂ur ⎞ r 1 ⎛ ∂(K ) ⎞r
− ⎟ ez = ⎜⎜ ⎟ ζ = ⎜ − = − 0
r
⎟ e z = 0 ez
r ⎝ ∂r ∂θ ⎠ r ∂r r ⎝ ∂r ∂θ
⎟ z
e ⎜
r ⎝ ∂r
⎝ ⎠ ⎠ ⎠
4-24
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (1)
A system is a quantity of matter of fixed
y No mass can cross a system
identity. y
boundary.
A control volume is a region in space
chosen for study. Mass can cross a control
surface.
f
The fundamental conservation laws
(conservation of mass, energy, and
momentum) apply directly to systems.
systems
However, in most fluid mechanics problems,
control volume analysis is preferred over
system analysis (for the same reason that
the Eulerian description is usually preferred
over the Lagrangian description).
Therefore,, we need to transform the
conservation laws from a system to a
control volume. This is accomplished with
the Reynolds transport theorem (RTT).
4-25
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (2)
4-26
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (3)
4-27
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (4)
4-28
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (5)
4-29
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (6)
dBsys ∂ r r
=∫
CV ∂t
( ρ b ) dV + ∫ ρ bV ndA
dt CS
4-30
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (7)
dBsys → ∧
Steady flow : = ∫ ρb(V ⋅ n)dA
dt CS
dBsys d • •
dt
= ∫ ρb dV + ∑
dt CV out
m e be - ∑ m i bi
in
4-31
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (8)
Material derivative (differential analysis):
Db ∂b r r
=
Dt ∂t
+ V ∇ b ( )
General RTT
RTT, nonfixed CV (integral analysis):
dBsys ∂ r r
=∫
CV ∂t
( ρ b ) dV + ∫ ρ bV ndA
dt CS
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (9)
4-33
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (10)
4-34
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (11)
4-35
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011
4-4 Reynolds Transport Theorem (RTT) (12)
Fluid Mechanics
Chapter 4: Fluid Kinematics
Y.C. Shih February 2011