ADVANCED FLUID

MECHANICS I
LECTURE

Review of
Conservation
equations
4.4 Conservation of mass
System General (control volume) Steady state (CV)
 
 
d
d  V  ndA 0  

dt 
  
A 
mass of the CV mass flow rate at the surfaces
V  ndA  0
A

Dmsys
Dt
0 dm
dt
  m  0 
surfaces
m  0
surfaces
inflow is -ve inflow is -ve
outflow is +ve outflow is +ve

 m   m  0
dm

dt exit inlets  m   m  0
exit inlets

V1  average velocity at inlet  1inlet & 1exit 

 1inlet & 1exit 
V2  average velocity at exit Steady state   SS  cosθ = 1 
 cosθ = 1   uniform flow 
 

 1V1 dA    2V2 dA 1V1 A1   2V2 A2

 m 1  m 2 
A1 A2

 if 1  fn  A1  &  2  fn  A2  
  if 1   2 then

mass flow rate = m  VdA  VA

 1 V1 dA   2 V2 dA 

 
 
incompressible
 volume flow rate 

A1 A2
 or discharge  = Q  VdA VA   V1 A1  V2 A2
    V A
1 1 1   V A
2 2 2  2
Dr. S. Z. Shuja
5.1 Introduction
Integral analysis is useful for determining overall effects at boundaries.
Differential analysis provides a detailed knowledge about the flow field.

Conservation Differential Integral

equation approach approach
density field
mass
  x, y , z , t  
m  d

stress field

momentum
  x, y , z , t  
F   dA
velocity field m   VdA
V  x, y , z , t 
temperature field heat flow  Q 
energy
T  x, y , z , t  at boundaries

3
Dr. S. Z. Shuja
4.3. The 3 laws for a control volume
     
 
DN sys
Reynolds Transport Theorem: 
Dt
d  
 t  A
 V  n dA
 
 
DN sys
 
d
for a fixed CV,   fn  t     d    V  n dA
Dt  
 dt 
 A
 
RTT
system control volume

THE LAW for a fixed CV,   fn  t  THE LAW (general )

    
   
d
mass  d   V  ndA  0 d   V  ndA  0
dt  A  t A

   
   V  
  
 
d
momentum dt 
Vd   V V  n dA
A
  t 
d   V V  n dA   

A

 F

 F 
     
 

 r  V     
 
d
moment of
dt 
r  Vd   r  V V  n dA
A
 t
d  

r  V V  n dA   

A
momentum
 M  M 
    e  
  ed         
d
energy  e V  n dA  Q  W d   e V  n dA  Q  W
dt  A  t A
4
Dr. S. Z. Shuja
Transformation of the laws from integral to differential form
Gauss Divergence Theorem :
Converts Area intergrals

   to Volume
A

interals   



   

for a quantity G it is given as G  n dA   G d
A 

  since it is valid for ANY CV

use Divergence theorem with G as V
THE LAW (general )
on the 2nd term  
then  quantity  d  0
 quantity = 0
  

d  

 

V d   0 
   V  0  or 
    t
t
 

mass d   V  ndA  0     
      V     V  0
 t A
or 
  t  
   V  d   0

 t

D  / Dt

recall the del / gradient operator

5.2 Differential continuity equation in cartesian coordinates
D   1 D   
 
 ˆ  ˆ  ˆ
   V  0 or   V  0 x
i
y
j
z
k
Dt  Dt
in cylindrical coordinates
Recall for D    1  r   1    
 0 then   V  0   er  e  ez
incompressible Dt r r r  z 5
Dr. S. Z. Shuja
5.2 Differential continuity equation
Recall the del / gradient operator
in cartesian coordinates in cylindrical coordinates
k     1   er  1  e   ez
  ˆ  ˆ  ˆ   r
  i j
x y z r r r  z

Compressible Incompressible
1 D    
Vector   V  0  V  0
 Dt
     u     v     w   u v w
Cartesian    0  
t  x y z  x y z
 1  (r  vr ) 1  (  v )  (  vz ) 1  (rvr ) 1 v vz
Cylindrical    0   0
t r r r  z r r r  z

Continuity equation cannot be used by itself to solve for flow field,

however it can be used to

(i) Determine if a given velocity field e.g. V  x, y , z , t  satisfies continuity and/or
is incompressible (ii) Find missing velocity component by satisfying continuity. 6
Dr. S. Z. Shuja
Example: incompressibility
Show that the flow field described by the velocity components
 -2 xyz  ( x 2  y 2 ) z  y 
V 2 i 2 j 2 k
(x  y )2 2
(x  y )
2 2
(x  y )
2

is a possible incompressible fluid flow.

Solution :
 u v w
If the flow is incompressible it should give   V    0
x y z

u v w 2 yz ( x 2  y 2 ) 2  2( x 2  y 2 )2 x(2 xyz )
  
x y z ( x 2  y 2 )4
2 yz ( x 2  y 2 ) 2  2( x 2  y 2 )2 y ( x 2  y 2 ) z

( x 2  y 2 )4
( x 2  y 2 )[2 yz ( x 2  y 2 )  8 x 2 yz  2 yz ( x 2  y 2 )  4 yz ( x 2  y 2 )]

( x 2  y 2 )4
( x 2  y 2 )[4 yz ( x 2  y 2 )  4 yz ( x 2  y 2 )]
  0  Incompressible
(x  y )
2 2 4
7
Dr. S. Z. Shuja
Example: Which of the following velocity fields satisfies
conservation of mass (continuity) for incompressible 2-D flow

u v
Given   ?? 0
x y
   u v
1) V  xi  yj u  x, v  y  1; 1 no
x y
   u v
2) V  yi  xj u  y, v  x  0; 0 yes
x y
   u v
3) V  2 xi  2 yj u  2x, v  -2y  2;  2 yes
x y
   u v
4) V  3 xti  3 ytj u  3 xt , v  - 3 yt  3t ;  3t yes
x y
u v
5) u  xy  y 2 t , v  xy  x 2 t  y; x no
x y
   u v
6) V  3x 2 y 2 i  2 xy 3 j u  3 x 2 y 2 , v  - 2 xy 3  6 xy;  6 xy yes
x y
8
Dr. S. Z. Shuja
5.2 Differential continuity equation (Alternate derivation)
To derive a differential continuity equation,
consider a DE of small size dx dy dz and
apply the following equation to this CV
 m z z
 t
d   m   m
exit
e
inlet
i 0 m y

with  d   dxdydz

dz
and defination of
derivative m x x
m x
dy y x  dx  y x
z
dz 
dy
dx dx
y m y y dy

exit x-dir. inlet x-dir m z

m x  dx    u  x  dx dydz m x    u  x dydz similarly

   u      u      u  
me  mi    u  x  dx    u  x  dydz  
    dx  dydz  dx  dydz  dx  dydz
 x   x   x 
       
x-dir. y-dir. z-dir. 9

Dr. S. Z. Shuja
Differential continuity equation

 t
d  m e  
m i  0 with  d   dxdydz

 
exit inlet

Conservation of mass for CV dx dy dz
but
   u      v      w 
exit
m e  
inlet
m i  
  x
dx  dydz  
   y
dy  dxdz  
   z
dz  dxdy

      
x-dir. y-dir. z-dir.
then m z z
   u     v     w 
m y

dxdydz      dxdydz  0 or
t  x y z  dz

     u     v     w   m x m x x
   0
t  x y z  m y y dy

  
 
m z
in vector notation    V  0
t
     D   1 D  
or  V     V  0 i.e.    V  0 or   V  0
t
 Dt  Dt
10
Dr. S. Z. Shuja D  / Dt
 Incompressible and Compressible flows
in general   fn  x, y, z , t 
   
d  dt  dx  dy  dz
t x y z
d      D 
 u v w 
dt t x y z Dt

density does not change D

Incompressible flow:  0
in the flow field Dt
D
Compressible flow: density,   fn  x, y, z , t   0
Dt

Continuity equation (conservation of mass) for incompressible flow

1 D  
  V  0
 Dt
 
thus for incompressible   V  0

11
Dr. S. Z. Shuja
4.6 Momentum equation
4.6.1 General momentum equation
System General (control volume)
    
d
dt   

Vd  

 
V V  n dA 

A
 F
momentum of the CV 
momentum flow rate at the surfaces
Assuming uniform V distribution over the area A
 
DM sys   

d mV  
Dt
 F
dt
 
surfaces
mV 
  F
inflow is -ve
outflow is +ve

 
d mV   
dt exit
 
mV 
inlets
 
mV  F

4.6.2 Steady uniform flow

Steady state (CV) ( Steady Flow, SF )
further assuming 
 
Single stream m 1  m 2  m
  
 Fx  m V2 x  V1x   1 represents inlet
  2 represents exit
 F  
mV 
F  m V2  V1

 
   
Fy  m V2 y  V1 y 


x, y, z are the

 Fz  m V2 z  V1z   3 directions
surfaces
A vector equation with 3 components

inflow is -ve
outflow is +ve
12
Dr. S. Z. Shuja
Surface and body forces
Forces acting on CV consist of
Body forces that act throughout the entire body
of the CV e.g. gravity; Fgravity = mg and
Surface forces that act on the control surface
e.g. pressure, Fpressure; shear forces, Fshear and
reaction forces at points of contact.
   
 F  Fgravity 
 
Fpressure 
  
Fshear
body force surface force

Stress at a point in a moving fluid (including normal and shear) has 9 components
represented by the stress tensor 

The stress tensor 
  xx  xy  xz 
  
 ij    yx  yy  yz   
 
 zx  zy  zz 
It is a symmetric tensor   xy   yx ; xz   zx and  yz   zy
This result can be shown by considering conservation of angular momentum.
13
Dr. S. Z. Shuja
Body forces act throughout the entire body (ME532)

  
dFbody  dFgravity   gd 

 


Fgravity 
  

dFgravity  

 gd 
body force

Surface forces act on the control surface. The product of the

stress tensor  and the unit outward normal vector n of a
differential surface element = a vector whose magnitude is
the force per unit area acting on the surface element.
   
 Fpressure  shear 
  A
dFsurface   A
  ndA
  
surface force dFsurface    ndA
14
Dr. S. Z. Shuja
Pressure and viscous stress (ME 532)
In a fluid with no angular deformation (having no shear stress or at rest), the
only surface stress is the pressure. (with only volumetric deformation)
Pressure always acts normal to a surface, is +ve in compression and is
isotropic (i.e. it acts equally in all directions)
using these properties the total stress tensor at a point can be written as
  xx  xy  xz    p 0 0    xx  xy  xz   
      
  yx  yy  yz    0  p 0    yx  yy  yz     p  
     0     zy  zz 
 zx zy zz   
 0 p zx

due to pressure due to shear
 is the identity tensor which ensures that pressure is a normal stress (contributes to the diagonal

elements of  and is isotropic). The -ve sign is needed to make the +ve pressure compressive.
is the thermodynamic pressure = f   , T 
p for incompressible fluids p can have different values but  is constant, then p is treated as a
mechanical variable which must help satisfy continuity.
 is the viscous stress tensor. It vanishes when the fluid has no deformation (i.e for fluids at rest
  
or which translates or rotates as a rigid body, for such situation    p ).

 
        
also        p      p    
15
Dr. S. Z. Shuja
4.6 Momentum equation (ME 532)
4.6.1 General momentum equation

System

      
  
DM sys 
   
d
 F Vd   V V  n dA    ndA   gd 
Dt dt 

  
A A  



momentum of the CV momentum flow rate at the surfaces surface forces body forces on the CV

     
for a fixed CV,   fn  t 
d
dt    
 
Vd   V V  n dA   p  ndA    ndA   gd 
A A A    

 
 V    
 
general 
 t   
 

d   V V  n dA   p  ndA    ndA   gd 
A A A   

16
Dr. S. Z. Shuja
Differential momentum equation (ME 532)
THE LAW (general )

 
 V      
  t    

d   V V  n dA   p  ndA    ndA   gd 
A A 
A 


use Divergence theorem on the 2nd , 3rd and 4 th terms


 V       
   

 t   
d     VV dA   pd     d    gd   

 
  V      
or 


t

   VV d   
 

 
p      g  d 

 

 
 V     
since it is valid for ANY CV then
t
 
   VV  p      g



 V     V

    
Using
t
V
t

t
   
and   VV = V   V  V V we can write

   of mass 
 0 conserv.    
    V         
V
 t
   V  
   V  V   p      g
t 
 

DV
Dt
 p      g

  

 DV / Dt  called Cauchy's momentum equation

17
Dr. S. Z. Shuja
Newtonian vs. non-Newtonian
 Newtonian fluids: water, air.

 Pseudoplastic fluids: paint,  (Pa)

printing ink.
Newtonian
Bingham-plastic
(high μ)
 Dilatant fluids: dense
slurries, wet cement. Casson fluid

 Bingham fluids: toothpaste,

clay.
0 Pseudo-plastic
(shear-thinning)
 Casson fluids: blood, yogurt.
c
 Visco-elastic fluids: Newtonian
polymers (not shown in (low μ)
graph because viscosity is
not isotropic).
Dilatant (shear-thickening)

Strain rate (1/s)

18
Dr. S. Z. Shuja
Newtonian fluids (ME 532)
For newtonian fluids it is possible to relate the shear stress with the rate of shear strain using
only 2 fluid properties the viscosity  and the second coefficient of viscosity . These
relations called the constitutive equations are:
  xx  xy  xz    xx  xy  xz    V 0 0 
     
   yx  yy  yz   2    yx  yy  yz    0  V 0 
    zy  zz   0   V 
  zx  zy  zz  zx
 

0
associated with the rate of shear deformation associated with the volumetric deformation

 2 u      V 
 x 
 uy  vx 
  uz  wx  


   uy  vx  2  vy      V   vz  wy 

 
 
   uz  wx 
 
 vz  wy 
2 wz      V  

  
or   2       V  
for most gases and liquids, and for ideal gases exactly, the second coefficient  is related to viscosity
2
through the stokes hypothesis which is  
3
With this relationship the negative average of the 3 normal stresses is equal to the pressure, i.e.
1

  xx   yy   zz  P
3

then
 1
 t 
 2 
   2    V   V        V     2V      V        V    2V      V 
 2  3 3 19
Dr. S. Z. Shuja
 Newtonian fluids (ME

532)
DV    
The Cauchy's equation is   p      g
Dt

for newtonian fluids     2V      V 
3
 V     

using in the Cauchy's equation we get
t
   VV  
DV
   
Dt shear surface forces 

 2V P      V    g
3

normal surface forces

  u     uu     vu     wu  p  2u 2 u 2u   
in cartesian
     2  2  2    V    g x
coordinates: t x y z x  x y z  3 x
Similarly
  v    uv     vv     wv  p  2 v 2 v 2 v   
the      2  2  2    V    g y
v-momenum t x y z y  x y z  3 y

   w    uw     vw     ww  p  2 w 2 w 2 w   
and the
     2  2  2    V    g z
w-momenum t x y z z  x y z  3 z

20
Dr. S. Z. Shuja
Momentum equation (ME 532)
Summary
System Control Volume

  d 
 V     
  
V V  n dA  
 n   dA  

 gd 

 
t  
A A   
 
 momentum flow rate at the surfaces surface forces body forces on the CV
DM sys 
momentum of the CV
  


 F now using    p  

Dt
 V       

 

 t A   
d   V V  n dA   n  p dA  n  dA 
 A    A 



 gd 
pressure forces viscous forces
   
using gauss divergence theorem
 A
G  n dA  

 G d   
 
  V   


t
  

   VV  d    p      g  d 
 
 
  
using the constitutive relation   2       V  

 
 V   
t
 
   VV  P   2V      V    g
3


21
Dr. S. Z. Shuja
2.3 Pressure variation in a fluid - Euler’s Equation (recall)
Consider a fluid element of size xyz
 
Apply consevation of momentum  F  ma considering the pressure and gravity forces
F x  max
p
x-dir  px  px x  zy  xyzax or    ax
x
 p  Pz z
  x  z y  xyzax Py
 x 
 Fy  ma y
p
y-dir  p y  p y y  zx  xyza y or 
y
  ay dz
 p 
  y  z x  xyza y Px Px x
 y 
 Fz  maz
 pz  pz z  yx Py y dy
z-dir
 xyzg  xyzaz Pz
p
 p     g   az
  z  yx  xyzaz z
 z 

22
Dr. S. Z. Shuja
 Euler’s equation: Conservation of momentum neglecting shear forces (recall)
Substituting the acceleration field in the conservation of momentum, we get:

   V   

 a  p   g a 
t

 V  V 

 V   
     Conservation of momentum
 V   V   p   g   called Eulers eq.
 t   neglecting shear forces 
in cartesian coordinates
u u u u 1 p
x  dir u v w   gx
t x y z  x
v v v v 1 p
y  dir u v w    gy
t x y z  y
w w w w 1 p
z  dir u v w   gz
t x y z  z

23
Dr. S. Z. Shuja
 3.3.2 Viscous and inviscid flows (recall)

 V   
 
t
 
 V  V    p   g 
 Conservation of momentum
  neglecting shear forces

  
 
 pressure force gravity force
  accceleration
or after including shear forces

 V   
 
t
   shear
 V  V   p   g 
forces

    


ma F
volume volume

For inviscid flows we neglect the shear force term in the conservation of momentum eq.

 Regions in a flow field, where shear (frictional) forces are large are called viscous
regions. They are usually close to solid surfaces.
 Regions where shear (frictional) forces are small compared to ma or -p etc. are
called inviscid regions.
24
Dr. S. Z. Shuja
Conservation of momentum including the shear forces
force balance in the x-dir max   Fx
xyzax

 x x

  xx   xx z y 
x

 
  px  px x  z y    yxyy   yx y xz   xyzg x
 
 

 zx z z

  zx z
x y
  yx yy  zxzz
  xx 
  x  z y
 x 
 p    yx   xxx dz  xxxx
   x  z y   y  xz  xyzg x
 x   y 
Px Px x
  zx 
 z  xy
 z   zxz dy
p    z
 yx y
 ax    xx  yx  zx   g x y dx
x x y z
x
25
Dr. S. Z. Shuja
Conservation of momentum including the shear forces
 u  p  xx  yx  zx
   V   u         gx
 t   x x  y  z
u
where we used ax   V   u
t
similarly for the other 2 direction gives
 v  p   
   V   v     xy  yy  zy   g y
 t  y x y z
 w  p  xz  yz  zz
   V   w         gz
 t  z x y z
in vector notation it can be combined as the
DV 
Cauchy's momentum equation   p      g
Dt

now by considering the constitutive relation for a newtonian fluid     2V     V 
3
DV 
we obtain the conservation of momentum equation   p   2V     V 
Dt 3 26
Dr. S. Z. Shuja