058:0160 Chapter 8

Professor Fred Stern Fall 2009 1

Chapter 8: Inviscid Incompressible Flo: a !sef"l Fantas#
8.1 Introduction
For hi$h %e e&ternal flo abo"t streamlined bodies visco"s effects are confined to
bo"ndar# la#er and a'e re$ion( For re$ions here the )(* is thin i(e( favorable press"re
$radient re$ions+ ,isco"s-Inviscid interaction is ea' and traditional )(* theor# can be
"sed( For re$ions here )(* is thic' and-or the flo is separated i(e( adverse press"re
$radient re$ions more advanced bo"ndar# la#er theor# m"st be "sed incl"din$
visco"s-Inviscid interactions(
For internal flos at hi$h %e visco"s effects are ala#s important e&cept near the
entrance( %ecall that vorticit# is $enerated in re$ions ith lar$e shear( .herefore+ o"tside
the )(* and a'e and if there is no "pstream vorticit# then /00 is a $ood appro&imation(
1ote that for compressible flo this is not the case in re$ions of lar$e entrop# $radient(

2lso+ e are ne$lectin$ noninertial effects and other mechanisms of vorticit# $eneration(
Potential flow theory
13 4etermine

from sol"tion to *aplace e5"ation

0
2

)(C:
at
B
S : ( 0 0 V n
n

at
S
: V
Note:
F: S"rface F"nction
1
058:0160 Chapter 8
Professor Fred Stern Fall 2009 2
1
0 ( 0 (
DF F F
V F V n
Dt t F t

+

for stead# flo ( 0 V n
23 4etermine V from V and p6&3 from )erno"lli e5"ation
.herefore+ primaril# for e&ternal flo application e no consider inviscid flo theor# 6
0
3 and incompressible flo 6
const
3
Euler equation:
( 0
( 6 3
V
DV
p g
Dt
V
V V p z
t



+

+ +

2
(
2
: 2
V
V V V
Where V vorticity fluid angular velocity

2
1
6 3
2
0 0 :
V
p V z V
t
If ie V then V

+ + +

1
6 3
2
p z B t
t

+ + +

Bernoullis Equation for unsteady incompressible flow not f(x)
Contin"it# e5"ation shos that 748 for

is the *aplace e5"ation hich is 2

nd
order
linear P48 ie s"perposition principle is valid( 6*inear combination of sol"tion is also a
sol"tion3
2
1 2
2
2 2 2 2 1
1 2 1 2
2
2
0
0
0 6 3 0 0
0
V

+

+ +
'

.echni5"es for solvin$ *aplace e5"ation:

13 s"perposition of elementar# sol"tion 6simple $eometries3
23 s"rface sin$"larit# method 6inte$ral e5"ation3
93 F4 or F8
:3 electrical or mechanical analo$s
53 Conformal mappin$ 6 for 24 flo3
63 2nal#tical for simple $eometries 6separation of variable etc3
2
058:0160 Chapter 8
Professor Fred Stern Fall 2009 9
8.! Elementary plane"flow solutions:
%ecall that for 24 e can define a stream f"nction s"ch that:
x
y
v
u

0 3 6 3 6
2

y x y x z
y x
u v
i(e( 0
2

2lso recall that

and

are ortho$onal(
y x
x y
v
u




udy vdx dy dx d
vdy udx dy dx d
y x
y x
+ +
+ +


i(e(
const
const
dx
dy v
u
dx
dy

1
8.! Elementary plane flow solutions
#niform stream
y x
x y
v
const U u





0
i(e(
y U
x U

1ote: 0
2 2
is satisfied(
;
V U i


Sa# a "niform stream is at an an$le

to
the &<a&is:
cos u U
y x

sin v U
x y

9
058:0160 Chapter 8
Professor Fred Stern Fall 2009 :
2fter inte$ration+ e obtain the folloin$ e&pressions for the stream f"nction and
velocit# potential:
( ) cos sin U y x

( ) cos sin U x y

+
!$ %ource or %in&:
Ima$ine that fl"id comes o"t radiall# at ori$in ith "niform rate in all directions(
6sin$"larit# in ori$in here velocit# is infinite3
Consider a circle of radi"s r enclosin$ this so"rce( *et v
r
be the radial component of
velocit# associated ith this so"rce 6or sin'3( .hen+ form conservation of mass+ for a
c#linder of radi"s r+ and "nit idth perpendic"lar to the paper+
9
A
L
Q V d A
S
1

1
]

( ) ( ) 2
+
2
r
r
Q r v
!r
Q
v
r

0 +

v
r
"
v
r
=here:
2
Q
"

is the convenient constant ith "nit velocit# > len$th
6m?0 for so"rce and m@0 for sin'3( 1ote that V is sin$"lar at 60+03 since
r
v
In a polar coordinate s#stem+ for 2<4 flos e ill "se:
1
V
r r

+

2nd:
:
058:0160 Chapter 8
Professor Fred Stern Fall 2009 5
( 0
1 1
6 3 6 3 0
r
V
rv v
r r r

+

i(e(:
r
v
r r
v
r

r
1
velocit# .an$ential
1
velocit# %adial
S"ch that 0 V b# definition(
.herefore+

r
v
r r
v
r

r
1
0
1
r
m
i(e(
x
y
" "
y x " r "
1
2 2
tan
ln ln

$oublets:
.he do"blet is defined as:

so"rce
2
sin'
1
so"rce
2
sin'
1
3 6 " $

"

2
tan
1
tan 1
2
tan
1
tan
tan
2 1
tan
% %
% %
&
"
' & % '%
+

1 2
2 2
sin sin
tan tan
cos cos
sin sin
2 sin
cos cos
tan6 3
sin sin
1
cos cos
'
r r
r a r a
r r
ar
r a r a
r r
" r a
r a r a









+

+
+
For small val"e of a
5
058:0160 Chapter 8
Professor Fred Stern Fall 2009 6
1
2 2 2 2 2
0
2 sin 2
lim tan 6 3
a
ar a"y y
"
r a r x y

1

1
+
]
cos
2 6 3 a" Doulet Strength
r


)# rearran$in$:
2 2 2
2 2
3
2
6 3
2
6

+ +
+
y x
y x
y
$
It means that streamlines are circles ith radi"s

2
(
and center at 60+ <%3 i(e( circles
are tan$ent to the ori$in ith center on # a&is( .he flo direction is from the so"rce to
the sin'(
!$ (orte):
6
058:0160 Chapter 8
Professor Fred Stern Fall 2009 A
S"ppose that val"e of the

and

for the so"rce are reversal(

0
1
r
v
)
v
r r r

P"rel# recirc"latin$ stead# motion+ i(e( ( ) v f r

( inte$ration res"lts in:
ln *+constant
)%
$ ) r


24 vorte& is irrotational ever#here e&cept at the ori$in here V and V are infinit#(
,irculation
Circ"lation is defined b#:
c
* closed contour
+ V d s

For irrotational flo
Br b# "sin$ Sto'es theorem: 6 if no sin$"larit# of
the flo in 23
( -
c A A
+ V d s V d A ndA

.herefore+ for potential flo 0 in $eneral(
Coever+ this is not tr"e for the point vorte& d"e to the sin$"lar point at vorte& core
here V and V are infinit#(
If sin$"larit# e&ists: Free vorte&
r
)

{ {
2 2
0 0
; ; 6 3 2
2
and
V d s
)
v e rd e rd ) )
r

1ote: for point vorte&+ flo still irrotational ever#here e&cept at ori$in itself here
V+ i(e(+ for a path not incl"din$ 60+03 0
A
058:0160 Chapter 8
Professor Fred Stern Fall 2009 8
2lso+ e can "se Sto'es theorem to sho the e&istence of

:
D
*
AB* AB*
V ds V ds
Since
D
( 0
AB*B A
V ds

.herefore in $eneral for irrotational motion:

( V d x

=here: s
e
0"nit tan$ent vector alon$ c"rve &
Since s
e
is not Eero e have shon:
V
i(e( velocit# vector is $radient of a scalar f"nction

if the
motion is irrotational( 6
0 V ds

3
.he point vorte& sin$"larit# is important in aerod#namics+ since+
e&tra so"rce and sin' can be "sed to represent airfoils and in$s and e shall disc"ss
shortl#( .o see this+ consider as an e&ample:
an infinite ro of vortices:
1
]
1

3
2
cos
2
6cosh
2
1
ln
2
1
ln
1
a
x
a
y
) r )
i
i

=here
i
r
is radi"s from ori$in of i
th
vorte&(
85"all# speed and e5"al stren$th 6Fi$ 8(11 of .e&t boo'3
For
y a ?
the flo approach "niform flo ith
a
)
y
u

t

F: belo & a&is
<: above & a&is
1ote: this flo is G"st d"e to infinite ro of vortices and there isnHt an# p"re "niform
flo
8
(
;
; 6 3( 0
s
s
V d x d
d x d d x
V
ds ds ds
d x
e
ds
V e

058:0160 Chapter 8
Professor Fred Stern Fall 2009 9
.orte) sheet:
From afar 6i(e(
y a ?
3 loo's that thin sheet occ"rs hich is a velocit# discontin"it#(
4efine

a
)

2
stren$th of vorte& sheet
dx
a
)
dx u u dx u dx u d
u l u l
2
3 6
i(e(
dx
d

0Circ"lation per "nit span
1ote: .here is no flo normal to the sheet so that vorte& sheet can be "sed to sim"late a
bod# s"rface( .his is be$innin$ of airfoil theor# here e let
3 6x
to represent bod#
$eometr#(
,orte& theorem of CelmholtE: 6important role in the st"d# of the flo abo"t in$s3
13 .he circ"lation aro"nd a $iven vorte& line is constant alon$ its len$th
23 2 vorte& line cannot end in the fl"id( It m"st form a closed path+ end at a
bo"ndar# or $o to infinit#(
93 1o fl"id particle can have rotation+ if it did not ori$inall# rotate
,ircular cylinder /without rotation0:
In the previo"s e derived the folloin$
e5"ation for the do"blet:
2 2
sin
Doulet
y
x y r

+
=hen this do"blet is s"perposed over a
"niform flo parallel to the &< a&is+ e $et:
2
sin 1
sin 1 sin U r U r
r U r

_


,
=here: do"blet stren$th hich is determined from the 'inematic bod# bo"ndar#
condition that the bod# s"rface m"st be a stream s"rface( %ecall that for inviscid flo it is
9
058:0160 Chapter 8
Professor Fred Stern Fall 2009 10
no lon$er possible to satisf# the no slip condition as ares"lt of the ne$lect of visco"s
terms in P48s(
.he inviscid flo bo"ndar# condition is:
F: S"rface F"nction
1
0 ( 0 0
DF F F
V F V n
Dt t F t

+

6for stead# flo3
.herefore at r0%+ V(n00 i(e(
( r
r
v

0
(
; ;
r r
V v e v e

+
+
2 2
; ;
;
r
r
r
F F
e e
F
r
n e
F
F F

+
2
1
1 cos
r
V n v U
r U r

,
00
2
U (


If e replace the constant
U

b# a ne constant %
2
+ the above e5"ation becomes:
2
2
1 sin
(
U r
r

_


,
.his radial velocit# is Eero on all points on the circle r0%( .hat is+ there can be no
velocit# normal to the circle r0%( .h"s this circle itself is a streamline(
=e can also comp"te the tan$ential component of velocit# for flo over the circ"lar
c#linder( From e5"ation+
2
2
1 sin
(
v U
r r

_
+

,
Bn the s"rface of the c#linder r0%+ e $et the folloin$ e&pression for the tan$ential and
radial components of velocit#:
2 sin v U

0
r
v
Co abo"t press"re pI loo' at the )erno"lliDs e5"ation:
( )
2 2 2
1 1
2 2
r
p p
v v U

+ + +
2fter some rearran$ement e $et the folloin$ non<dimensional form:
10
058:0160 Chapter 8
Professor Fred Stern Fall 2009 11
( )
2 2
2
2
+ 1
1
2
r
p
v v p p
* r
U
U

+

For the circ"lar c#linder bein$ st"died here+ at the s"rface+ the onl# velocit# component
that is non<Eero is the tan$ential component of velocit#( !sin$
2 sin v U

+ e $et at
the c#linder s"rface the folloin$ e&pression for the press"re coefficient:
*
p
1 :
2
sin
=here is the an$le meas"red from the rear sta$nation point 6at the intersection of the
bac' end of the c#linder ith the &< a&is3(
Cp over a Circular Cylinder
-4
-3
-2
-1
0
1
2
0 30 60 90 120 150 180 210 240 270 300 330 360
Theta, Degrees
C
p
From press"re coefficient e can calc"late the fl"id force on the c#linder:
2
1
6 3 6 + 3
2
p
A A
F p p nds U * ( nds



6 3 ds (d
b0span len$th
2
2 2
0
1
; ;
61 :sin 36cos sin 3
2
F U ( i , d

2 2
;
1 1
2 2
L
Lift F ,
*
U ( U (

0
0 sin 3 sin : 1 6
2
0
2

d
6d"e to s#mmetr# of flo
aro"nd & a&is3
2 2
;
1 1
2 2
F
Drag F i
*
U ( U (

0
0 cos 3 sin : 1 6
2
0
2

d
6dJlembert parado&3
=e see that 0
D L
* * is d"e to s#mmetr# of Cp( )"t ho realistic is this potential
flo sol"tion( =e started e&plain that visco"s effects ere confined to thin bo"ndar#
la#er and it has ne$li$ible effect on the inviscid flo for hi$h %n flo abo"t streamlined
11
058:0160 Chapter 8
Professor Fred Stern Fall 2009 12
bodies( 2 circ"lar c#linder is not a streamlined bod# 6li'e as airfoil3 b"t rather a bl"ff
bod#( .h"s+ as e shall determine no the potential flo sol"tion is not realistic for the
bac' portion of the circ"lar c#linder flos
3 90 6 >
(
For $eneral:
F(I*-I!. S)I.
D(A/ F!(0
D
D
D
* * * +
D(A/ F!(0
D
*
: dra$ d"e to visco"s modification of press"re destr"ction
F(I*-I!. S)I.
D
*
: 4ra$ d"e to visco"s shear stress
:
:
DS) DF!
DF! DS)
Strea"lined Body * *
Bluff Body * *
>
'
>

,ircular cylinder with circulation:

.he stream f"nction associated ith the flo over a circ"lar c#linder+ ith a point vorte&
of stren$th placed at the c#linder center is:
sin
sin ln
2
U r r
r

From ,(n00 at r0%:
2
U (

.herefore+
2
sin
sin ln
2
U (
U r r
r

.he radial and tan$ential velocit# is $iven b#:
2
2
1
1 cos
r
(
v U
r r

,
2
2
1 sin
2
(
v U
r r r

_
+ +

,
Bn the s"rface of the c#linder 6r0%3:
2
2
1
1 cos 0
r
(
v U
r (

,
2 sin
2
v U
r (

1e&t+ consider the flo pattern as a f"nction of ( .o start lets calc"late the sta$nation
points on the c#linder i(e(:
2 sin 0
2
v U
(

+
sin - 2
: 2
)
U ( U (

1ote:
2
)
)
U (

12
058:0160 Chapter 8
Professor Fred Stern Fall 2009 19
So+ the location of sta$nation point is f"nction of (
2
)
U ( U (

6sta$nation point3
0 6 0 sin 3 0+180
16 5 ( 0 sin 3 90+150
2 6 1 sin 3 90
?26 1 sin > 3
Is not on the circle b"t here
0
r
v v

For flo patterns li'e above 6e&cept a3+ e sho"ld e&pect to have lift force in K#
direction(
%ummary of stream and potential function of elementary !"$ flows:
In Cartesian coordinates:
y x
x y
v
u




In polar coordinates:
r
v
r r
v
r

r
1
1
Flo


!niform Flo
x U

y U

So"rce 6m?03
Sin' 6m@03
ln " r "
19
058:0160 Chapter 8
Professor Fred Stern Fall 2009 1:
4o"blet
r
cos
r
sin

,orte& ) 1 ln ) r
90 Corner flo 3 6 2 - 1
2 2
y x A 2&#
Solid<)od# rotation 4oesnHt e&ist
2
2
1
r
.hese elementar# sol"tions can be combined in s"ch a a# that the res"ltin$ sol"tion can
be interpreted to have ph#sical si$nificationLthat is( %epresent the potential flo sol"tion
for vario"s $eometers( 2lso+ methods for arbitrar# $eometries combine "niform stream
ith distrib"tion of the elementar# sol"tion on the bod# s"rface(
Some combination of elementar# sol"tions to prod"ce bod# $eometries of practical
importance
)od# name 8lemental combination Flo Patterns
%an'ine Calf )od# !niform streamFso"rce
%an'ine Bral !niform streamFso"rceFsin'
Melvin Bral !niform streamFvorte& point
Circ"lar C#linder
itho"t circ"lation
!niform streamFdo"blet
Circ"lar C#linder ith
circ"lation
!niform
streamFdo"bletFvorte&
1:
058:0160 Chapter 8
Professor Fred Stern Fall 2009 15
Meep in mind that this is the potential flo sol"tion and ma# not ell represent the real
flo especiall# in re$ion of adverse p&(
1he *utta 2 3ou&ows&i lift theorem:

Since e 'no the tan$ential component of velocit# at an# point on the c#linder 6and the
radial component of velocit# is Eero3+ e can find the press"re field over the s"rface of
the c#linder from )erno"lliHs e5"ation:
2 2 2
2 2 2
r
v v p U p



+ + +
.herefore:
2
2
2 2 2 2
2 2
2
1 1
2 sin 2 sin sin
2 2 2 8
sin sin
U
p p U U p U U
( ( (
A B *

1
_
+ + +
1 ' )

1 ,
]
+ +
here
2
2
2 2
1
2 8
A p U
(

_
+

,
U
B
(

2
2 * U


Calc"lation of *ift: *et "s first consider lift( *ift per "nit span+ * 6i(e( per "nit distance
normal to the plane of the paper3 is $iven b#:


Lo2er upper
pdx pdx L
Bn the s"rface of the c#linder+ & 0 %cos( .h"s+ d& 0 <%sind+ and the above inte$rals
ma# be tho"$ht of as inte$rals ith respect to ( For the loer s"rface+ varies beteen
and 2( For the "pper s"rface+ varies beteen and 0( .h"s+
( ) ( )

+ + + + +

2 0
2 2
sin sin sin sin sin sin d * B A ( d * B A ( L
%eversin$ the "pper and loer limits of the second inte$ral+ e $et:
( ) ( )

+ + + +


2
0
9 2
2
0
2
sin sin sin sin sin sin B( d * B A ( d * B A ( L
S"bstit"tin$ for ) +e $et:


u L
15
058:0160 Chapter 8
Professor Fred Stern Fall 2009 16
.his is an important res"lt( It sa#s that cloc'ise vortices 6ne$ative n"merical val"es of
3 ill prod"ce positive lift that is proportional to and the free stream speed ith
direction 90 de$rees from the stream direction rotatin$ opposite to the circ"lation( M"tta
and No"'os'i $eneraliEed this res"lt to liftin$ flo over airfoils( 85"ation

u L
is 'non as the M"tta<No"'os'i theorem(
4ra$: =e can li'eise inte$rate dra$ forces( .he dra$ per "nit span+ 4+ is $iven b#:


Front rear
pdy pdy D
Since #0%sin on the c#linder+ d#0%cosd( .h"s+ as in the case of lift+ e can convert
these to inte$rals over # into inte$rals over ( Bn the front side+ varies from 9-2 to
-2( Bn the rear side+ varies beteen 9-2 and -2( Performin$ the inte$ration+ e can
sho that
0 D
.his res"lt is in contrast to realit#+ here dra$ is hi$h d"e to visco"s separation( .his
contrast beteen potential flo theor# and dra$ is the d4lembert Parado)(
.he e&planation of this parado& are provided b# Prandtl 6190:3 ith his bo"ndar# la#er
theor# i(e( visco"s effects are ala#s important ver# close to the bod# here the no slip
bo"ndar# condition m"st be satisfied and lar$e shear stress e&ists hich contrib"tes the
dra$(
5ift for rotatin6 ,ylinder:
=e 'no that L U

therefore:

2
1
62 3
2
L
L
*
U (
U (

4efine:
,
_

(
d v v
Average

2
1
2
1
2
0
1ote:

c c c
+ V d s V d A V (d



2
averagfe
L
* v
U

16
058:0160 Chapter 8
Professor Fred Stern Fall 2009 1A
,elocit# ratio:
a
U

.heoretical and e&perimental lift and dra$ of a rotatin$ c#linder

8&periments have been performed that sim"late the previo"s flo b# rotatin$ a circ"lar
c#linder in a "niform stream( In this case

( v
hich is d"e to no slip bo"ndar#
condition(
< *ift is 5"ite hi$h b"t not as lar$e as theor# 6d"e to visco"s effect ie flo
separation3
< 1ote dra$ force is also fair# hi$h
Fletttern 6192:3 "sed rotatin$ c#linder to prod"ce forard motion(
1A
058:0160 Chapter 8
Professor Fred Stern Fall 2009 18
18
058:0160 Chapter 8
Professor Fred Stern Fall 2009 19
19
058:0160 Chapter 8
Professor Fred Stern Fall 2009 20
8.3 Method of Images
.he method of ima$e is "sed to model OslipP all effects b# constr"ctin$ appropriate
ima$e sin$"larit# distrib"tions(
Plane Boundaries:
2<4: ( ) ( )
2 2
2 2
ln 1 1
2
"
x y x y
1 1
+ + +
] ]
9<4: ( ) ( )
1 1
2 2 2 2
2 2 2 2
1 1 0 x y z x y z


1 1
+ + + + + +
' )
] ]

Similar res"lts can be obtained for dipoles and vortices:
20
058:0160 Chapter 8
Professor Fred Stern Fall 2009 21
%pherical and ,ur(ilinear Boundaries:
.he res"lts for plane bo"ndaries are obtained from consideration of s#mmetr#( For
spherical and circ"lar bo"ndaries+ ima$e s#stems can be determined from the Sphere Q
Circle .heorems+ respectivel#( For e&ample:
Flo field Ima$e S#stem
So"rce of stren$th R at c o"tside sphere of
radi"s a+ c?a
So"rces of stren$th
c
"a
at
c
a
2
and line
sin' of stren$th
a
"
e&tendin$ from center
of sphere to
c
a
2
4ipole of stren$th

at l o"tside sphere of
radi"s a+ l3a
dipole of stren$th
l
a
9
at
l
a
2

So"rce of stren$th m at b o"tside circle of

radi"s a+ b?a
e5"al so"rce at

a
2
and sin' of same
stren$th at the center of the circle
21
058:0160 Chapter 8
Professor Fred Stern Fall 2009 22
7ultiple Boundaries:
.he method can be e&tended for m"ltiple bo"ndaries b# "sin$ s"ccessive ima$es(
613 For e&ample+ the sol"tion for a so"rce e5"all# spaced beteen to parallel planes
( ) [ ] ( ) [ ] [ ]
( ) ( ) ( ) ( ) ( ) ( ) [ ]

+ + + + + + + + + + + +
+ + +

t t
a z a z a z a z a z a z "
a n z a n z " z 2
"
2 ln : ln 6 ln : ln 2 ln ln
2 : ln : ln 3 6
+ 2 + 1 + 0
22
058:0160 Chapter 8
Professor Fred Stern Fall 2009 29
623 2s a second e&ample of the method of s"ccessive ima$es for m"ltiple bo"ndaries
consider to spheres 2 and ) movin$ alon$ a line thro"$h their centers at
velocities !
1
and !
2
+ respectivel#:
Consider the 'inematic )C for 2:
( ) ( )
2 2 2 2
+ a z y yt x t x F + +
1 1
;
; ; 0 or cos
( ( (
DF
V e U 4 e U
Dt

here
2
cos
(

+
9
9
2
cos
2
(
Ua
(

Similarl# for )
2
cos D
(
U
.his s"$$ests the potential in the form
1 1 2 2
U U +
here
1
and
2
both satisf# the *aplace e5"ation and the bo"ndar# condition:
1 1
D
cos + 0
D
( a (
( (

_ _



, ,
6S3
2 2
D
0+ cos D
D
( a (
( (

_ _



, ,
6SS3
29
058:0160 Chapter 8
Professor Fred Stern Fall 2009 2:

1
0 potential hen sphere 2 moves ith "nit velocit# toards )+ ith ) at rest

2
0 potential hen sphere ) moves ith "nit velocit# toards 2+ ith 2 at rest
If ) ere absent(
9
0
1 2 2
cos cos
2
a
( (

+
2
9
0
a

b"t this does not satisf# the second condition in 6S3( .o satisf# this+ e introd"ce the
ima$e of 0

in )+ hich is a do"blet
1
directed alon$ )2 at 2
1
+ the inverse point of 2
ith respect to )( .his ima$e re5"ires an ima$e
2
at 2
2
+ the inverse of 2
1
ith respect
to 2+ and so on( .h"s e have an infinite series of ima$es 2
1
+ 2
2
+ T of stren$ths
1
+
2
+ 9

etc( here the odd s"ffi&es refer to points ithin ) and the even to points ithin
2(
*et
Q
n n
f AA AB c
c

c f
2
1
+
1
2
2
f
a
f
+
2
2
9
f c

c f

+T

,
_

9
9
0 1
c

,
_

9
1
9
1 2
f
a
+
( )

,
_

9
2
9
2 9
f c

+T
here
1
0 ima$e dipole stren$th+ 0

0 dipole stren$th
9
9
sistance
radi"s
0 1 1 2 2
1 2 2 2
1 2
cos cos cos
( ( (

K
ith a similar development proced"re for
2
(
2ltho"$h e&act+ this sol"tion is of "nield# form( *etHs investi$ate the possibilit# of an
appro&imate sol"tion hich is valid for lar$e c 6i(e( lar$e separation distance3
2
2 2 2 2
2
1 1
2 2
2 2
2 2
2
D 2 cos 1 cos
1 1 1
1 2 cos 1 2 cos
D
c c
( ( c cr (
( (
c c ( (
( ( ( ( c c c



_
+ +

,
1 1
+ +
1 1
] ]
2:
058:0160 Chapter 8
Professor Fred Stern Fall 2009 25
Considerin$ the former representation first definin$
c
(
and
cos u
[ ]
2
1
2
2 1
1
D
1
+ u
( (
)# the binomial theorem valid for
1 < x
( ) + + + +
9
9
2
2 1 0
2
1
1 x x x x
+
1
0

and
( )
n
n
n
2 : 2
1 2 9 1



Cence if
1 2
2
< u
[ ] ( ) ( ) ( ) ( ) ( )
2
2 1 0
2
2
2
1 0
2
1
2 u 5 u 5 u 5 u + + + + +

2fter collectin$ terms in poers of

+ here the P
n
are *e$endre f"nctions of the first
'ind 6i(e( *e$endre pol#nomials hich are *e$endre f"nctions of the first 'ind of order
Eero3( .h"s+
( ) ( )
( ) ( )
2
1 2 2 9
2
1 2 2 9
1 1
: cos cos
D
1 1
: cos cos
D
( (
( * 5 5
( c c c
c c
( * 5 5
( ( ( (


< + + +
> + + +
L
L
1e&t+ consider a do"blet of stren$th at 2
( )
( ) ( )
9 1 2
2 2 2 2
2 2
cos
cos 1
D
2 cos 2 cos
( c
( c
( c c( ( c c(

1

1

1

1
+ +
]
.h"s+
( ) ( )
( ) ( ) ( )
2
1 2
2 2 9
2
1 2 9 2 9 :
2 cos 9 cos
cos 1
:
D
1 2 9
: cos cos cos
(5 ( 5
( c
( c c c
c c
( c 5 5 5
( ( (

< + + +
1
]
1
> + + +
1
]
L
L
7oin$ bac' to the to sphere problem( If ) ere absent
9
1 2
cos
2
a
(

"sin$ the above e&pression for the ori$in at ) and near )
D
1
(
c
_
<

,
+ %%H+ D
25
058:0160 Chapter 8
Professor Fred Stern Fall 2009 26
( )
9
9 9
1
2 2 9
9
9
D cos
1
cos
2 2
cos
(
a ( 5
a a
( c c
a
c

1
+ +
1
]

+
L
L
hich can be cancelled b# addin$ a term to the first appro&imation+ i(e(
9 9 9
1 2 9 2
1 cos 1 cos D
2 2 D
a a
( c (


to confirm this
9 9 9
1 2 9 9
1 9 D cos D 1 cos
2 2
a a ( a
c c c (


9
9 9 9 D
D 1
D 9 9
D
cos D cos
6 3 0
a a
( hot
( c c
(

+ +

Similarl#+ the sol"tion for f2 is

2
9 D 9 9
2 9 2
D
1 cos 1 cos
2 2
a
c (
(


.hese appro&imate sol"tions are converted to ( )
9
c

(
.o find the 'inetic ener$# of the fl"id+ e have
1
2
A B
n n
S S
) dS dS
1
+ 1
1
]

2 2
11 1 12 1 2 22 2
1
2 2
A B
n
S S
) A U A U U A U dS

+
1 + +
]
1
11 1 A
A
A dS
n

+
2
22 2 B
B
A dS
n

+
1 1
12 2 1 A B
A B
A dS dS
n n







here
2
2 sin dS ( d

9
11
9
2
a A
+
9 9
12 9
2 a
A
c

+

9
22
9
2
A
+
9 9
2 2
1 1 1 2 2 2 9
1 2 1
D D
: :
a
) 0 U U U 0 U
c

+ + : "sin$ the appro&imate form of the potentials
here
2 2
1 1 2 2
1 1
D + D
: :
0 U 0 U : masses of li5"id displaced b# sphere(
8.8 ,omple) (ariable and conformal mappin6
26
058:0160 Chapter 8
Professor Fred Stern Fall 2009 2A
.his method provides a ver# poerf"l method for solvin$ 2<4 flo problems( 2ltho"$h
the method can be e&tended for arbitrar# $eometries+ other techni5"es are e5"all# "sef"l(
.h"s+ the $reatest application is for $ettin$ simple flo $eometries for hich it provides
closed form anal#tic sol"tion hich provides basic sol"tions and can be "sed to validate
n"merical methods(
9unction of a comple) (ariable
Conformal mappin$ relies entirel# on comple& mathematics( .herefore+ a brief revie is
"nderta'en at this point(
2 comple& n"mber z is a s"m of a real and ima$inar# partL z 0 real F i ima$inar#
.he term i+ refers to the comple& n"mber
so thatL
Comple& n"mbers can be presented in a $raphical format( If the real portion of a comple&
n"mber is ta'en as the abscissa+ and the ima$inar# portion as the ordinate+ a to<
dimensional plane is formed(
z 6 real 7i i"aginary 6 x 7 iy
<2 comple& n"mber can be ritten in polar
form "sin$ 8"lerDs e5"ationL
z 6 x 7 iy 6 re
i
6 r'cos 7 isin&
=here: r
8
6 x
8
7 y
8
< Comple& m"ltiplication: z
9
z
8
6 'x
9
7iy
9
&'x
8
7iy
8
& 6 'x
9
x
8
1 y
9
y
8
& 7 i'x
9
y
8
7 y
9
x
8
&
< ConG"$ate: z 6 x 7 iy
z x iy
2 2
( y x z z +
<Comple& f"nction:
w(z) = f(z)= (x,y) + i /)y0
2A
1 i
1 + + 1 + 1
: 9 2
i i i i i
#+ ima$inar#
&+ real
3 6
2 1 2 1
2 1 2 1
+

i i i
e r r e r e r
058:0160 Chapter 8
Professor Fred Stern Fall 2009 28
If f"nction 6E3 is differentiable for all val"es of E in a re$ion of E plane is said to be
re$"lar and anal#tic in that re$ion( Since a comple& f"nction relates to planes+ a point
can be approached alon$ an infinite n"mber of paths+ and th"s+ in order to define a "ni5"e
derivative f6E3 m"st be independent of path(
1 1 1
1 1
1
1 1 1
6 3
16 03 :
: 6 + 3 6 + 3
x x
2 2 i i 2
55 y
z z z x x
d2
i
dz
.ote 2 x x y i x x y

+ +


+
+ + +
2 2 2
2 2
2
6 3
26 03 :
6 3
y y
2 2 i i 2
55 x
z z z i y y
d2
i
dz

+ +


+
For
dz
d2
to be "ni5"e and independent of path:
x y y x
and
Ca"ch# %iemann 85(
%ecall that the velocit# potential and stream f"nction ere shon to satisf# this
relationship as a res"lt of their otho$onalit#( .h"s+ comple& f"nction
i 2 +

represents 2<4 flos(
xx yx yy xy

i(e(
0 +
yy xx

and similarl# for . .herefore if anal#tic and
re$"lar also harmonic+ i(e(+ satisf# *aplace e5"ation(
28
058:0160 Chapter 8
Professor Fred Stern Fall 2009 29
:pplication to potential flow
6 3 2 z i +
Comple& potential here

: velocit# potential+

: stream f"nction
( )
i
x x r
d2
i u iv u iu e
dz

+ Comple& velocit#
3 6 D D

i i
re e r here r r
D
6ma$nification3 and +
D
6rotation3
.rian$le abo"t E
0
is transformed into a similar trian$le in the U<plane hich is
ma$nified and rotated(
Implication:
<2n$les are preserved beteen the intersections of an# to lines in the ph#sical domain
and in the mapped domain(
<.he mappin$ is one<to<one+ so that to each point in the ph#sical domain+ there is one and
onl# one correspondin$ point in the mapped domain(
For these reasons+ s"ch transformations are called conformal(
29
058:0160 Chapter 8
Professor Fred Stern Fall 2009 90
!s"all# the flo<field sol"tion in the U<plane is 'non:
3 + 6 3 + 6 3 6 + i W
.hen
( ) ( ) 3 + 6 3 + 6 3 6 y x i y x z f W z 2 + or
Q
,onformal mappin6
.he real poer of the "se of comple& variables for flo anal#sis is thro"$h the
application of conformal mappin$: techni5"es hereb# a complicated $eometr# in the
ph#sical E<domain is mapped onto a simple $eometr# in the U<plane 6circ"lar c#linder3 for
hich the flo<field sol"tion is 'non( .he flo<field sol"tion in the E<plane is obtained
b# relatin$ the U<plane sol"tion to the E<plane thro"$h the conformal transformation
U0f6E3 6or inverse mappin$ E0$6U33(
)efore considerin$ the application of the techni5"e+ e shall revie some of the more
important properties and theorems associated ith it(
Consider the transformation+
U0f6E3 here f6E3 is anal#tic at a re$"lar point V
0
here fH6E
0
3W0
XU0 fH6E
0
3 XE
D
D

i
e r +
i
z re

+ ( )

i
e z f
0
D
.he streamlines and e5"ipotential lines of the U<plane 6Y+ Z3 become the streamlines of
e5"ipotential lines of the E<plane 6+ [3(
90
058:0160 Chapter 8
Professor Fred Stern Fall 2009 91

2 2
2 2
0
0
z
z

i(e( *aplace e5"ation in the E<plane transforms into *aplace e5"ation
is the U<plane(
.he comple& velocities in each plane are also simpl# related
D
6 3
d2 d2 d d2
f z
dz d dz d

6 3 6 3 D6 3 6 6 33
d2 dW
z u iv U iV f z f z
dz d

i(e( velocities in to planes are proportional(
.o independent theorems concernin$ conformal transformations are:
613 Closed c"rves map to closed c"rves
623 %ieman mappin$ theorem: an arbitrar# closed profile can be mapped onto the "nit
circle(
Rore theorems are $iven and disc"ssed in 2RF Section :9( 1ote that these are for the
interior problems+ b"t e e5"all# valid for the e&terior problems thro"$h the inversion
mappin$(
Ran# transformations have been investi$ated and are compiled in handboo's( .he 2RF
contains man# e&amples:
13 8lementar# transformations:
a3 linear:
0 +
+
+
c ad
d cz
az
2
b3 corner flo:
n
Az 2
c3 No'os'#:

2
c
2 +
d3 e&ponential:
n
e 2
e3
s
z 2 + s irational
23 Flo field for specific $eometries
a3 circle theorem
b3 flat plate
c3 circ"lar arc
d3 ellipse
e3 No'os'i foils
f3 o$ive 6to circ"lar areas3
$3 .hin foil theor# \sol"tions b# mappin$ flat plate ith thin foil )C onto "nit
circle]
91
058:0160 Chapter 8
Professor Fred Stern Fall 2009 92
h3 m"ltiple bodies
93 ScharE<Cristoffel mappin$
:3 Free<streamline theor#
.he techni5"es of conformal mappin$ are best learned thro"$h their applications( Cere
e shall consider corner flo(
2 simple e&ample: Corner flo
1( In U<plane+ let
3 6 W
i(e( "niform stream
2( Sa#

z z f 3 6
9(

z z f W z 2 33 6 6 3 6
i(e( corner flo
1ote that 1<9 are "nit "niform stream(
n iU( U( Uz z 2
n n n
sin cos 3 6 + + here
i
z %e
i(e( n U(
n
cos + n U(
n
sin
n U(
n
sin 0const(0streamlines
n U(
n
cos 0const(0e5"ipotentials
1 1 6 13 1 1
6 cos sin 3
6 3
n n i n n n i
i
r
d2 dW d
nUz nU( e nU( n inU( n e
dz d dz
u iu e

n nU( u
n nU( u
n
n
r
sin
cos
1
1

92
058:0160 Chapter 8
Professor Fred Stern Fall 2009 99
( )
n 2
0

< < 0 >
r
u +
0 <

u
( ) ( )
n n

< <
2
0 <
r
u +
0 <

u
i(e(
n
Uz z 2 3 6
represents corner flo: n01"niform stream+ n0290^ corner
8.; Introduction to %urface %in6ularity methods
/also &nown as Boundary Inte6ral and Panes 7ethods0
1e&t+ e consider the sol"tion of the potential flo problem for an arbitrar# $eometr#(
Consider the ),P for a bod# of arbitrar# $eometr# fi&ed in a "niform stream of an
inviscid+ incompressible+ and irrotational fl"id(
.he s"rface sin$"larit# method is fo"nded on the s#mmetric form of 7reens theorem and
hat is 'non as 7reens f"nction(
( )
2 2
B S
V S S S S
/
/ / dV / dS
n n

+ +
_



,

613
here Y and 7 are an# to scalar field in , 6control vol"me bo"nded b# s infinit# S
bod# and S inserted to reder the domain simpl# connected3 and for o"r application(
Y0 velocit# potential
70 7reenHs f"nction
Sa#+
99
058:0160 Chapter 8
Professor Fred Stern Fall 2009 9:
3 6
0
2
x x /
in ,F,H 6i(e( entire domain3 here X is the 4irac delta f"nction(
70 on S
_

Sol"tion for 7 6obtained Fo"rier .ransforms3 is:
r / ln
+ 0
x x r
+ i(e( elementar#
2<4 so"rce at 0
x x
of "nit stren$th+ and 613 becomes

,
_

B
S S
dS
n
/
n
/
First term in inte$rand represents so"rce distrib"tion and second term dipole distrib"tion+
hich can be transformed to vorte& distrib"tion "sin$ inte$ration b# parts( )# e&tendin$
the definition of Y into ,H it can be shon that Y can be represented b# distrib"tions of
so"rces+ dipoles or vortices+ i(e(

B
S S
/dS
: so"rce distrib"tion+

: so"rce stren$th
or

B
S S
dS
n
/

: dipole distrib"tion+ : dipole stren$th

2lso+ it can be shon that a so"rce distrib"tion representation can onl# be "sed to
represent the flo for a non<liftin$ bod#L that is+ for liftin$ flo dipole or vorte&
distrib"tions m"st be "sed(
2s this sta$e+ letHs consider the sol"tion of the flo abo"t a non<liftin$ bod# of arbitrar#
$eometr# fi&ed in a "niform stream( 1ote that since 70 on S_ Y alread# satisf# the
condition S_( .he remainin$ condition+ i(e( the condition is a stream s"rface is "sed to
determine the so"rce distrib"tion stren$th(
Consider a so"rce distrib"tion method for representin$ non<liftin$ flo aro"nd a bod# of
arbitrar# $eometr#(
9:
058:0160 Chapter 8
Professor Fred Stern Fall 2009 95
V U

+
: total velocit#

U
: "niform stream+

: pert"rbation potential d"e to presence of bod#

3
;
sin
;
6cos , i U U +
: note that for non<liftin$ flo m"st be Eero 6i(e( for a
s#mmetric foil 0 or for cambered filed
oLift

3
ln
2
B
S
)
rds

: so"rce distrib"tion on bod# s"rface

1o+ M is determined from the bod# bo"ndar# condition(
0 n V
i(e(
0 U n n

+
or U n
n

i(e( normal velocit# ind"ced b# so"rces m"st cancel "niform stream

n U rds
)
n
B
S

ln
2
.his sin$"lar inte$ral e5"ation for M is solved b# descretiEin$ the s"rface into a n"mber
of panels over hich M is ass"med constant+ i(e( e rite
no( of panels
1
ln
2
0
i, i i
Si
,
i
),
r dS U n
n

+ i01+R+ G01+R
here ( ) ( )
2 2
, i , i i,
z z x x r + 0distance from i
th
panel control point to ,
r
position
vector alon$ G
th
panel(
1ote that the inte$ral e5"ation is sin$"lar since
i
i,
i,
i,
i
n
r
r
r
n

1
ln
at for
0
i,
r
this inte$ral blos "pL that is+ hen i0G and e tr#in$ to determine the
contrib"tion of the panel to its on so"rce stren$th( Special care m"st be ta'en( It can be
shon that the limit does e&ist at the inte$ral e5"ation can be ritten
2
ln
2
i
S S
i i,
i
i
4
dS r
n
4
i ,

+
0
i ,
i
S
i ,
i,
i,
i,
,
i
i
n U dS
n
r
r
)
)
1
1
2 2
here
( ) ( ) [ ]
zi , i xi , i
i,
zi
i
i,
xi
i
i,
i,
i i, i
i, i
i,
i,
n z z n x x
r
n
z
r
n
x
r
r
n r
r n
r
r
+
1
]
1

2
1 1 1 1
here
( ) ( )
2 2 2
, i , i i,
z z x x r +
95
058:0160 Chapter 8
Professor Fred Stern Fall 2009 96
Consider the i
th
panel
, i S
i i i
;
sin
;
cos +
+
, i , S n
i i i i
;
cos
;
sin
;
+
i xi
n sin
+ i zi
n cos
n U rds
)
n
B
S

ln
2
i , ,
S S r r +
0 +
:
0 ,
r
ori$in of G
th
panel coordinate s#stem+ i
S S
: distance alon$ G
th
panel
V U

+
ln
2
B
S
)
rds

96
058:0160 Chapter 8
Professor Fred Stern Fall 2009 9A
0 n V

n U rds
)
n
B
S

ln
2
( )

+
0
i ,
i
S
i i ,
i,
i,
i,
,
i
i
U n U dS
n
r
r
)
)
1
sin
1
2 2

+
, i n
i i i
;
cos
;
sin +
*et ,
S
,
i,
i,
i,
I dS
n
r
r
i

1
and
( )
i i
U (:S

sin
+ then
i
0
i ,
i
,
,
i
(:S I
)
)
+

1
2 2
+
( ) ( )
( ) ( )
,
S , i , i
zi , i xi , i
,
dS
z z x x
n z z n x x
I
,

+
+

2 2
( ) ( )
( ) ( )
( ) ( ) ( )
( ) ( ) ( ) ( ) [ ]
,
l
, ,
,
,
l
, , i z, , i zi , , i , i
xi z, zi x, , zi , i xi , i
,
l
x, , , i z, , , i
zi x, , , i xi z, , , i
i
dS
B AS S
D *S
dS
S z z n x x n S z z x x
n n n n S n z z n x x
dS
n S z z n S x x
n n S z z n n S x x
I
i
i
i

+ +
+

+ + + +
+ +

+
+

0
2
0
2
0 0
2
0
2
0
0 0
0
2
0
2
0
0 0
2
2
here
( ) ( )
( ) ( )
( )
( ) ( )
i , i i , i
, i
, i , i
, i , , i ,
z z x x D
*
z z x x B
z z x x A



cos sin
sin
sin cos
0 0
2
0
2
0
0 0
+

+

2 1
0 0
1
i i ,
l
i
,
l
,
*I DI dS
S
* dS D I
i i
+

here
B AS S
, ,
+ + 2
2
1 ,
I
depends on if 5@0 or ?0 here
2
: : A B ;
1 2
ln
2
1
i ,
AI I
( ) ( )
( ) ( )
i i
0
i ,
i
,
S , i , i
zi , i xi , i ,
i
(:S n U dS
z z x x
n z z n x x )
)
,

+
+
+

1
2 2
2 2
[ ] ( )
i i i i
U U (:S +

sin cos sin sin cos
i
0
i ,
i
i
,
i
(:S I
)
)
+

1
2 2
: Ratri& e5"ation for )
i
and can be solved "sin$ Standard methods s"ch
as 7a"ss<Siedel Iteration(
In order to eval"ate IG+ e ma'e the s"bstit"tion
x, , , ,
x, , , ,
S S z z
S S x x
+
+
0
0
, , , ,
S S r r +
0
9A
058:0160 Chapter 8
Professor Fred Stern Fall 2009 98
here SG0 distance alon$ the G
th
panel i ,
l S 0
, xi z,
, zi x,
n S
n S

sin
cos


2fter s"bstit"tion+ IG becomes
( ) ( )
( ) ( ) ( )( ) [ ]
( ) ( ) ( ) ( ) 2 sin 1 cos 1
sin cos 2 sin cos
2 2
0
2 2
0
0 0
2
0
2 2
0
2
2
0
2
0
2
+
+ +
+
, , i , , i
, i , i , , , i , , i ,
, i , i
z z x x
z z x x z z x x
z z x x A B


( ) ( ) ( ) [ ]
2
0 0
2
cos sin : :
i , i i , i
z z x x A B ;
i(e( 5?0 and as a res"lt+
<
A S
< ;
A S
;
I
i i
,
+

1 1
1
tan
1 2 2
tan
2
here < A B ; 2 2
2

( )
( )

'
+ +
+

'

+
1
]
1

+

B
B Al z l
*
<
A
<
A l
<
*A D
*
I *A D AI * DI I
, ,
i
l
, , , ,
i
2
ln
2
tan tan
ln
2
ln
2
1
1 1
0 1 1 1

here
B AS S
, i
+ + 2
2
.herefore+ e can rite the inte$ral e5"ation in the form
( )
i
0
i ,
i
,
,
i
U I
)
)

sin
2 2
1
1
1
1
1
1
]
1

2
1
2
2 2
1
,
,
,
,
I
4
I
4

1
1
1
]
1

i
) 0
1
1
1
]
1

i
(:S
hich can be solved b# standard techni5"es for linear s#stems of e5"ations ith 7a"ss<
Siedel Iteration(
98
058:0160 Chapter 8
Professor Fred Stern Fall 2009 99
Bnce Mi is 'non+
V U

+
2nd p is obtained from )erno"lli e5"ation+ i(e(
2
1

U
V V
p
Rentioned potential flo sol"tion onl# depend on is independent of flo condition+ i(e(
!_+ i(e( onl# is scaled
Bn the s"rface of the bod# ,n00 so that
2
2
1

U
V
*
S
p
here
S V V
S

0tan$ential s"rface velocit#
S S U S V
S
+


( )
S i i S
Q U
S
S U V
i
+

cos

here
( ) ( ) , i , i U S U
i i i
;
sin
;
cos
;
sin
;
cos + +

ln
2
B
S
S
)
rds
S S

( )
1
ln
2
i
,
0
,
S ,i ,
,
i l
, i
)
r dS
S

: G0i term is Eero since so"rce panel ind"ces no tan$ential

flo on itself( 6
( )
,
l
, ,i
i
= dS r
S
,

ln
3
( )
( ) ( ) { }
i i i i
z , i x , i
i,
z
i
i,
x
i
i,
i,
i i, i
i,
i,
i,
i,
i
S z z S x x
r
S
z
r
S
x
r
r
S r
r S
r
r
r
S
+
1
]
1

2
1 1
1 1
ln
here i x
i
S cos
+ i z
i
S sin
2
1

,
_

U
V
*
i
i
S
p
+
( )
,
, i
,
i
i
=
)
U V

+
1
2
cos

( ) ( )
( ) ( )
( ) ( )
( ) ( )
,
l
z, , , i x, , , i
zi zx, , , i xi x, , , i
,
S , i , i
zi , i xi , i
,
l
i,
i,
i,
dS
S S z z S S x x
S S S z z S S S x x
dS
z z x x
n z z n x x
dS
S
r
r
=
i
, i

+
+

+
+

0
2
0
2
0
0 0
2 2
1
here i x
i
S cos
+ i z
i
S sin
+
( ) ( ) B AS S S S z z S S x x
, , z, , , i x, , , i
+ + + 2
2 2
0
2
0
99
058:0160 Chapter 8
Professor Fred Stern Fall 2009 :0
( ) ( ) ( )

+ +
i
i
, ,
,
i , i , zi z, xi x, , i i i i , i
dS
* AS S
D *S
S S S S S z z x x

0
2
0
sin sin cos cos sin cos
( ) ( )
( )

'

+ +
+
1 1 2 1
0 0
ln
2
1
cos
sin cos
, , , , , i
i , i i , i
AI * DI *I DI *
z z x x D


( )
B
B Al l
*
<
A
<
A l
<
A* D *
I A* D =
, , ,
, ,
+ +
+

'

+

2
ln
2
tan tan ln
2
2
1 1
1
( ) ( )
( ) ( ) [ ] ( ) ( )
( ) ( ) [ ]( )
( )[ ]
( )[ ]
( ) ( ) [ ]
( ) ( ) [ ]
( ) [ ] ( ) [ ]
, i , i , , i , i , i , , i
, , i , i , i
, , i , i , i
, , i , i i , i
i i , , i i , i
, i , i i , i i , i
i , i , i i , i
i , i i , i
z z x x
z z
x x
z z
x x
z z x x
z z x x
z z x x A* D








sin cos cos sin cos cos sin sin cos sin
sin cos cos sin 1 sin
cos sin sin cos 1 cos
sin cos cos sin sin sin
cos cos cos sin sin cos
cos cos sin sin sin cos
cos sin cos
sin cos
0 0
2
0
2
0
2
0
2
0
0 0
0 0
0 0
+




+

+
here
( )
, i
<
A* D

sin
:0
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