KINEMATICS

Prof. S V Prabhu.
IITB, Mumbai
 LINEAR MOTION AND DEFORMATION

Element at t0 Element at t0+t

= + + +

General Translation Linear Angular

Rotation
motion deformation deformation

Prof. S V Prabhu.
IITB, Mumbai
 TRANSLATION

O
v vt
u
O

ut

If all points in the element have the same velocity which is

only true if there are no velocity gradients, then the
element will simply TRANSLATE from one position to
another.
 LINEAR DEFORMATION
u
B u C u x
x B C C

y y

u
u x
u x

O x A O x A A

u
x x t

Because of the presence of velocity gradients, the element will

generally be deformed and rotated as it moves. For example,
u
consider the effect of a single velocity gradient
x
On a small cube having sides x , y and z
x component of velocity of O and B = u
u
x component of velocity of A and C = u x
x
This diffe e ce i the elocity causes a STRETCHING of the volume
element by a volume
u
x y z t
x

Rate at which the volume V is changing per unit volume due

u
the gradient
x
1 d V u

x
t
u
Lim
V dt t 0 t x

 v w
If the velocity gradients & are also present
y z

1 d V u v w

V dt x y z

This rate of change of volume per unit volume is called the

VOLUMETRIC DILATION RATE
Volume of the fluid may change as the element moves from one
location to another in the flow field
Incompressible fluid volumetric dilation rate = zero
Change in volume element = zero; fluid density = constant
(The element mass is conserved)
 Variations in the velocity in the direction of velocity cause
LINEAR DEFORMATION

u v w
, &
x y z
Linear deformation of the element does not change the shape of
the element
Cross derivates cause the element to ROTATE and undergo
ANGULAR DEFORMATION
u v
,
y x
Angular deformation of the element changes the shape of the
element
 ANGULAR MOTION AND DEFORMATION
u
y t
y
u
u y
y
B C B B C

y y A
v v
v
x x t
v x
u x
O x A O x A

Consider x-y plane. In a short time interval t line segment OA and

OB will rotate through angles and to the e positio s OA
a d OB
Angular velocity of OA, OA

oA Lim
t 0 t

For small angles

v x t v t oA Lim

v
x

t
v

Tan x
t 0 t x
x x

v x - positive oA - counterclockwise

oB Lim
t 0 t
u y t u
y y t
u oB Lim u
Tan t
y y t 0 t y

u
y

- negative oB - clockwise
Rotation z of the element about the z-axis is defined as the average
of the angular velocities oA and oB of the two mutually
perpendicular lines OA and OB. Thus, if counterclockwise rotation is
considered positive, it follows that
1 v u
z
2 x y

Rotation x of the element about the x-axis

1 w v
x
2 y z

Rotation yof the element about the y-axis

1u w
y
2z x

x i y j z k
 1 1
curl V V
2 2
Vorticity is defined as the vector that is twice the rotation vector

2 V
Fluid element will rotate about the z axis as an undeformed block
u v
(ie., oA = - oB ) only when Otherwise, the
y x
rotation will be associated with an angular deformation
v u
Rotation around the z axis is zero.
x y
Rotation and vorticity are zero;
V 0
FLOW FIELD IS IRROTATIONAL
In addition to rotation associated with derivatives u &
v
y x
These derivatives can cause the fluid element to undergo an angular
deformation which results in change of shape
Change in the original right angle formed by the lines OA and
OB is SHEARING STRAIN
= +
is positive if the original right angle is decreasing
Rate of Shearing Strain or Rate of Angular Deformation

v
x t
u
y


t
u v
Lim Lim
t 0 t t 0 t y x

 u v

y x
Rate of angular deformation is related to a corresponding shearing
stress which causes the fluid element to change in shape
u v

y x
Rate of angular deformation is zero;
Element is simply rotating as an
Rotation undeformed block
 IRROTATIONAL FLOWS
V 0
i j k
w v w u v u
i j k
x y z y z x z x y
u v w

1 w v w v
x
2 y z y z
1u w u w
y
2z x z x
1 v u v u
z
2 x y x y
A general flow field would not satisfy these three equations. However, a uniform flow is an
example of irrotational flow
Uniform flow in the x-direction

w v
0
y z
u w
0
z x
v u
0
x y

A uniform flow field ( in which there are no velocity gradients) is

certainly an example of irrotational flow
VARIOUS REGIONS OF FLOW
 Velocity potential: Laplace equation
For an irrotational flow, the velocity gradients are related through the following
equations

w v u w v u
0 0 0
y z z x x y
The velocity components can be expressed in terms of a scalar function (x, y, z) as

u v w or V
x y z
The scalar function (x, y, z) is called the velocity potential

w v 2 2 This verifies that a velocity field defined is

y z z y y z indeed irrotational.

For an irrotational flow, the velocity is

expressible as the gradient of a scalar function
v u 2 2

x y x y y x
For an incompressible fluid, conservation of mass states that

.V 0
For an incompressible and irrotational flow

0
2

2 . V Laplacian operator
In cartesian co-ordinates

2 2 2
2 2 0
x 2
y z
Inviscid, Incompressible and Irrotational flows are governed by Laplace equation. This type of
flow is called a potential flow. To complete the mathematical formulation of a given problem,
boundary conditions have to be specified. These are usually velocities specified on the
boundaires of the flow field of interest. It follows that if the potential function be determined,
then the velocity at all points in the flow field can be determined and the pressure at all points
can be determined from the Be oullis equation.
 BASIC PLANE POTENTIAL FLOWS
A ajo ad a tage of Laplaces e uatio is that it is a li ea pa tial diffe e tial e uatio .

Since, it is linear, various solutions can be added to obtain other solutions

If 1 (x, y, z) and 2 (x, y, z) a e t o solutio s to Laplaces e uatio , the 3 = 1 + 2

The practical implication of this result is that if we have certain basic solutions we can combine
them to obtain more complicated and interesting solutions.
Plane flows are considered Two dimensional flows
Cartesian co-ordinates

u v
x y
Cylindrical co-ordinates
1
vr v
r r
Stream function for Plane flows

u v
y x
1
vr v
r r
Stream function is defined such that the conservation of mass is satisfied
For an irrotational flow
u v

y x
In terms of stream function

y y x x

2 2
2 0
x 2
y

Thus, for a plane irrotational flow we can use either the velocity potential or the stream
function both must satisfy Laplaces equation in two dimensions.
 Relation between stream function and potential function
The change in as we move from one point (x, y) to a nearby point (x + dx, y + dy) is given by

d dx dy
x y
Along a constant line of (equipotential line), d = 0

0 u dx v dy
dy u

dx v
For a streamline
V dr 0

i j k
dy v
u v w udy vdx 0
dx dy dz dx u
Lines of constant (equipotential line) are orthogonal to lines of constant (streamlines) at
all points where they intersect. Two lines are orthogonal if the product of their slopes is -1.
A flow net consists of a family of streamlines and equipotential lines.
A flownet is useful in visualising flow patterns and can be used to obtain graphical solutions by
sketching in streamlines and equipotential lines and adjusting the lines until the lines are
approximately orthogonal all points where they intersect.

Velocities can be estimated from the flow

net, since the velocity is inversely
proportional to the streamline spacing.

Velocity near the inside corner will be

higher than the velocity along the outer
part of the bend.

Flownet through a 90 bend

UNIFORM FLOW - streamlines are straight and parallel, and the magnitude of the
velocity is constant
uU v0

u ux C
x
C is an arbitrary constant which can be set equal to zero
Ux

U 0 Uy
y x

Uniform flow can be simply described by either a stream function or a velocity potential.
SOURCE AND SINK represents a purely radial flow
Consider a fluid flowing radially outward from a line through the origin perpendicular to the x-
y plane.
m - Volume rate of flow emanating from the line (per unit length)
By conservation of mass
2 r vr m
m
vr
2 r
Since the flow is purely radial flow, v = 0, the
corresponding velocity potential can be obtained by
integrating the equations
m 1
vr v 0
r 2 r r
m
ln r
2
If m is positive, the flow is radially outward, and the flow is considered to be a source flow.
If m is negative, the flow is toward the origin, and the flow is considered to be a sink flow.
The flowrate, m, is the strength of the source or sink.
We note that at the origin where the velocity becomes infinite, which is of course
physically impossible.

Thus, sources and sinks do not really exist in real flow fields, and the line representing
the source or sink is a mathematical singularity in the flow field.

However, some real flows can be approximated at points away from the origin by using
sources or sinks.

Also, the velocity potential representing this hypothetical flow can be combined with
other basic velocity potentials to describe approximately some real flow fields.

The streamfunction for the source can be obtained by integrating the relationships
1 m
vr ; v 0
r 2 r r
Prof. S V Prabhu.
m
IITB, Mumbai

2
It is apparent that the streamlines (lines of = constant) are radial lines, and the equipotential
lines (lines of = constant) are concentric circles centered at the origin.
Cylindrical co-ordinates

ds 2 dz 2 rd 2 dr 2
ds 2 h1dx1 2 h2dx2 2 h3dx3 2

h1 1 , h2 r , h3 1
dx1 dz , dx2 d , dx3 dr
Spherical co-ordinates

ds 2 d 2 d 2 sin d 2
ds 2 h1dx1 2 h2dx2 2 h3dx3 2
h1 1 , h2 , h3 sin
dx1 d , dx2 d , dx3 d
 i1 ri 2 i3
1
V
r z r
vz rv vr

1 v r rv ri 2 v r v z rv v z
V i1 i3
r r r z r z
 vz 0
v v r
vr 0

1 v r rv ri 2 v r v z rv v z
V i1 i3 0
r r r z r z

1 d
rv 0
r dr
r dv v
0
r dr r

dv v
0
dr r
 dv v
0
dr r
dv dr
0
v r
Integrating

ln v ln r lnC1

C
v
r

Prof. S V Prabhu.
IITB, Mumbai