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dχ ( X, t )
V ( X, t ) (2.4.1)
dt
The spatial description of the velocity field may be obtained from the material description
by simply replacing X with x, i.e.
v (x, t ) V χ 1 (x, t ), t (2.4.2)
dx
v (x, t ) x velocity (2.4.3)
dt
To be precise, the right hand side here involves x which is a function of the material
coordinates, but it is understood that the substitution back to spatial coordinates, as in
2.4.2, is made (see example below).
d 2 χ ( X, t ) d 2 x dV 2 χ ( X, t )
A( X, t ) 2 (2.4.4)
dt 2 dt dt t 2
Example
x1 X 1 t 2 X 2 , x 2 X 2 t 2 X 1 , x3 X 3
dx d 2x
V ( X, t ) 2tX 2 e1 2tX 1e 2 , A( X, t ) 2 2 X 2 e1 2 X 1e 2
dt dt
One can write the motion in the spatial description by inverting the material description:
x1 t 2 x 2 x 2 t 2 x1
X1 , X2 , X 3 x3
1 t4 1 t4
Substituting in these equations then gives the spatial description of the velocity and
acceleration:
x2 t 2 x1 x1 t 2 x2
v( x, t ) V χ 1 ( x, t ), t 2t e1 2 t e2
1 t4 1 t4
x2 t 2 x1 x1 t 2 x2
a( x, t ) A χ ( x, t ), t 2
1
e1 2 e2
1 t4 1 t4
v v dx
vx(t ), t
d
v
dt t x dt
or
v
a grad v v acceleration (spatial description) (2.4.5)
t
The acceleration can now be determined, because the derivatives can be determined
(measured) without knowing the motion.
In the above, the material derivative, or total derivative, of the particle’s velocity was
taken to obtain the acceleration. In general, one can take the time derivative of any
physical or kinematic property expressed in the spatial description:
d
grad v Material Time Derivative (2.4.6)
dt t
For example, the rate of change of the density (x, t ) of a particle instantaneously at
x is
d
grad v (2.4.7)
dt t
The first term, / t , gives the local rate of change of density at x whereas the second
term v grad gives the change due to the particle’s motion, and is called the convective
rate of change.
Note the difference between the material derivative and the local derivative. For example,
the material derivative of the velocity, 2.4.5 (or, equivalently, dV ( X, t ) / dt in 2.4.4, with
X fixed) is not the same as the derivative v ( x, t ) / t (with x fixed). The former is the
acceleration of a material particle X. The latter is the time rate of change of the velocity
of particles at a fixed location in space; in general, different material particles will occupy
position x at different times.
d
grad v
dt t
da a
a grad a v (2.4.8)
dt t
dA A grad A v
A
dt t
Df df
f (2.4.9)
Dt dt
In a steady flow, quantities are independent of time, so the local rate of change is zero
and, for example, grad v . In a uniform flow, quantities are independent of
position so that, for example, / t
Example
Consider again the previous example. This time, with only the velocity v(x, t ) known,
the acceleration can be obtained through the material derivative:
v
a(x, t ) grad v v
t
2t 3 2t x 2 t 2 x1
0 2t
1 t
4
1 t4 1 t4
x t x12
x t x 2 2t
2
2t 3 x1 t x 2
2
2t 2 e1 2t 1 e 2 0 2t
t 1 t 4
1 t4 1 t
4
1 t4 1 t4
0 0 0 0
x 2 t 2 x1 x1 t 2 x 2
2 e 1 2 e2
1 t 4 1 t4
as before.
■
dx d (u X) du
v , (2.4.10)
dt dt dt
or
du u
v grad u v (2.4.11)
dt t
dU
V (2.4.12)
dt
2.4.3 Problems
1. The density of a material is given by
e 2t
xx
The velocity field is given by
v1 x 2 2 x3 , v 2 x3 2 x1 , v3 x1 2 x 2
Determine the time derivative of the density (a) at a certain position x in space,
and (b) of a material particle instantaneously occupying position x.