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Fluid element at
time t = t1
i x
k
2
V2
z
Fluid element at
time t = t2
The velocity vector can be written in terms of its Cartesian
components as:
ˆ (t , x, y, z )
ˆ (t , x, y, z ) ˆjv(t , x, y, z ) kw
V iu
where
u = u(t, x, y, z)
v = v(t, x, y, z)
w = w(t, x, y, z)
@ time t1:
1 (t1 , x1 , y1 , z1 )
@ time t2:
2 (t2 , x2 , y2 , z2 )
Using Taylor series
2 1 (t2 t1 ) ( x2 x1 ) ( y2 y1 ) ( z2 z1 )
t 1 x 1 y 1 z 1
2 1 x x y y z z
2 1 2 1 2 1 ...........(2.1)
t2 t1 t 1 x 1 t2 t1 y 1 t2 t1 z 1 t2 t1
We can also write
2 1 D
lim
t2 t1 t2 t1 Dt
x2 x1
lim u
t2 t1 t2 t1
y2 y1
lim v
t2 t1 t2 t1
z2 z1
lim w
t2 t1 t2 t1
D
u v w ...........(2.2)
Dt t x y z
D
u v w .........(2.3)
Dt t x y z
The operator in vector calculus is defined as
iˆ ˆj kˆ ...........(2.4)
x y z
D
V ...........(2.5)
Dt t
Example: derivative of temperature, T
DT T T T T T
(V )T u v w ........(2.6)
Dt t t x y z
convective
local derivative
derivative
A simpler way of writing the total derivative is as follows:
d dt dx dy dz............(2.7)
t x y z
d dx dy dz
............(2.8)
dt t x dt y dt z dt
d
u v w ..........(2.9)
dt t x y z
The above equation shows that d and
D
have the same meaning,
dt Dt
and the latter form is used simply to emphasize the physical meaning
that it consists of the local derivative and the convective derivatives.
DV V Dt nˆ dS V Dt dS .........(2.10)
lim V Dt dS V dS ..........(2.11)
DV 1
Dt Dt 0 Dt S S
The LHS term is written as a total time derivative because the fluid
element is moving with the flow and it would undergo both the local
acceleration and the convective acceleration.
V dV ...............(2.13)
D( V )
Dt δV
VδV
When δV 0 the volume integral can be replaced by
on the RHS to get the following.
1 D( V )
V .........(2.14)
d V Dt
V
The divergence of is the rate of change of volume per unit volume.
Continuity Equation
Consider the CV fixed in space. Unlike the earlier case the shape and
size of the CV are the same at all times. The conservation of mass can
be stated as:
Vn dS V dS ..........(2.16)
Note that dS by convention is always pointing outward. Therefore V dS
can be (+) or (-) depending on the directions of the velocity and the
surface element.
Total mass inside CV
Mass dV ..........(2.20)
V
t V
dV ................(2.18)
D
Dt V
dV 0........(2.21)
An infinitesimally small element fixed in space
Net outflow in x-direction
( u ) u
u dx dydz u dydz dxdydz
x x
Net outflow in y-direction
v v
v dy dxdz v dxdz dxdydz
y y
Net outflow in z-direction
w w
w dz dxdy w dxdy dxdydz
z z
u v w
Net mass flow = dxdydz..........(2.22)
x y z
volume of the element = dx dy dz
mass of the element = (dx dy dz)
Time rate of mass increase = dxdydz ...........(2.23)
t
u v w
dxdydz dxdydz
x y z t
or
u v w
0.......(2.24)
t x y z
Which becomes
V 0..........(2.25)
t
Fx = m ax
Since we are considering a fluid element moving with the fluid, its mass, m,
is fixed.
The momentum equation will be obtained by writing expressions for the
externally applied force, Fx, on the fluid element and the acceleration, ax,
of the fluid element.
The externally applied forces can be divided into two types:
1. Body forces: Distributed throughout the control volume. Therefore,
this is proportional to the volume. Examples: gravitational forces,
magnetic forces, electrostatic forces.
The shear and normal stresses arise from the deformation of the fluid
element as it flows along. The shape as well as the volume of the fluid
element could change and the associated normal and tangential stresses
give rise to the surface stresses.
The relation between stress and rate of strain in a fluid is known from the
type of fluid we are dealing with.
Most of our discussion will relate to Newtonian fluids for which
The stresses on the various faces of the fluid element can written as
shown in Figure 2.8. Note the use of Taylor series to write the
stress components.
The normal stresses also has the pressure term.
p
p p x dx dydz
t xx t yx
t xx dx t xx dydz t yx dy t yx dxdz
x y
t
t zx zx dz t zx dxdy.............(2.46)
z
p t xx t yx t zx
Fx dxdydz f x dxdydz...........(2.47)
x x y z
m dxdydz........(2.48)
Du
ax ...........(2.49)
Dt
Du p t t yx t zx
xx f x .........(2.50a)
Dt x x y z
Dv p t xy t yy t zy
f y .........(2.50b)
Dt y x y z
Dw p t t yz t zz
xz f z .........(2.50c)
Dt z x y z
Du u
V u....................(2.51)
Dt t
u u
u
t t t
u u
u .............(2.52)
t t t
Du u
u u V uV
Dt t t
u
u V uV .............(2.54)
t t
The term in the brackets is zero (continuity equation)
The above equation simplifies to
Du u
uV ...........(2.55)
Dt t
Substitute Eq. (2.55) into Eq. (2.50a) shows how the following equations
can be obtained.
u p t t yx t zx
uV xx f x ..........(2.56a)
t x x y z
v p t xy t yy t zy
vV f y ..........(2.56b)
t y x y z
w p t t yz t zz
wV xz f z ..........(2.56c)
t z x y z
The above are the Navier-Stokes equations in “conservation form.”
For Newtonian fluids the stresses can be expressed as follows
u
t xx V 2 ...........(2.57a)
x
v
t yy V 2 ...........(2.57b)
y
w
t zz V 2 ...........(2.57c)
z
v u
t xy t yx ...........(2.57d )
x y
u w
t xz t zx ...........(2.57e)
z x
w v
t yz t zy ...........(2.57 f )
y z
In the above is the coefficient of dynamic viscosity and is the second
viscosity coefficient.
Stokes hypothesis given below can be used to relate the above two
coefficients
= - 2/3
The above can be used to get the Navier-Stokes equations in the following
familiar form
u u uv uw
2
p u
V 2
t x y z x x x
v u u w
f x .........(2.58a)
y x y z z x
v v2 uv vw p v
V 2
t y x z y y y
v u v w
f y .........(2.58b)
x x y z z y
w w uw vw p V 2 w
2
t z x y z z z
w v u w
f z .........(2.58c)
y y z x z x