Chapter 4: Fluid Kinematics

Eric G. Paterson
Department of Mechanical and Nuclear Engineering The Pennsylvania State University

Spring 2005

Note to Instructors
These slides were developed1 during the spring semester 2005, as a teaching aid for the undergraduate Fluid Mechanics course (ME33: Fluid Flow) in the Department of Mechanical and Nuclear Engineering at Penn State University. This course had two sections, one taught by myself and one taught by Prof. John Cimbala. While we gave common homework and exams, we independently developed lecture notes. This was also the first semester that Fluid Mechanics: Fundamentals and Applications was used at PSU. My section had 93 students and was held in a classroom with a computer, projector, and blackboard. While slides have been developed for each chapter of Fluid Mechanics: Fundamentals and Applications, I used a combination of blackboard and electronic presentation. In the student evaluations of my course, there were both positive and negative comments on the use of electronic presentation. Therefore, these slides should only be integrated into your lectures with careful consideration of your teaching style and course objectives. Eric Paterson Penn State, University Park August 2005
1 These

slides were originally prepared using the LaTeX typesetting system (http://www.tug.org/) and the beamer class (http://latex-beamer.sourceforge.net/), but were translated to PowerPoint for wider dissemination by McGraw-Hill.

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Overview
Fluid Kinematics deals with the motion of fluids without considering the forces and moments which create the motion. Items discussed in this Chapter.
Material derivative and its relationship to Lagrangian and Eulerian descriptions of fluid flow. Flow visualization. Plotting flow data. Fundamental kinematic properties of fluid motion and deformation. Reynolds Transport Theorem
ME33 : Fluid Flow 3 Chapter 4: Fluid Kinematics

Lagrangian Description
Lagrangian description of fluid flow tracks the position and velocity of individual particles. Based upon Newton's laws of motion. Difficult to use for practical flow analysis.
Fluids are composed of billions of molecules. Interaction between molecules hard to describe/model.

However, useful for specialized applications

Sprays, particles, bubble dynamics, rarefied gases. Coupled Eulerian-Lagrangian methods.

Named after Italian mathematician Joseph Louis Lagrange (1736-1813).

ME33 : Fluid Flow 4 Chapter 4: Fluid Kinematics

Eulerian Description
Eulerian description of fluid flow: a flow domain or control volume is defined by which fluid flows in and out. We define field variables which are functions of space and time.
Pressure field, P=P(x,y,z,t) & & Velocity field, V ! V x, y, z, t
& & & & V ! u x, y , z , t i  v  x, y , z , t j  w x, y , z , t k & & Acceleration field, a ! a x, y, z, t & & & & a ! ax x, y, z , t i  a y x, y, z , t j  az x, y, z , t k

These (and other) field variables define the flow field.

Well suited for formulation of initial boundary-value problems (PDE's). Named after Swiss mathematician Leonhard Euler (1707-1783).

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Example: Coupled Eulerian-Lagrangian Method

Global Environmental MEMS Sensors (GEMS) Simulation of micronscale airborne probes. The probe positions are tracked using a Lagrangian particle model embedded within a flow field computed using an Eulerian CFD code.

http://www.ensco.com/products/atmospheric/gem/gem_ovr.htm
ME33 : Fluid Flow 6 Chapter 4: Fluid Kinematics

Example: Coupled Eulerian-Lagrangian Method

Forensic analysis of Columbia accident: simulation of shuttle debris trajectory using Eulerian CFD for flow field and Lagrangian method for the debris.
ME33 : Fluid Flow 7 Chapter 4: Fluid Kinematics

Acceleration Field
Consider a fluid particle and Newton's second law, & & Fparticle ! m particle a particle The acceleration of the particle is the time derivative of & the particle's velocity. dV particle & a particle ! dt However, particle velocity at a point is the same as the & & fluid velocity, V particle ! V x particle t , y particle t , z particle t To take the time derivative of, chain rule must be used. & & & & & xV dt xV dx particle xV dy particle xV dz particle a particle !    dt xt dt xx dt xy dt xz
ME33 : Fluid Flow 8 Chapter 4: Fluid Kinematics

Acceleration Field
Since

dx particle dt

! u,

dy particle dt

! v,

dz particle dt

!w

& a particle

& & & & xV xV xV xV ! u v w xt xx xy xz

In vector form, the acceleration can be written as

& & & & & dV xV & a x, y , z , t ! !  V V dt xt

First term is called the local acceleration and is nonzero only for unsteady flows. Second term is called the advective acceleration and accounts for the effect of the fluid particle moving to a new location in the flow, where the velocity is different.
Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

Material Derivative
The total derivative operator d/dt is call the material derivative and is often given special notation, D/Dt.

& & & & & & DV dV xV ! !  V V Dt dt xt

Advective acceleration is nonlinear: source of many phenomenon and primary challenge in solving fluid flow problems. Provides ``transformation'' between Lagrangian and Eulerian frames. Other names for the material derivative include: total, particle, Lagrangian, Eulerian, and substantial derivative.
ME33 : Fluid Flow 10 Chapter 4: Fluid Kinematics

Flow Visualization
Flow visualization is the visual examination of flow-field features. Important for both physical experiments and numerical (CFD) solutions. Numerous methods
Streamlines and streamtubes Pathlines Streaklines Timelines Refractive techniques Surface flow techniques
ME33 : Fluid Flow 11 Chapter 4: Fluid Kinematics

Streamlines
A Streamline is a curve that is everywhere tangent to the instantaneous local velocity vector. Consider an arc length

& & & & dr ! dxi  dyj  dzk

velocity vector

& dr must be parallel to the local

& & & & V ! ui  vj  wk

dr dx dy dz ! ! ! V u v w

Geometric arguments results in the equation for a streamline

ME33 : Fluid Flow

12

Chapter 4: Fluid Kinematics

Streamlines
NASCAR surface pressure contours and streamlines Airplane surface pressure contours, volume streamlines, and surface streamlines

ME33 : Fluid Flow

13

Chapter 4: Fluid Kinematics

Pathlines
A Pathline is the actual path traveled by an individual fluid particle over some time period. Same as the fluid particle's material position vector

particle

t , y particle t , z particle t

Particle location at time t:

& & x ! xstart 

tstart

& Vdt

Particle Image Velocimetry (PIV) is a modern experimental technique to measure velocity field over a plane in the flow field.

ME33 : Fluid Flow

14

Chapter 4: Fluid Kinematics

Streaklines
A Streakline is the locus of fluid particles that have passed sequentially through a prescribed point in the flow. Easy to generate in experiments: dye in a water flow, or smoke in an airflow.
ME33 : Fluid Flow 15 Chapter 4: Fluid Kinematics

Comparisons
For steady flow, streamlines, pathlines, and streaklines are identical. For unsteady flow, they can be very different.
Streamlines are an instantaneous picture of the flow field Pathlines and Streaklines are flow patterns that have a time history associated with them. Streakline: instantaneous snapshot of a timeintegrated flow pattern. Pathline: time-exposed flow path of an individual particle.
ME33 : Fluid Flow 16 Chapter 4: Fluid Kinematics

Timelines
A Timeline is the locus of fluid particles that have passed sequentially through a prescribed point in the flow. Timelines can be generated using a hydrogen bubble wire.

ME33 : Fluid Flow

17

Chapter 4: Fluid Kinematics

Plots of Data
A Profile plot indicates how the value of a scalar property varies along some desired direction in the flow field. A Vector plot is an array of arrows indicating the magnitude and direction of a vector property at an instant in time. A Contour plot shows curves of constant values of a scalar property for magnitude of a vector property at an instant in time.
ME33 : Fluid Flow 18 Chapter 4: Fluid Kinematics

Kinematic Description
In fluid mechanics, an element may undergo four fundamental types of motion.
a) b) c) d) Translation Rotation Linear strain Shear strain

Because fluids are in constant motion, motion and deformation is best described in terms of rates
a) velocity: rate of translation b) angular velocity: rate of rotation c) linear strain rate: rate of linear strain d) shear strain rate: rate of shear strain
ME33 : Fluid Flow 19 Chapter 4: Fluid Kinematics

Rate of Translation and Rotation

To be useful, these rates must be expressed in terms of velocity and derivatives of velocity The rate of translation vector is described as the velocity vector. In Cartesian coordinates:

& & & & V ! ui  vj  wk

Rate of rotation at a point is defined as the average rotation rate of two initially perpendicular lines that intersect at that point. The rate of rotation vector in Cartesian coordinates: & 1 xw xv & 1 xu xw & 1 xv xu &  i   [! j   k 2 xy xz 2 xz xx 2 xx xy
ME33 : Fluid Flow 20 Chapter 4: Fluid Kinematics

Linear Strain Rate

Linear Strain Rate is defined as the rate of increase in length per unit length. In Cartesian coordinates

xu xv xw I xx ! , I yy ! , I zz ! xx xy xz
Volumetric strain rate in Cartesian coordinates

1 DV xu xv xw ! I xx  I yy  I zz !   V Dt xx xy xz
Since the volume of a fluid element is constant for an incompressible flow, the volumetric strain rate must be zero.

ME33 : Fluid Flow

21

Chapter 4: Fluid Kinematics

Shear Strain Rate

Shear Strain Rate at a point is defined as half of the rate of decrease of the angle between two initially perpendicular lines that intersect at a point. Shear strain rate can be expressed in Cartesian coordinates as:

1 xu xv 1 xw xu 1 xv xw I xy !  , I zx !  , I yz !  2 xy xx 2 xx xz 2 xz xy

ME33 : Fluid Flow

22

Chapter 4: Fluid Kinematics

Shear Strain Rate

We can combine linear strain rate and shear strain rate into one symmetric second-order tensor called the strain-rate tensor.
xu xx I xz 1 xv xu I yz !  2 xx xy I zz 1 xw  xu 2 xx xz
23

I xx I ij ! I yx I zx

I xy I yy I zy

1 xu xv xy  xx 2 xv xy 1 xw xv xy  xz 2

1 xu xw  2 xz xx 1 xv xw xz  xy 2 xw xz

ME33 : Fluid Flow

Chapter 4: Fluid Kinematics

Shear Strain Rate

Purpose of our discussion of fluid element kinematics:
Better appreciation of the inherent complexity of fluid dynamics Mathematical sophistication required to fully describe fluid motion

Strain-rate tensor is important for numerous reasons. For example,

Develop relationships between fluid stress and strain rate. Feature extraction and flow visualization in CFD simulations.
ME33 : Fluid Flow 24 Chapter 4: Fluid Kinematics

Shear Strain Rate

Example: Visualization of trailing-edge turbulent eddies for a hydrofoil with a beveled trailing edge

Feature extraction method is based upon eigen-analysis of the strain-rate tensor.

ME33 : Fluid Flow

25

Chapter 4: Fluid Kinematics

Vorticity and Rotationality

The vorticity & & & vector is defined as the curl of the velocity vector ^ ! v V Vorticity is equal to twice the angular velocity of a fluid & & particle. ^ ! 2[ Cartesian coordinates
& xw xv & xu xw & xv xu &  i   ^ ! j   k xy xz xz xx xx xy

Cylindrical coordinates
& 1 xu z xuU & xur xu z & x ruU xur ^ !    er  eU  xz xr xU r xU xz xr & ez

In regions where ^ = 0, the flow is called irrotational. Elsewhere, the flow is called rotational.
Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

26

Vorticity and Rotationality

ME33 : Fluid Flow

27

Chapter 4: Fluid Kinematics

Comparison of Two Circular Flows

Special case: consider two flows with circular streamlines

ur ! 0, uU ! [ r & 1 x ruU xur  ^ ! xU r xr

2 & 1 x [ r & &  0 ez ! 2[ez ez ! r xr

K r & 1 x ruU xur  ^ ! xU r xr ur ! 0, uU !

& 1 x K & &  0 ez ! 0ez ez ! r xr

ME33 : Fluid Flow

28

Chapter 4: Fluid Kinematics

ReynoldsTransport Theorem (RTT)

A system is a quantity of matter of fixed identity. No mass can cross a system boundary. A control volume is a region in space chosen for study. Mass can cross a control surface. The fundamental conservation laws (conservation of mass, energy, and momentum) apply directly to systems. However, in most fluid mechanics problems, control volume analysis is preferred over system analysis (for the same reason that the Eulerian description is usually preferred over the Lagrangian description). Therefore, we need to transform the conservation laws from a system to a control volume. This is accomplished with the Reynolds transport theorem (RTT).
Chapter 4: Fluid Kinematics

ME33 : Fluid Flow

29

ReynoldsTransport Theorem (RTT)

There is a direct analogy between the transformation from Lagrangian to Eulerian descriptions (for differential analysis using infinitesimally small fluid elements) and the transformation from systems to control volumes (for integral analysis using large, finite flow fields).
ME33 : Fluid Flow 30 Chapter 4: Fluid Kinematics

ReynoldsTransport Theorem (RTT)

Material derivative (differential analysis):

& & Db xb !  V b Dt xt

General RTT, nonfixed CV (integral analysis):

dBsys

& & x ! V b dV  CS V bV ndA CV xt dt

Mass Momentum Energy E e Angular momentum & H& & r vV

B, Extensive properties b, Intensive properties

m 1

& mV & V

In Chaps 5 and 6, we will apply RTT to conservation of mass, energy, linear momentum, and angular momentum.

ME33 : Fluid Flow

31

Chapter 4: Fluid Kinematics

ReynoldsTransport Theorem (RTT)

Interpretation of the RTT:
Time rate of change of the property B of the system is equal to (Term 1) + (Term 2) Term 1: the time rate of change of B of the control volume Term 2: the net flux of B out of the control volume by mass crossing the control surface

dBsys
ME33 : Fluid Flow

& & x ! V b dV  CS V bV ndA CV xt dt

32 Chapter 4: Fluid Kinematics

RTT Special Cases

For moving and/or deforming control volumes,

dBsys

& & x ! V b dV  CS V bVr ndA CV xt dt

Where the absolute velocity V in the second term is replaced by the relative velocity Vr = V -VCS Vr is the fluid velocity expressed relative to a coordinate system moving with the control volume.
ME33 : Fluid Flow 33 Chapter 4: Fluid Kinematics

RTT Special Cases

For steady flow, the time derivative drops out,

dBsys

0 & & & & x ! V b dV  CS V bVr ndA ! CS VbVr ndA CV xt dt

For control volumes with well-defined inlets and outlets dBsys d ! V bdV  V avg bavgVr ,avg A  V avg bavgVr ,avg A dt dt CV out in
ME33 : Fluid Flow 34 Chapter 4: Fluid Kinematics