Differential equations of motion

CHEE 3363
Spring 2014
Handout 13

Reading: Fox 5.1

Brief reminder: Taylor series expansion:
f(x
0
+x) = f(x
0
) +
df
dx

x=x
0
x + . . .
1
Learning objectives for lecture
1. State conservation of mass in differential form.
2. Find velocity components that satisfy conservation of mass.
2
Recall: Integral formulation of laws
Mass balance:
Linear momentum balance:
Angular momentum balance:
Energy balance:
These formulations all require setting up (diffcult) integrals and do not
allow us to obtain detailed knowledge of the fow feld point-by-point
3

CV
dV =

CS
vdA
F = F
S
+F
B
=

t

CV
vdV +

CS
vvdA
r F
s
+

M(sys)
r g dm+T
shaft
=

t

CV
r v dV +

Cs
r vvdA

Q

W
s

W
shear

W
other
=

t

CV
e dV +

CS
(u + pv +
v
2
2
+ gz)v dA
dx
dy
dz
Conservation of mass: differential form 1
x
y
z
Want: to obtain a differential version of the
law of mass conservation of mass for fows
Density at center:
Velocity at center: (u,v,w)
u
v
w

CV
dV =

CS
vdA
First step: calculate net rate of mass fux out through CS (RHS)
Taylor series expansion for right-hand face, given , (u,v,w) at center,
keep 1st order only:
Remember: all functions evaluated at the center point!
4
|
x+dx/2
= +

dx
2
+

1
2!

dx
2

2
+ . . .
u|
x+dx/2
= u +

u
x

dx
2
Conservation of mass: differential form 2
Taylor series expansion for left-hand face, given , (u,v,w) at center,
keep 1st order only:

CS
v dA
Evaluate on right-hand face:
5

dx
2

u +

u
x

dx
2

dydz
= udy dz +
1
2

u
x

dxdy dz
u|
xdx/2
= u +

u
x

dx
2

|
xdx/2
= +

dx
2

Conservation of mass: differential form 3

6
= udy dz +
1
2

u
x

dxdy dz

dx
2

u

u
x

dx
2

dydz
from area normal
Conservation of mass: differential form 4
Exercise for the reader: write out equations for other four faces
7

CS
v dA =

u
x

v
y

w
z

dxdy dz

CS
v dA =

u
x
+
u
y
+
u
z

dxdy dz
Conservation of mass: differential form 5
8
Go back to LHS of original equation: need
Putting it all together in rectilinear coordinates:

CV
dV =

t
dxdy dz
u
x
+
u
y
+
u
z
+

t
= 0
u
x
+
v
y
+
w
z
=
Conservation of mass: differential form 6
We can rewrite the conservation laws using the vector operators:
and put this all together to obtain:
9
v +

t
= 0
Simplifcations of conservation of mass
10
For an incompressible fuid ( constant in space and time) simplifed:
For steady fow ( = (x,y,z)) simplifed:
v = 0
v = 0
v +

t
= 0
Vector calculus derivation
Note: using vector calculus theorems, we can derive this much faster:
Rewrite 2nd term slightly:
Recall Gausss divergence theorem:
and apply to mass balance equation:
11

CV
dV +

CS
v dA = 0

CS
v dA =

CS
v ndA

surf
F ndA =

vol
FdV

CV
dV +

CS
v dA =

CV

t
dV +

CV
vdV = 0
Example: incompressible fuids 1
Given: x component of velocity in a steady incompressible fow given by:
Wanted: simplest form of the y component of velocity satisfying continuity?
Assumptions:
12
u = Aexp

x
b

cos

y
b

Example: incompressible fuids 2

Given: x component of velocity in a steady incompressible fow given by:
Wanted: simplest form of the y component of velocity satisfying continuity?
13
u = Aexp

x
b

cos

y
b

Integrate to get v(x,y):

Conserv. of mass in cylindrical coord.s 1
Consider a piece of a
cylindrical differential control
volume as shown.

Want: net rate of mass fux

through this surface.

CS
v dA
14
Inside (-r):
=

dr
2

v
r

v
r
r

dr
2

r
dr
2

d dz
Outside (r):
=

dr
2

v
r
+

v
r
r

dr
2

r +
dr
2

d dz
Conserv. of mass in cylindrical coord.s 2
Consider a piece of a
cylindrical differential control
volume as shown.

Want: net rate of mass fux

through this surface.

CS
v dA
15
Back ():
=

d
2

v

d
2

dr dz
Front (-):
=

d
2

v

d
2

dr dz
Conserv. of mass in cylindrical coord.s 3
Consider a piece of a
cylindrical differential control
volume as shown.

Want: net rate of mass fux

through this surface.

CS
v dA
16
Bottom (-z):
=

dz
2

v
z

v
z
z

dz
2

rd dr
Top (z):
=

dz
2

v
z
+

v
z
z

dz
2

rd dr
Conserv. of mass in cylindrical coord.s 4
Recall: the form of the vector operator del in cylindrical coordinates:
v = e
r
v
r
+e

+kv
z
Result:
17
= e
r

r
+e

1
r

+k

z
1
r
(rv
r
)
r
+
1
r
(v

+
(v
z
)
z
+

t
= 0
e
r

= e

= e
r
and
Example: cylindrical coordinates 1
Given: r component of velocity in a steady incompressible fow given by:
Wanted: simplest form of the component of velocity satisfying continuity
in the case of steady incompressible fow?
Assumptions:
18
v
r
= U cos

1
a
2
r
2

v
r
= U cos

1
a
2
r
2

Example: cylindrical coordinates 2

Given: r component of velocity in a steady incompressible fow given by:
Wanted: simplest form of the component of velocity satisfying continuity
in the case of steady incompressible fow?
Integrate to get v

(r,):
19