Fluid kinematics

CHEE 3363
Spring 2014
Handout 14

Reading: Fox 5.25.4

1
Learning objectives for lecture
1. Defne the convective derivative.
2. Calculate the vorticity and circulation of a fow feld.
3. Calculate the angular and linear deformation of a fuid
element.
2
Motivation: acceleration for Newton`s 2nd
t t +t
x
y
z
x
y
z
How do we describe the acceleration of a fuid particle?
Problem to solve: given velocity feld v, fnd acceleration of fuid particle a
3
Goal (next lecture): derive differential momentum conservation equation.
Convective derivative from chain rule
r
r +r
t t +t
x
y
z
particle path
particle velocity:
particle acceleration:
4
v
p
|
t
= v(x, y, z, t)
v
p
|
t+t
= v(x + x, y + y, z + z, t + t)
a
p
=
dv
p
dt
=
v
x
dx
dt
+
v
y
dy
dt
+
v
z
dz
dt
+
v
t
dv
p
=
v
x
x +
v
y
y +
v
z
z +
v
t
t
= u
v
x
+v
v
y
+w
v
z
+
v
t
convective acceleration
local
acceleration
a
p,z
=
Dv
z
Dt
= v
r
v
z
r
+
v

r
v
z

+v
z
v
z
z
+
v
z
t
a
p,
=
Dv

Dt
= v
r
v

r
+
v

r
v

+
v
r
v

r
+v
z
v

z
+
v

t
Convective derivative in coords
(How to derive: (a) express velocity in cylindrical coordinates,
and (b) use the vector operator for cylindrical coordinates)
5
a
p,x
=
Du
Dt
= u
u
x
+v
u
y
+w
u
z
+
u
t
a
p,y
=
Dv
Dt
= u
v
x
+v
v
y
+w
v
z
+
v
t
a
p,z
=
Dw
Dt
= u
w
x
+v
w
y
+w
w
z
+
w
t
Rectilinear coordinates (v = (u,v,w)):
Cylindrical coordinates (v = (v
r
,v

,v
z
)):
a
p,r
=
Dv
r
Dt
= v
r
v
r
r
+
v

r
v
r

v
2

r
+v
z
v
r
z
+
v
r
t
Convective derivative
Consider a scalar quantity S = S(x,y,z,t).
Total rate of change of S with time given by chain rule:
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Defne the convective derivative (operator):
S
t
+
S
x
dx
dt
+
S
y
dy
dt
+
S
z
dz
dt
u
dx
dt
v
dy
dt
w
dz
dt
Ds
Dt

S
t
+u
S
x
+v
S
y
+w
S
z
Ds
Dt

S
t
+u S
D
Dt
v +

t
local acceleration convective acceleration
x = x(x, y, z) = xi + yj + zk
v = v(x, y, z, t)
a = a(x, y, z, t) =
v
t
+ v
x
v
x
+ v
y
v
y
+ v
z
v
z
= v v +
v
t
Eulerian kinematics
The Eulerian form of kinematic equations:
describe the velocity and acceleration of particles that pass through a
specifc location in the fow feld.

This is useful for computing the acceleration of a fuid particle anywhere in

a fow feld and is most commonly used in fuid mechanics.
7
Lagrangian kinematics
x = x(X, t) = x(X, t)i + y(X, t)j + z(X, t)k
v = v(x(X, t), y(X, t), z(X, t), t)
a = a(x(X, t), y(X, t), z(X, t), t)
The Lagrangian form of kinematic equations:
follow a particle or fuid element that starts at an initial position X and
describe its velocity and acceleration.

Note that in Lagrangian coordinates, the position, velocity, and

acceleration are specifed only as a function of time (and not as a function
of the position in space (x, y, z) in the fow feld as in Eulerian kinematics)
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=
x
i +
y
j +
z
k
x
y
t

Fluid rotation 1
Calculate rotation around arbitrary 3-d axes:
Can write this as the sum of rotation and deformation components:
rotation angular deformation
o a
b
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Flow
( )/2
( )/2
( +)/2
( +)/2
ut
vt
Fluid rotation 2

Relate angular measures to fow feld (u,v,w):

Assume angles small (sin ):
o a
b
Assume origin o moves horizontal distance
Point b moves
Assume origin o moves vertical distance
Point a moves
Displacements in terms of fow felds:
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= /x
= /y
=

u +
u
y
y

t ut =
u
y
y t
=

v +
v
x
x

t vt =
v
x
xt
Fluid rotation 3
Compute angular velocity
z
about z axis:
Exercise: show results for rotation about other axes:
11
= lim
t0
1
2

v
x
x
x
t
u
y
y
y
t

t
=
1
2

v
x

u
y

z
= lim
t0
( )/2
t
= lim
t0
1
2

x


y

x
=
1
2

w
y

v
z

y
=
1
2

u
z

w
x

and
Fluid rotation 4
Defnition of vorticity:
Vorticity in cylindrical coordinates:
Defnition of circulation:
(ds: vector tangent to curve, length ds; + integration ccw)
12
= 2 = v
v =

1
r
v
z

e
r
+

v
r
z

v
z
r

1
r
(rv

)
r

1
r
v
r

k
=

C
v ds
Result for arbitrary 3-d rotation:
=
1
2

w
y

v
z

i +

u
z

w
x

j +

v
x

u
y

=
1
2
v
Relating circulation and vorticity 1
=

C
v ds
Defnition of circulation:
x
y
Integrate around the path in red below, fow feld (u,v):
u
v
1
2
3
4
v
1
ds
1
= ux
1:
v
2
ds
2
=

v +
v
x
x

y
2:
v
3
ds
3
=

u +
u
y
y

x
3:
v
4
ds
4
= vy
4:
13
= ux +

v +
v
x
x

u +
u
y
y

x vy
=

v
x

u
y

xy = 2
z
xy
=

C
v ds =

z
dA =

A
(v)
z
dA
Relating circulation and vorticity 1
=

C
v ds
Defnition of circulation:
x
y
u
v
1
2
3
4
In 2-d, circulation around closed contour = total enclosed vorticity
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Comments on fuid rotation
Source of rotation fows:
-
-
From earlier work:
Rotation of fuid particles only occurs in viscous fows
- Irrotational fows:
- Inviscid fows:
- Many fow problems can be solved by treating them as
irrotational and inviscid
- However, there is always a boundary layer in which viscous
effects cannot be ignored!
Movies: "Vorticity" video linked off of BlackBoard
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Angular deformation 1

o a
b
Recall: angular deformation given by:
=

u +
u
y
y

t ut =
u
y
y t
=

v +
v
x
x

t vt =
v
x
xt
+
Angular deformation 2

o a
b
Rate of deformation in x-y plane:
Rate of deformation in y-z plane:
Rate of deformation in z-x plane:
Compare to earlier
defnition of shear stress
= lim
t0
( +)
t
= lim
t0

x
+

y

t
= lim
t0

v
x
x
x
t +
u
y
y
y
t

t
=

v
x
+
u
y

w
y
+
v
z

u
z
+
w
x

Linear deformation: volume dilation

Longitudinal strain in x direction: need
y
z
Rate of volume dilation:
Incompressible fows:
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