MEC516/BME516:

Fluid Mechanics I

Chapter 4: Differential Relations for

Fluid Flow
Part 4
Department of Mechanical
© David Naylor, 2014 & Industrial Engineering
 © David Naylor

Overview
• Differential form of conservation of linear momentum for 𝑦𝑦
fluids
• Examine the forces on a differential fluid element
• 𝑭𝑭 = 𝑚𝑚𝒂𝒂 for a differential fluid element
• Navier-Stokes Equations (for a Newtonian fluid)
(This is an overview -- a detailed derivation is beyond the scope of this 𝑑𝑑𝑑𝑑
course) 𝑥𝑥
𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑
𝑧𝑧
• Example
Determine if a given velocity vector field 𝑽𝑽(𝑥𝑥, 𝑦𝑦, 𝑧𝑧, 𝑡𝑡) satisfies
conservation of momentum.

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Conservation of Linear Momentum

𝑦𝑦
• Consider a differential fluid control volume. The elemental
volume has mass 𝑑𝑑𝑑𝑑 = ρ𝑑𝑑∀ = ρ 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

• Now we apply Newton’s second law to this differential mass: 𝑑𝑑𝑑𝑑

𝑥𝑥
𝑑𝑑𝑑𝑑
� 𝑭𝑭 = 𝑑𝑑𝑑𝑑 𝒂𝒂 = ρ 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝒂𝒂
𝑑𝑑𝑑𝑑
𝑧𝑧
• We showed that the total fluid acceleration is:

𝑑𝑑𝑽𝑽 𝐷𝐷𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽

𝒂𝒂 = = = + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤
𝑑𝑑𝑑𝑑 𝐷𝐷𝐷𝐷 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕

𝑑𝑑𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽

• So, we get: ∑ 𝑭𝑭 = ρ 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 = ρ + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 Eq. (1)
𝑑𝑑𝑑𝑑 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
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Forces on the Differential Fluid Element

𝑔𝑔 𝑦𝑦
• There are two types of forces on the differential fluid element:
(i) Body Forces
(ii) Surface Forces
𝑑𝑑𝑑𝑑
(i) Body Forces 𝑥𝑥
• Body forces are uniformly distributed through the element. 𝑑𝑑𝑑𝑑
• For the purpose of this course, the only body force we will 𝑑𝑑𝑑𝑑
𝑧𝑧
consider is gravity. (Others are possible, e.g. magnetic forces, MHD)

• Define the gravity vector: 𝒈𝒈 = 𝑔𝑔𝑥𝑥 𝐢𝐢 + 𝑔𝑔𝑦𝑦 𝐣𝐣 + 𝑔𝑔𝑧𝑧 𝒌𝒌

The gravity force on the element is 𝒅𝒅𝒅𝒅𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 = ρ 𝒈𝒈 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Often, the y-axis is upward, then: 𝑔𝑔𝑥𝑥 = 0, 𝑔𝑔𝑦𝑦 = −𝑔𝑔, 𝑔𝑔𝑧𝑧 = 0
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Forces on the Differential Fluid Element

(ii) Surface Forces
• The surface forces per unit area (stresses) on the
fluid are due to:
• viscous stress (𝜏𝜏)
• pressure (𝑝𝑝)

• This gives rise to nine components of stress:

 x-direction
 y-direction
 z-direction

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Forces on the Differential Fluid Element

• The net surface forces in the x-direction:
𝜕𝜕𝜎𝜎𝑥𝑥𝑥𝑥 𝜕𝜕σ𝑦𝑦𝑥𝑥 𝜕𝜕σ𝑧𝑧𝑥𝑥
𝑑𝑑𝑑𝑑𝑥𝑥 = 𝑑𝑑𝑑𝑑(𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑) + 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑑𝑑𝑑𝑑(𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑)
𝜕𝜕𝜕𝜕 𝜕𝜕𝑦𝑦 𝜕𝜕𝑧𝑧

𝜕𝜕𝜎𝜎𝑥𝑥𝑥𝑥 𝜕𝜕σ𝑦𝑦𝑦𝑦 𝜕𝜕σ𝑧𝑧𝑧𝑧

𝑑𝑑𝐹𝐹𝑥𝑥 = { + + } 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕

Similarly,
• The net surface forces in the y-direction:
𝜕𝜕σ𝑥𝑥𝑥𝑥 𝜕𝜕σ𝑦𝑦𝑦𝑦 𝜕𝜕σ𝑧𝑧𝑦𝑦
𝑑𝑑𝐹𝐹𝑦𝑦 = { + + } 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕

• The net surface forces in the z-direction:

𝜕𝜕σ 𝜕𝜕σ𝑦𝑦𝑧𝑧 𝜕𝜕𝜎𝜎𝑧𝑧𝑧𝑧
𝑑𝑑𝐹𝐹𝑧𝑧 = { 𝑥𝑥𝑧𝑧 + + } 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝑧𝑧

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Forces on the Differential Fluid Element

• For a Newtonian fluid, it can be shown that the viscous stresses are related to the velocity field as follows:

These are the “drag” forces on the fluid caused by fluid viscosity, i.e. fluid friction.

• Now we apply Newton’s second law, Eq. (1):

𝑑𝑑𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽 𝜕𝜕𝑽𝑽

∑ 𝑭𝑭 = ρ 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 = ρ + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 Eq. (1)
𝑑𝑑𝑑𝑑 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕

As discussed, the sum of the forces ∑ 𝑭𝑭 include: (i) pressure forces, (ii) viscous forces, and (iii) gravity force.
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The Navier-Stokes Equations

For a Newtonian fluid with constant properties (ρ = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐, µ = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐):

x-momentum:
𝜕𝜕𝑢𝑢 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕2 𝑢𝑢 𝜕𝜕2 𝑢𝑢 𝜕𝜕2 𝑢𝑢
ρ + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤 = − +µ + 2 + + ρ𝑔𝑔𝑥𝑥
𝜕𝜕𝑡𝑡 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑦𝑦 𝜕𝜕𝑧𝑧 2

y-momentum:
𝜕𝜕𝑣𝑣 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕2 𝑣𝑣 𝜕𝜕2 𝑣𝑣 𝜕𝜕2 𝑣𝑣
ρ + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤 = − +µ + 2 + + ρ𝑔𝑔𝑦𝑦
𝜕𝜕𝑡𝑡 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑦𝑦 𝜕𝜕𝑧𝑧 2

z-momentum:
𝜕𝜕𝑤𝑤 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕2 𝑤𝑤 𝜕𝜕2 𝑤𝑤 𝜕𝜕2 𝑤𝑤
ρ( + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤 ) = − +µ + 2 + + ρ𝑔𝑔𝑧𝑧
𝜕𝜕𝑡𝑡 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑦𝑦 𝜕𝜕𝑧𝑧 2

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The Navier-Stokes Equations

These equation represents conservation of momentum in the 3 coordinate directions. They are F=ma
on a per unit volume basis.

Let’s look at the terms in the x-equation, and the units:

𝜕𝜕𝑢𝑢 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕2 𝑢𝑢 𝜕𝜕2 𝑢𝑢 𝜕𝜕2 𝑢𝑢

ρ + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤 = − +µ + 2 + + ρ𝑔𝑔𝑥𝑥
𝜕𝜕𝑡𝑡 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑦𝑦 𝜕𝜕𝑧𝑧 2

mass per acceleration pressure force viscous force gravity force per
unit volume (local and convective) per unit vol. per unit vol. unit vol.

𝑘𝑘𝑘𝑘 𝑚𝑚 𝑁𝑁 𝑁𝑁 𝑁𝑁
=
𝑚𝑚3 𝑠𝑠 2 𝑚𝑚3 𝑚𝑚3 𝑚𝑚3
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Navier-Stokes Equations
• The constant property Navier-Stokes equations can be written in a compact form using vector
notation:

𝜕𝜕𝑽𝑽
ρ + 𝑽𝑽 � 𝛻𝛻𝑽𝑽 = −𝛻𝛻𝛻𝛻 + µ 𝛻𝛻 2 𝑽𝑽 + ρ𝒈𝒈
𝜕𝜕𝜕𝜕

𝜕𝜕2 𝜕𝜕2 𝜕𝜕2

where 𝛻𝛻 2 = + + is the Laplace Operator.
𝜕𝜕𝜕𝜕 2 𝜕𝜕𝑦𝑦 2 𝜕𝜕𝑧𝑧 2

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Cylindrical Coordinates
• As previously discussed, it is sometimes desirable to work in cylindrical coordinates.
• The constant property Navier-Stokes equations are given in Appendix D:

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Inviscid Flow and Euler’s Equation

• Flows with no viscosity are called Inviscid Flows. All real fluids have viscosity  idealization.
• Far away from solid surfaces, real flows can be approximated as inviscid. Flow fields behaves like μ=0.

Near the surface, viscosity

cannot be neglected. Viscous
boundary layer.

𝑑𝑑𝑽𝑽
• For inviscid flows (𝜇𝜇 = 𝜏𝜏𝑖𝑖𝑖𝑖 = 0) the Navier-Stokes equations simplify to: ρ = −𝛻𝛻𝛻𝛻 + ρ𝒈𝒈
𝑑𝑑𝑑𝑑

This is called Euler’s Equation.

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Inviscid Flow and Euler’s Equation

𝑑𝑑𝑽𝑽
ρ = −𝛻𝛻𝛻𝛻 + ρ𝒈𝒈
𝑑𝑑𝑑𝑑

Euler’s Equation can be integrated along a streamline to

give the Bernoulli Equation.

History
• This equation was derived (in 1757) before the
equations for viscous flow.
• Leonhard Euler, 18th century Swiss engineer, physicist
and mathematician. Leonhard Euler, 1707-1783
Licensed under Public Domain
• Classical beam theory, Euler buckling load https://commons.wikimedia.org/wiki/File:Leonhard_Euler_2.jpg#/m
edia/File:Leonhard_Euler_2.jpg
• Euler formula: 𝑒𝑒 𝑖𝑖𝑖𝑖 = cos 𝑥𝑥 + 𝑖𝑖 sin(𝑥𝑥)

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Example
Consider steady incompressible flow of a Newtonian fluid with the velocity field:

𝑽𝑽 = −2𝑥𝑥𝑥𝑥 𝐢𝐢 + 𝑦𝑦 2 − 𝑥𝑥 2 𝐣𝐣 + 0 𝒌𝒌

Neglect gravitational effects. Does this velocity field satisfy the conservation of momentum i.e., the
Navier-Stokes equations?

Solution
This is a two-dimensional flow. We need to consider the conservation of momentum in the x- and
y-directions.

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Example
𝑢𝑢 = −2𝑥𝑥𝑥𝑥 𝑣𝑣 = 𝑦𝑦 2 − 𝑥𝑥 2 𝑤𝑤 = 0

x-momentum:
𝜕𝜕𝑢𝑢 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕2 𝑢𝑢 𝜕𝜕2 𝑢𝑢 𝜕𝜕2 𝑢𝑢
ρ + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤 = − +µ + + + ρ𝑔𝑔𝑥𝑥
𝜕𝜕𝑡𝑡 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑦𝑦 2 𝜕𝜕𝑧𝑧 2

Making the substitutions:

𝜕𝜕𝜕𝜕
ρ 0 + −2𝑥𝑥𝑥𝑥 −2𝑦𝑦 + 𝑦𝑦 2 − 𝑥𝑥 2 −2𝑥𝑥 + 0 = − +µ 0+0+0 +0
𝜕𝜕𝜕𝜕

𝜕𝜕𝜕𝜕
= ρ −4𝑥𝑥𝑦𝑦 2 + 2𝑥𝑥𝑦𝑦 2 − 2𝑥𝑥 3 = −2ρ(𝑥𝑥𝑦𝑦 2 + 𝑥𝑥 3 )
𝜕𝜕𝜕𝜕

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Example
𝑢𝑢 = −2𝑥𝑥𝑥𝑥 𝑣𝑣 = 𝑦𝑦 2 − 𝑥𝑥 2 𝑤𝑤 = 0

y-momentum:
𝜕𝜕𝑣𝑣 𝜕𝜕𝑣𝑣 𝜕𝜕𝑣𝑣 𝜕𝜕𝑣𝑣 𝜕𝜕𝜕𝜕 𝜕𝜕2 𝑣𝑣 𝜕𝜕2 𝑣𝑣 𝜕𝜕2 𝑣𝑣
ρ + 𝑢𝑢 + 𝑣𝑣 + 𝑤𝑤 = − +µ + + + ρ𝑔𝑔𝑦𝑦
𝜕𝜕𝑡𝑡 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕𝑦𝑦 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑦𝑦 2 𝜕𝜕𝑧𝑧 2

Making the substitutions:

𝜕𝜕𝜕𝜕
ρ 0 + −2𝑥𝑥𝑥𝑥 −2𝑥𝑥 + 𝑦𝑦 2 − 𝑥𝑥 2 2𝑦𝑦 + 0 = − + µ −2 + 2 + 0 + 0
𝜕𝜕𝜕𝜕

𝜕𝜕𝜕𝜕
= ρ −4𝑦𝑦𝑥𝑥 2 − 2𝑦𝑦 3 + 2𝑦𝑦𝑦𝑦 2 = −2ρ(𝑦𝑦𝑥𝑥 2 + 𝑦𝑦 3 )
𝜕𝜕𝑦𝑦

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Example
𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕
• So far we have shown that: = −2ρ 𝑥𝑥𝑥𝑥 2 + 𝑥𝑥 3 𝑎𝑎𝑎𝑎𝑎𝑎 = −2ρ(𝑦𝑦𝑥𝑥 2 + 𝑦𝑦 3 )
𝜕𝜕𝜕𝜕 𝜕𝜕𝜕𝜕

• The pressure field 𝑝𝑝(𝑥𝑥, 𝑦𝑦) is a single function. To determine if the

2
gradients in the x and y
𝜕𝜕 𝑝𝑝
directions are compatible, we evaluate the mixed derivative
𝜕𝜕𝑥𝑥𝑥𝑥𝑥𝑥

• For a single function, these two mixed derivatives must be the equal:

𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕
𝜕𝜕𝑦𝑦 𝜕𝜕𝜕𝜕
=
𝜕𝜕𝑦𝑦
−2ρ 𝑥𝑥𝑥𝑥 2 + 𝑥𝑥 3 = −4ρ𝑥𝑥𝑥𝑥

𝜕𝜕 𝜕𝜕𝜕𝜕 𝜕𝜕
= −2ρ 𝑦𝑦𝑥𝑥 2 + 𝑦𝑦 3 = −4ρ𝑥𝑥𝑥𝑥
𝜕𝜕𝑥𝑥 𝜕𝜕𝑦𝑦 𝜕𝜕𝑥𝑥

Thus, the velocity field satisfies the Navier-Stokes equations.

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Vortex shedding from a cylinder in cross flow © David Naylor
Re≈150. Solution of the unsteady 2D Navier-
Stokes equations.

CFD Prediction

Experimental Flow Visualization

END NOTES Sources:

www.redditian.com
Presentation prepared and delivered by Dr. David Naylor. Album of Fluid Motion
© David Naylor 2014. All rights reserved.
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