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(Eq. 2)
Now the accelerationo is obtained by differentiating the velocity with respect to time. But since the velocity is a function of the position, and the position is a function of time, then we have to use implicit or chain rule differentiation as follows
(Eq. 3)
which yields the following expression for the acceleration of ANY fluid particle as seen by an observer in an Eulerian reference.
(Eq. 4)
If we were in a Lagrangian frame, then the velocity is only a function of time because in that reference, the observer is riding on the particle as it flows through space. [Next
Article: The Material Derivative in Cylindrical Coordinates]
Cite as: Saad, T. "1. The Material Derivative in Cartesian Coordinates." Weblog entry from Please Make A Note. http://pleasemakeanote.blogspot.com/2008/08/derivationof-navier-stokes-equations.html
Posted by yNot at 9:18 PM 0 comments Links to this post Labels: Fluid Mechanics, Mathematics
(Eq. 1)
and the material derivative is written as (with the capital D symbol to distinguish it from the total and partial derivatives)
(Eq. 2)
Special attention must be made in evaluating the time derivative in Eq. 2. In dynamics, when differentiating the velocity vector in cylindrical coordinates, the unit vectors must also be differentiated with respect to time. In this case, the partial derivative is computed at a fixed position and therefore, the unit vectors are "fixed" in time and their time derivatives are identically zero. Then, we have
(Eq. 3)
(Eq. 4)
And
(Eq. 5)
finally
(Eq. 6)
When these are put together, the material derivative in cylindrical coordinates becomes
(Eq. 7)
This was a rather tedious way of deriving the material derivative as one could have used vector technology to obtain an invariant form that works for all coordinates. Nonetheless, it is interesting to see the intricacies of the derivation using chain rule differentiation. Note that if were computing the material derivative for a scalar, the extra terms in Eq. 7 (in the radial and tangential components) would disappear. These are purely reminicsent of the vectorial nature of the velocity field (or any other vector field for that matter). It is very interesting to note the intimate link between the physical nature of the velocity and its mathematical description through vectors. One would pose the following argument: why don't we treat the material derivative of the velocity as that of three scalars, namely, u_r, u_theta, and u_z? Doing this will obviously remove the hassles of dealing with derivatives of unit vectors, but will eventually lead to inconsistent results. So what's the issue here? The problem with that treatment is that in essense, the velocity is one quantity that we describe using vectors: a magnitude and a direction. If we are to use three scalars to describe the velocity we lose an essential ingredient which is the direction. In the end, the material derivative of the velocity can be decomposed into the material derivatives of three scalars (u_r, u_theta, and u_z) plus some correction. This correction stems from the directional nature of the velocity field. In other words, this correction can be thoguht of as being the material derivative of the direction of the velocity field. [Next Article:
The Material Derivative in Spherical Coordinates]
Cite as: Saad, T. "2. The Material Derivative in Cylindrical Coordinates." Weblog entry from Please Make A Note. http://pleasemakeanote.blogspot.com/2008/08/derivation-of-navier-stokesequations_17.html
Posted by yNot at 9:19 PM 3 comments Links to this post Labels: Fluid Mechanics, Mathematics
However, from the Eulerian point of view, any property of the fluid is a function of time and space, which is also a function of time implicitly. Then
(Eq. 2)
Then, the time rate of change of any scalar fluid property is given by the following
(Eq. 3)
where we have used the chain rule to account for the spatial dependence on time. Remembering some of the formulas from dynamics, we have
(Eq. 4)
upon substitution of Eq. 4 into Eq. 3, we finally obtain the material derivative for a scalar
(Eq. 5)
To obtain the material derivative for a vector field, we follow a similar procedure keeping in mind the directional nature of a vector. We illustrate this using the velocity field - keep in mind that this works for any kind of vector field. Again, in a Lagrangian reference, the velocity is only a function of time. In the Eulerian view, the velocity has the following form
(Eq. 6)
Using the chain rule, the material derivative of the velocity field is written as
(Eq. 7)
Again, noting that the partial derivative with respect to time in Eq. 7 (first term) is evaluated at a fixed position in space, the unit vectors associated with the fluid particle at that point are fixed as viewed from an Eulerian reference, therefore,
(Eq. 8)
To evaluate the remaining terms in Eq. 7, we have to first remember some equations from dynamics or vector calculus about differential changes in unit vectors in spherical coordinates. These are given by
(Eq. 9)
Now we can evaluate the spatial terms in Eq. 7. The radial derivative is
(Eq. 10)
(Eq. 11)
(Eq. 12)
Voila!!! Once Eqs. 8 through 12 are put together, one obtains the full expression for the material derivative of a vector field in spherical coordinates. In the next post, I will present an invariant vector form for the material derivative so that we don't have to go through all the hassle of using chain rule differentiation to evaluate the material derivative. But it was worth it to see how it works using good old calculus. Cite as: Saad, T. "3. The Material Derivative in Spherical Coordinates." Weblog entry from Please Make A Note. http://pleasemakeanote.blogspot.com/2008/08/derivationof-navier-stokes-equations_18.html
Posted by yNot at 9:19 PM 1 comments Links to this post Labels: Fluid Mechanics, Mathematics
obliged to discuss the Reynolds transport theorem. Although I would like to derive the fluid flow equations from scratch, the Reynolds transport theorem provides an avenue for a simple way to derive them. Henceforth, I decided to use the many ways of deriving the conservation equations, whether in integral or differential form. I will base the current derivation on the text by James A. Fay Introduction to Fluid Mechanics. I believe it is an excellent text on fluid mechanics that focuses on the essential physics of fluid flows. We first have to distinguish between a material volume and a control volume. A material volume is a volume of fluid that contains the same fluid as it moves and deforms in time.
(Fig. 1)
A control volume is a fixed volume in space where the fluid passes through.
(Fig. 2)
This is tightly linked to the previous discussions on the material derivative and its connection with the Lagrangian and Eulerian views. A material volume is part of a Lagrangian description whereas a control volume is part of the Eulerian description. Now let us consider and "extensive" property B whose "intensive" property is b. For example, mass is an extensive property, whereas the density is the corresponding intensive property. An extensive property describes a specific part of the fluid (e.g. the mass is different for different volumes of the same fluid) while the intensive property is intrinsic (e.g. the density is the same for different volumes of the same fluid). In simple terms, an intensive property is the extensive property per unit mass. The Reynolds transport theorem can be thought of as the integral form of the material derivative. It mainly relates the rate of change of an extensive property of a given material volume to the rate of change of the corresponding intensive property.
The total amount of property B in a given material volume is therefore
(Eq. 1) As the material volume moves around, the quantity B inside M changes due to external forces or internal reactions for example. Therefore, it is convenient to compute the time rate of change of B (Eq. 2) Eq. 2 means that the rate of change of the quantity B in the material volume is equal to the rate of change of B within the fixed control volume plus the net flowrate of the quanity B through the control surface. The RHS of Eq. 2 can be expressed as follows
(Eq. 3) and
(Eq. 4) Eq. 4 measures the flux of the quantity B through the control surface. Then, combining the above equations, we get the Reynolds transport theorem (Eq. 5) Voila! There is an alternative way of deriving the Reynolds transport theorem, however, it makes use of the continuity equation which we have not derived yet. So this will be postponed to a later post. [Next Article: How Euler Derived the Continuity Equation]
Cite as: Saad, T. "5. The Reynolds Transport Theorem." Weblog entry from Please Make A Note. http://pleasemakeanote.blogspot.com/2008/09/derivation-of-navierstokes-equations.html
Posted by yNot at 9:19 PM 1 comments Links to this post Labels: Fluid Mechanics, Mathematics
(Fig. 1)
(Eq. 2)
(Eq. 3)
Note that all high order terms disappear as the limit in the derivative is applied. The second term in Eq. 4 can be cast in vector form because it represents the derivative of Q in the direction of the streamline, tangent to the velocity vector. This means that it can be written as the dot product of the gradient of Q and the unit vector along the streamline, i.e. parallel to the velocity. Mathematically, this can be written as
(Eq. 5)
(Eq. 6)
Voila! This is the expression we are looking for; Eq. 6 represents the time derivative of a transported fluid property as seen from an Eulerian point of view. This also works when Q is a vector field, call it A
(Eq. 7)
However, the form given by Eq. 7 only works for Cartesian coordinates because it not invariant under coordinate transformation. This means that it does not hold true when using curvilinear coordinates such as Cylindrical or Spherical. Fortunately, we can write it using invariant form as follows
(Eq. 8)
Voila! Specifically, when the vector field is the velocity field, then Eq. 8 simplifies quite nicely as
(Eq. 9)
Cite as: Saad, T. "4. The Material Derivative in Vector Form." Weblog entry from Please Make A Note. http://pleasemakeanote.blogspot.com/2008/08/derivation-ofnavier-stokes-equations_20.html
Posted by yNot at 9:19 PM 0 comments Links to this post Labels: Fluid Mechanics, Mathematics
The final thing I would like to point out is that Eulers genius lies partly in his ability to synthesize and introduce world class notation. In this way, he was able to supersede all his predecessors. Without further ado, lets begin. Euler starts by saying: I shall posit that the fluid cannot be compressed into a smaller space, and its continuity cannot be interrupted. I stipulate without qualification that, in the course of the motion within the fluid, no empty space is left by the fluid, but it always maintains continuity in this motion [Par
Update
axes(); 6</a>, Principia Motus Fluidorum, Translated by Enlin Pan] He then argues that if one considers any part of a fluid of this type (i.e. incompressible), then each individual particles fill the same amount of space as they move around. He then infers that if this happens for particles, it should happen to the fluid as a w hole (w hic w as his assumption of incompressibility). One is now able to consid an arbitrary fluid element and then track its instantaneous changes <em><span style="color: rgb(204, 153, 51);">to determine the new portion of space in w hich it w ill be contained after a very small time period</span></em>. The amount of space that is
subsequently, one can evaluate the position vectors of the remaining vertices Now we have all the required equations to evaluate the area of ABC. For simplicity, well use the cross product. We have Upon a pretty cool evaluation, (which I wont illustrate here but I still think that you should carry it over because things cancel out very nicely), we obtain Finally,
heres the punch line. By equating S and S, we obtain or Euler then argues that the second term in this last equation is vanishingly small compared to the first term and in the limit of an infinitesimal time increment, we obtain what we call today the continuity equation Q.E.D I would like to thank the Euler archive for doing a great service for humanity by archiving Eulers works as well as providing translations for some of his texts. The quoted paragraphs in orange are taken from Enlin Pan's english translation of Eulers Principia Motus Fluidorum. [Previous Article: The Continuity Equation in Cartesian Coordinates]
Cite as: Saad, T. "6. How Euler Derived the Continuity Equation." Weblog entry from Please Make A Note. http://pleasemakeanote.blogspot.com/2009/02/derivation-ofnavier-stokes-equations.html
Posted by yNot at 11:22 PM 2 comments Links to this post Labels: Fluid Mechanics, Mathematics
Now we can compute the net flow through the control volume faces. Starting with the x direction, the net flow is Similarly, the net flow through the y faces is
Upon adding up the resulting net flow and diving by the volume of the fluid element (i.e. dxdydz), we get the continuity equation in Cartesian coordinates Voila!
Cite as: Saad, T. "7. Derivation of the Continuity Equation in Cartesian Coordinates." Weblog entry from Please Make A Note. http://pleasemakeanote.blogspot.com/2009/02/derivation-of-continuity-equationin.html
Posted by yNot at 1:55 AM 3 comments Links to this post Labels: Fluid Mechanics, Mathematics
Again, as we did in the previous post, we need to account for all the fluid that is accumulating, and flowing through this control volume, namely: Rate of Accumulation + Rate of Flow In = Rate of Flow Out First, lets get some basics laid out. The velocity field will be described as
I always prefer to use u, v, and w instead of ur, utheta, and uz to save on subscripts, although the latter nomenclature is a bit more descriptive well get used to it. Now, by construction, the volume of the differential control volume is
For the net flow through the control volume, we deal with it one face at a time. Starting with the r faces, the net inflow is
So that the net flow in the r direction is Being O(dr^2), the last term in this equation can be dropped so that the net flow on the r faces is The net flow in the theta direction is slightly easier to compute since the areas of the inflow and outflow faces are the same. At the outset, the net flow in the theta direction is
We now turn our attention to the z direction. This requires a little bit of extra work. The most essential ingredient of computing the flow in the z direction is to compute the face areas. As shown in the figure above, the z faces are essentially trapezoids (in the differential limit) and their area is equal to the average of the bases times the height, in other words then, the inflow at the lower z face is
while the outflow at the upper z face is Finally, the net flow in the z direction is
Now we can put things together to obtain the continuity equation dividing by dV and rearranging the r components of the velocity Voila!
Cite as: Saad, T. "8. Derivation of the Continuity Equation in Cylindrical Coordinates." Weblog entry from Please Make A Note. http://pleasemakeanote.blogspot.com/2009/02/8-derivation-of-continuity-equationin.html
Posted by yNot at 6:56 PM 3 comments Links to this post Labels: Fluid Mechanics, Mathematics