1

Chapter 3. Hydrostatics
1. Basic equation of fluid statics
2. Pressure variation in a static fluid
3. Measurement of pressure
4. Hydraulic force on a submerged surface
5. Hydrostatic force on a curved surface
6. Buoyancy and stability
7. Pressure variation in fluid of rigid-body motion
Linear motion and rigid-body acceleration
Scopes
1. No relative motion between fluid particles (du/dy=0)
2. No shear stress ( = du/dy = 0)
3. Normal stress (pressure) exists
Fluid Statics
2
Choose an arbitrary wedge-shaped element:
1. Basic equation of fluid statics Pascals Law
3
Apply Newtons 2nd Law,
: sin
2
: cos
2 2
y y y s y
z z z s z
x y z
F ma p x z p x s a
x y z x y z
F ma p x y p x s a




= =
= =
cos ; sin y s z s = =
Since
2
( )
2
y s y
z s z
y
p p a
z
p p a

=
= +

When y 0 and z0 p
s
= p
y
= p
z
Pressure at a point is independent of direction ( Pascals Law)
a scalar property of fluid

(3.1)
4
Forces acting on a differential fluid element
1. Body force; 2. Surface forces
X:
dxdydz
x
p
F
x

dydxdz
y
p
F
y

=
mg dydxdz
y
p
F
z

Y:
Z:
dxdz
dy
y
p
p )
2
(

dxdz
dy
y
p
p )
2
(

+
x
y
z
O
dy
dz
dx
p
dxdy
dz
z
p
p )
2
(

+
dxdy
dz
z
p
p )
2
(

mg
Total force:
2. Pressure variation in a static fluid
5
Applying Newtons second law:
x x
p
F dxdydz ma
x

= =

y y
p
F dydxdz ma
y

= =

z z
p
F dydxdz mg ma
z

= =

0 = = =
z y x
a a a
dxdydz m =
x
a x p = /
y
a y p = /
) ( /
z
a g z p + =
Restrictions:
1. Static fluid
2. Gravity is the only body force
3. The z axis is vertical and upward
Since p depends only on z,
dp
g
dz
= = (3.4)
(3.1)
(3.3)
(3.2)
Since
0 / = x p
0 / = y p
= = g z p /
(3.2a)
(3.4a)
(3.3a)
Since
6
For incompressible fluids, integrate Eq. (3.4)
(3.5)
(3.6)

.
.
dp dz p z Const
p z Const
p
or z Const

= = +
+ =
+ =

piezometric head
At two points 1 and 2 in liquid:
1 2
1 2 2 1 1 2
or ( )
p p
z z p p z z

+ = + =
Pressure head (m)
= p
2.1 Pressure change Integral form:
7
Example: taking the origin of the coordinate at free surface:
At z
1
=0, p
1
=0 Const=0
2 2
/ 0 p h p h g h = = =
Pressure in a liquid increases with depth.
Higher elevation, lower pressure
O
8
2.2 Absolute pressure and gage pressure:
Vacuum
Pressure
P
abs
Atmospheric pressure p
atm
101.3kPa at standard
sea level conditions
P
gage
P
abs
= P
gage
+ P
atm
(3.7)
Pressure values must be stated with respect to a reference
9
2.3 Pressure transmission throughout a stationary fluid
The pressure is a constant value on a line if:
The line is horizontal
The stationary fluid is uniform and
The stationary fluid is continuous.
P
1
P = ?
Constant pressure line
P = P
1
10
Example 3.1: Hydraulic jack
The following is a Hydraulic jack. Explain why a small force F
1
can
be applied to support a large load F
2
.
Since p
1
= p
2
, F
1
/A
1
= F
2
/A
2
F
1
= (A
1
/A
2
)F
2
As A
1
<< A
2
F
1
<< F
2
Constant pressure
11
Example 3.2: Pressure on divers
Find absolute, gage pressure and pressure heads on diver.
Density of water =1025 kg/m
3
.
h = 30 m
Solution:
12
3. Measurement of pressure
Pressure measurement devices:
Mercury barometer: for atmospheric pressure
Manometers: for gage pressure using liquid columns
in vertical or inclined tubes
Mechanical and electronic pressure measuring
devices
In engineering, normally use gauge pressure. For
absolute pressure, it must be indicated
13
3.1 Mercury Barometer to find p
atm
0 16 . 0 = pa p
vapor
vapor atm
p gh p + =
For mercury at 20
o
C.
= 13600 kg/m
3
.
C atm B
P P P = =
vapor C
p gh p + =
C
gh p
atm
=
(3.8)
14
Example 3.3 Find absolute pressure at 40 m depth in a lake.
Temp = 10
o
C , Barometric pressure = 598 mm Hg (abs)
Solution:
15
3.2 Piezometer tube to find p
A
or p
1
(abs)
1 1 1
h p p
atm
+ =
Or
(gage)
1 1 1
h p =
(3.9)
p
atm
16
3.3. U-Tube manometer to find p
A
3 2
p p =
1 1 1 1 1 2
h p h p p
A
+ = + =
2 2 3
h p p
atm
+ =
(abs)
1 1 2 2
h h p p
atm A
+ =
Constant
pressure
(gage)
1 1 2 2
h h p
A
=
(3.10)
p
atm
1
p p
A
=
17
Example 3.4: Determine pressure gauge p
A
if h
1
= 0.9m, h
2
= 0.15m, h
3
= 0.23m, SG of oil is 0.9.
Solution:
p
A
Will be given during the lecture
18
3.4. Differential U-tube manometer to find P
A
P
B
(???)
P
A
= P
1
P
1
+
1
h
1
= P
2
P
2
= P
3
P
3
-
2
h
2
= P
4
P
4
-
3
h
3
= P
B
Adding up above equations:
P
A
+
1
h
1
-
2
h
2
-
3
h
3
= P
B
Differential Pressure:
P
A
P
B
=
2
h
2
+
3
h
3
-
1
h
1
(3.11)
19
(5). Inclined-Tube Manometer to find P
A
P
B
P
A
+
1
h
1
-
2
l
2
sin -
3
h
3
= P
B
Or P
A
- P
B
=
2
l
2
sin +
3
h
3
-
1
h
1
(3.12)
20
4. Hydrostatic force on submerged surfaces
Quantities of interests
The magnitude of the force (N)
The direction of the force
Location of action of force
Basic equation to use
p = p
0
+h or p = h with = g
Method of analysis
Simple integration
21
4.1 Hydrostatic force on a flat surface
Magnitude: F = p
c
A, p
c
is pressure at centroid
Direction: Perpendicular to surface
Location of action or Centre of pressure:
needs to be find
22
y
c
Flat surface
23
pdA dF =

= = = =
A A A A
R
ydA dA gy ghdA pdA F sin sin
A y dA y
C
A
=

Where y
C
is the y coordinate of the centroid of the area A.
Where p
C
is the gage pressure at the centroid of the area A.
(3.13)
(3.14)
The first moment of the area
A p Ah Ay F
c c c R
= = = sin
Total force = the pressure at the centroid total area
(Force magnitude)
24
Location of the resultant force pressure centre
Moment of the resultant force about the x axis = Moment due to
the distributed force about the same axis
dA y dA yp F y
A A
R
sin '
2

= =
x
A
I dA y =

2
(3.15)
(3.16)
A y
dA y
A y
dA y
F
dA y
y
c
A
c
A
R
A

= = =
2 2 2
sin
sin sin
'


the second moment of the
area about the x axis
Use the parallel axis theorem
2
c xc x
Ay I I + =
(3.17)
I
xc
: second moment of the area with respect to an axis passing
through its centroid and parallel to the x axis.
25
(3.18) '
xc
C
C
I
y y
Ay
= +
Substitute Eq. (3.17) into Eq. (3.16), we have
The resultant does not pass through the centroid as I
xc
/y
c
A > 0.
Location of x can be determined following a similar procedure:
A y
I
x
A y
I
x
c
xyc
C
c
xy
+ = = '
where:
C C xyc
A
xy
y Ax I dA xy I + = =

(3.19)
is the product of inertia with respect to x and y.
Direction of the resultant force: perpendicular to the plane.
(Force acting location)
26
The second moment of some common shapes:
27
Summary of force on plane surfaces
Magnitude:
Direction: normal to the surface
Location of action:
A p F
c R
=
2
' (3.18)
x xc A
c
c c c
y dA
I I
y y
y A y A y A
= = = +

28
Example A: Vertical wall, width b, height h
Force on the plate:
: pressure at the centroid
A : plate area.
/ 2
c
p h =
y
,
xc
R C
C
I
y y
Ay
= +
2
( / 2)( ) / 2
R c c
F p A y A h bh bh = = = =
h
p
c
y
c
R
F
R
y
pressure prism
3
1
With and
12
xc
I bh A bh = =
3
/12
/ 2
/ 2
= / 2 / 6 2 / 3
R
bh
y h
bh h
h h h
= +

+ =
Examples of force on plane surface
Pressure center:
These give you the force
magnitude and acting location
29
Example B: Inclined wall with width b and length L
( sin ) / 2
c c
p y L = =
Force on the plate:
'
'
,
xc
R c
c
I
y y
Ay
= +
R c
F p A =
3
1
With and
12
xc
I bL A bL = =
Pressure at the centroid:
Area: A = bL
Centroid:
( sin ) / 2
c
y L =
2
( sin ) / 2 sin / 2
R
F L bL bL = =
Pressure center:
y
c
=Lsin/2
Lsin
F
y
R
p
c
y'
c
'
with / 2
c
y L =
Pressure center:
'
2 / 3
R
y L =
These give you the force
magnitude and acting location
30
Example C: Submerged vertical wall, width b, height h
y
h
p
c
y
c
F
R
y
R
p
1
p
2
y
1
y
2
2 1
( ) / 2
c c
p y y y = = +
Force on the plate:
,
xc
R c
C
I
y y
Ay
= +
R c
F p A =
3
1
With and
12
xc
I bL A bL = =
Pressure at the centroid:
Area: A = bh
Centroid:
2 1
( ) / 2
c
y y y = +
Location of action (method 1):
2 1
( ) / 2
R
F bh y y = + Force on the plate:
(Please find y
R
by yourself) y
R
=
31
Decompose pressure prism into two:
Method 2 to find Centre of pressure y
R
Part 1: Rectangular, p
1
Part 2: Triangular, p
2
p
1
Pressure centers:
Part 1: y
R1
=y
1
+ h/2,
Part 2: y
R2
=y
1
+ 2h/3
F
R
y
R
=F
1
y
R1
+ F
2
y
R2
Where F
1
= y
1
hb
F
2
= h
2
b/2
y
R
can be obtained
Using moment balance:
y
h
F
R
y
R
p
1
p
1
y
1
y
2
p
2
-p
1
F
1
F
2
h/2
2h/3
32
Expl D: Submerged by y
1
inclined wall, width b, length L
1
[ ( sin ) / 2]
c c
p y y L = = +
Force on the plate:
'
'
,
xc
R c
c
I
y y
Ay
= +
R c
F p A =
3
1
With and
12
xc
I bL A bL = =
Pressure at the centroid:
Area: A = bL
Centroid:
1
( sin ) / 2
c
y y L = +
Pressure center (method 1):
Force on the plate:
(Please find y
R
by yourself)

p
c
p
c
p
2
F
R
y
c
y
c
'
y
R
y
1
1
[ ( sin ) / 2]
R c
F p A bL y L = = +
Method 2 for y
R
: Similar to method 2 as for example C
y
R
=
33
Example 3.5: Find resultant force on inclined gate
Gate is hinged along edge A, width b = 5 m.
y
c
Solution:
34
Example 3.6
A pressurized tank contains oil with SG=0.9 and has a square plate
(0.6m 0.6m) bolted to its side. The pressure gage reads 50kPa.
Find magnitude and location of the force on the plate.
35
Solution:
36
4.2 Force on a curved surface
Decompose force into F
V
(vertical) and F
H
(horizontal),
F
H
: Force on Projected Vertical Plane Surface,
F
V
: Weight of liquid directly above curved surface (Real or
imaginary). Real: downward ; imaginary: upward .
F
V
: vertically passes through the center of gravity of the liquid
volume directly above the curved surface.
( )
2
2
) (
V H R
F F F + =
Resultant force:
(3.20)
=
Pressure body
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Calculation of F
V
F
V
= Weight of Pressure body
Pressure body consists of the following boundaries:
Curved surface
Vertical lines from the ends of curved surfaces
Free surface or its extension
Real pressure body: there is liquid inside F
V

Imagined pressure body: There is no liquid inside F
V

F
V
:
Real P. B.
Imagined P. B.
surface
surface
38
Example 3.7 Calculate the resultant hydrostatic force
per meter length on the curved surfaces in (a) and (b).
F
V
:
F
V
:
Solution:
39
Buoyancy: the net vertical force on an object immersed in a liquid,
or floating on liquid surface
Buoyancy is produced by the hydrostatic pressure
Magnitude: weight of displaced liquid: F
B
= ,
Buoyancy on a floating object equals to weight of the object
Direction: Always upward
Line of action: passing through the centroid of the displaced
volume
5.1 Buoyancy
5. Buoyancy and stability
40
F
B
W
T
Example 3.8
An unknown object weighs 400N in
air & 300N in water.
Find specific weight & specific gravity of the object.
Solution:
41
5.2 Rotational stability
(c) Unstable (b) neutral (a) stable
G-Centre of gravity
C-Centre of buoyancy (centroid of displaced volume)
42
(1) For case (C), the stability depends on metacentric height
Metacentre M- point of intersection of buoyancy forces
before and after rotation
Stable if is +ve , or M is above G,
Unstable - If is ve or M is below G,
Neutral if = 0 or M and G are at the same location
(a) Before rotating (b) After rotating
G-Centre of gravity
C-Centre of buoyancy (centroid of displaced volume)
GM
43
(2) How to find the magnitude of :
Neglecting the detailed derivations, can be calculated using:
I
o
is the second moment of the intersection area between
the water surface and the floating body (waterline).
O is axis of rotating.
For some frequently used geometries, I
0
has been given.
is the displaced volume of water.
44
Example 3.9 A 0.25-m-diameter cylinder is 0.25m long and
composed of material with specific weight 8000 N/m
3
. Will it float in water
with the ends horizontal?
Solution: Assume cylinder is floating
with axis vertical.
Waterline: circle with diameter 0.25m
45
6. Fluids in Rigid-Body Motion
Fluid moves as a rigid body
No relative motion within the fluid, shear stress = 0
Can be treated as fluid statics as no shearing stress
Apply to fluids in linear acceleration & rotating motion
46
6.1 Linear Motion
Liquid in an open container is moving along a straight line
with constant acceleration a, a
y
and a
z
Along any constant pressure surface, dp = 0
z
y
a g
a
dy
dz
+
=
z
y
a g
a
dy
dz
+
= = tan (3.21)
(3.22)
From Eqs. (3.2) Eq. (3.5),
Pressure at any location:
z a g y a p
z y
) ( + =
z
y
Free surface equation:
47
Example 3.10
A rectangular fuel tank is accelerated with constant
acceleration a
y
. (a) Derive an expression of pressure (in Pa)
at the transducer for a fuel with SG=0.65. (b) The maximum
a
y
that can occur before the fuel level drop to the transducer?
z
y
Solution:
48
6.2 Rigid-Body Rotation
Container of liquid rotating about z-axis at angular velocity
Use cylindrical polar co-ordinates, (r,, z) system
(3.23)
49
Along any constant pressure surface, dp=0
As r is perpendicular to z,
dr r dz
2
=
const
g
r
z + =
2
2 2

(3.24)
(3.25)
Thus, constant pressure surfaces are parabolic surfaces.
Free surface equation for a rotating container

= dz rdr dp
2
const z
r
p + =

2
2 2
Thus, pressure is increasing with r
2
and decreasing with z.
To obtain pressure within the fluid, integrate Eq. (3.24),
(3.26)
The origin can be chosen either at the bottom of the container or at the surface.
50
Example 3.11
Determine the relationship between change in fluid level, H-h
o
,
and angular velocity . Initial height: H.
Solution:
(a) Rotating container
(b) cylindrical shell