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The section describes the development for the incompressible Navier-Stokes formulation in the rotating frame.
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1 Accelerations

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2 Navier-Stokes equations in the inertial frame with absolute velocity

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3 Navier-Stokes equations in the relative frame with relative velocity

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4 Navier-Stokes equations in the relative frame with absolute velocity

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5 Summary

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1 Accelerations

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To start, we will look at the acceleration term for a rotating frame

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Notation: I: inertial, R: rotating

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For a general vector:

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For the position vector:

The acceleration is expressed as:

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Eqn [1]

2 Navier-Stokes equations in the inertial frame with absolute velocity

The incompressible Navier-Stokes equations in the inertial frame with constant molecular viscosity are:
Eqn [2]

Eqn [3]

3 Navier-Stokes equations in the relative frame with relative velocity

Let's look at the left-hand side of the momentum equation of Eqn [2], by taking into account Eqn [1] for the acceleration term:

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Eqn [4]
since

Also, it can be noted that

Eqn [3] can be written as

Eqn [5]

Eqn [5] represents the incompressible Navier-Stokes equations in the rotating frame, in terms of rotating velocities (convection velocity and
convected velocity).

4 Navier-Stokes equations in the relative frame with absolute velocity

Eqn [5] can be further developed so the convected velocity is the velocity in the inertial frame.
The term

can be developed as:

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So, the steady term of left-hand side of Eqn [5] can be written as

Eqn [5] can be written in terms of the absolute velocity:

Eqn [6]

5 Summary
In summary, for multiple frames of reference, the incompressible Navier-Stokes equations for steady flow can be written
Frame

Convected velocity

Inertial

absolute velocity

Rotating

relative velocity

Steady incompressible Navier-Stokes equations

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Rotating

absolute velocity

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