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83
84 CHAPTER 3. DYNAMICS
or
1
t ui + u j j ui = i p (3.2)
Eulers equation represents a leap away from material particles to the velocity
field in space, already discussed in the previous chapter. In hindsight, Eulers
equation is seen as ignoring the effects of viscosity: an approximation.
The next step was the work of Cauchy, who adopted as the basic object of
analysis the collection of particles included in a volume element specified in
some cartesian coordinates as dV = dx dy dz. The Lagrangian description is
implied for now. The free-body diagram (Fig. 3.1) entails body forces (such
as gravity, or the Lorentz force) applied at the center of mass, and surface
forces, applied at the center of each surface, that account for interactions
with the neighboring elements.
The body and surface forces can be decomposed into their cartesian com-
ponents, normalized by the size of the volume or surface to which they are
applied. In the case of surface forces, taking the outward normal as one of
the local axes, the normal component for force per unit area is a familiar
concept: negative pressure2 . The tangential forces per unit area on each
surface are the components of stress, one of the cornerstones of continuum
2
The negative sign comes from the simple consideration that the force in the equation
is the force applied to the fluid element, rather than by the fluid to the surface at which
it is measured.
3.1. NEWTONIAN DYNAMICS OF CONTINUA 85
mechanics. Note the direction of local axes to ensure right-handed local axes
on each surface element, which is specified by its direction and its area; for
each possible direction, there are 3 components of force. Thus there are 9
components of stress at each point. A vector such as position has 3 compo-
nents, that can be arranged as a vector for which the single index can have
3 possible values; whereas the stress requires two such indices, one for the
direction of the surface on which the stress is acting, and one for the com-
ponent of force. Thus the stress will be represented as a 3x3 matrix, with
intrinsic, component and index representations respectively as
Txx Tyx Tzx
T or Txy Tyy Tzy or Tij (3.3)
The first index denotes the direction of the surface, the second index the
direction of the force. Normal forces (per unit area) are therefore the diagonal
elements of stress. The resultant force on a surface with a given direction n
or ni is given by Cauchys relation
F =nT (3.4)
or
Txx Tyx Tzx
Fx Fy Fz = nx ny nz Txy Tyy Tzy
(3.5)
Txz Tyz Tzz
or
Fi = nj Tji (3.6)
In this framework, rotational equilibrium of the material element gives an
important result. With the body forces applied at the center of mass, their
moment about the center of mass is zero. Taking the centroidal moment of
the components of stress (see Panton p120), we obtain
This for static conditions, no rotational body forces. The symmetry of the
stress tensor is very important in all areas of continuum mechanics.
Then, momentum balance includes the net effect of all surface and body
forces (Fig. 3.2). The derivation is carried out in 2D, with the 3D version
similar (but with more terms). Consider the rectangular volume element
86 CHAPTER 3. DYNAMICS
Figure 3.2: The 2-D free body diagram for a fluid element
centered at (x, y) and of sides dx and dy. Let us focus on the x-component
of force dFx :
dFx = Bx dxdy + Txx |x+dx/2 dy Txx |xdx/2 dy
+Tyx |y+dy/2 dx Tyx |ydy/2 dx (3.8)
Expanding the various terms in Taylor series, we see that the leading terms
cancel out in pairs of opposite signs, and that the terms of order dx dy
remain. Dividing throughout by the volume gives for the x-component
Fx = Bx + x Txx + y Tyx (3.9)
or in intrinsic notations
F =B+T (3.10)
or again
Fi = Bi + j Tij (3.11)
(summation over j is implied). Cauchys idea that the divergence of stress is
equivalent to a force, has implications throughout continuum mechanics.
bi = gi3 (3.23)
where the index 3 corresponds to the vertical upward direction. The corre-
sponding potential energy per unit mass is gx3 .
u n = uw n (3.24)
3.2.3 Pressure
From experience in thermodynamics and pipe flows, pressure may appear
to be a simple term. As a matter of fact, if pressure is known, taking its
gradient and seeing its effect on velocity can be rather simple; but the inverse
problem, when the velocity field is known and pressure is the unknown, is
quite different. The analogy with the vorticity/velocity relationship in Ch.3
3.2. STRESS AT A POINT, NEWTONIAN FLUIDS 91
tion, similar to the relation between vector potential and vorticity, between
velocity and flexion. Here, the velocity gradients are the sources of pressure
variations, and the use of Greens functions gives the general solution for 3D
in the absence of boundaries:
1 rhs(x0 )
Z
p= dV 0 (3.29)
4 | x x0 |
3.2.4 Vorticity in NS
This brings up the idea of looking for vorticity in the Navier-Stokes dynamics.
We make use of two identities. First
( u) = = 2 u + ( u) (3.30)
in which the last term vanishes; second, the Lamb vector (see Ch. 2) reap-
pears since
1
( u) u = u = u u (u u). (3.31)
2
Then, the momentum equation can be rewritten as
p u2
t u + u = ( + + gz) (3.32)
2
On the l.h.s., we have the material derivative of the vorticity; on the r.h.s.,
the inviscid term is interpreted as a stretching term. We will return to it also
in Ch. 5.
While pressure is non explicitly present in the vorticity equation, its ef-
fects are implied through the velocity field. When reconstructing the velocity
from vorticity with the Biot-Savart formula, the irrotational part (with local
pressure: see Ch. 5) is missing and is uniquely determined by matching the
boundary conditions; the rotational part included in Biot-Savart is induced
by vorticity distribution throughout the field.
u2 u2
t + uj j = bi ui + ui j Tij
2 2
= bi ui + j (ui Tij ) j ui Tij
= bi ui + j (ui Tij ) sij Tij
2
= bj uj + j (j u2 1 puj ) (j ui )2 , (3.34)
t u + u = B + 2 u (3.35)
and evaluate the changes of B along a streamline (note the subtle meanings
of the u operation):
u B = u t u + u (2 u)
2 2
= (t u2 + 2 u2 ) (u)2 (3.36)
Two contributions are recognized on the r.h.s. First is the unsteady diffusion
of kinetic energy. For steady pipe flow, the time derivative term cancels out,
and the velocity profile shows a maximum at the centerline in the direction
of the flow, so the Laplacian of energy is negative, and kinetic energy diffuses
from the centerline toward the walls. Second, we see the dissipation term,
always negative. Both contributions (diffusion and dissipation) are negative
in steady flow, leading to a gradual loss in the value of B as we follow a
streamline. These effects are modeled in practice (see undergraduate texts)
in terms of an empirical formula based on the Darcy friction factor.
3.5 Enstrophy
Similar considerations apply to the square vorticity 2 = i i . The enstro-
phy 2 /2 plays an important role in geophysical applications and turbulence
theory. Starting from the vorticity equation and multiplying (with summa-
tion) by i , we get
2 2 2 2
t + uj j = i j j ui + jj 2
(j i )2
2 2
2 2
= i j sij + jj 2
(j i )2 (3.37)
3.6. STRUCTURE OF THE EQUATIONS 97
Beside the familiar convection and diffusion terms, we see a vortocity dissi-
pation term similar to its counterpart in the energy equation. The vortex
stretching term is quadratic in vorticity, and retains only the symmetric part
of velocity derivatives (rate-of-strain). We will return to this term in Ch. 5.
the Poisson and related equations (Laplace, Biot-Savart), for which the
Greens function introduces non-local effects.
98 CHAPTER 3. DYNAMICS
other definitions
i ui = 0. (3.38)
This is not the same as assuming that the fluid density is constant, which
would be an equation of state. For example, it is well known that ideal gas
behavior
pv = RT (3.39)
is consistent with incompressible aerodynamics. The resolution of this ap-
parent paradox rests on the observation that we only need to assume that the
effects of density variations are dynamically unimportant a much weaker
assumption. Two important classes of incompressible flows are established:
the small-Mach-number (low speed) flows, and the small-buoyancy natural
convection flows (Boussinesq approximation).
The analysis is based on the adoption of some reference density 0 and
small departures from it (/0 1); and the subtraction of the refer-
ence hydrostatic balance
3 p0 = 0 g (3.40)
from the momentum equation. The remaining terms are
1
t ui + u j j ui = i p gi3 + jj ui (3.41)
0
3.7. INCOMPRESSIBLE FLOW APPROXIMATION 99
u2 (3.43)
Introducing the general relation for the speed of sound a
p 1
a2 = |s (3.44)
we obtain
u2
2 M a2 . (3.45)
a
Consequently, density variations can be neglected if M a 1.
If viscous scaling is relevant, the incompressibility condition becomes
M a2 Re (3.46)
(t + ui i ) + i ui = 0 (3.47)
3.8. SUMMARY 101
gL < 1 (3.48)
3.8 Summary
The Navier-Stokes equations are the cornerstone of fluid dynamics. They
embody Newtons second law (F = ma) for incompressible Newtonian fluids,
with more general forms available in the literature. They have also been
shown to be the statistical limit of kinetic theory (Chapman-Enskog) for
gases slightly out of equilibrium. In conjunction with kinematic constraints,
they represent the only analytic basis for the study of fluid motion.
Thus, it is humbling to realize that, nearly two centuries after they were
derived, so few solutions have been obtained. The undergraduate student
is exposed to Poiseuille and Couette flows, in which stationary flow and
geometry eliminate the time dependence and nonlinearities. Oseens vortex
is time-dependent, but there are no convective effects; the same holds for
Stokes two classic problems (see Ch. 6). See Pantons Chs. 7 and 11 for list
of solutions; see e.g. Acheson for the Burgers vortex.
But, as the leading idea through the remainder of the course, one can learn
from the equations without solving them. By understanding their physical
content, we will be able to work out rational approximations, keeping in mind
when they might fail and what the telltale signs might be.
Problems
1. Show that the energy dissipation rate depends on the rate-of-strain
(and not on vorticity). Show that, in the case of a flow enclosed by
rigid boundaries, the vanishing boundary flux terms (divergence) allow
the rewriting of dissipation rate as proportional to square vorticity.
(Adapted from Batchelor, p.263)
3. Consider an infinite flat plate oscillating it its own plane with velocity
U = U0 sin t . Assume that the fluid oscillates at the same frequency
(but not in phase). How do the amplitude and phase of fluid motion
vary with distance from the plate (Stokes second problem).