2.

20 - Marine Hydrodynamics, Spring 2005

Lecture 9

2.20 - Marine Hydrodynamics

Lecture 9
Lecture 9 is structured as follows: In paragraph 3.5 we return to the full Navier-Stokes
equations (unsteady, viscous momentum equations) to deduce the vorticity equation and
study some additional properties of vorticity. In paragraph 3.6 we introduce the concept of
potential ow and velocity potential. We formulate the governing equations and boundary
conditions for potential ow and nally introduce the stream function.

3.5 Vorticity Equation

Return to viscous incompressible ow. The Navier-Stokes equations in vector form
 
v p
+ v v = + gy + 2v
t
By taking the curl of the Navier-Stokes equations we obtain the vorticity equation. In
detail and taking into account u  we have

 
v p  
(Navier-Stokes) + (v v ) = + gy + 2v
t
The rst term on the left side, for xed reference frames, becomes
v 
= ( v ) =
t t t
In the same manner the last term on the right side becomes
 
2v = 2 
Applying the identity scalar = 0 the pressure term vanishes, provided that the
density is uniform  
p
( + gy) = 0

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The inertia term v v , as shown in Lecture 8, 3.4, can be rewritten as
 2
1 v
v v = (v v ) v ( v ) =  where v 2 |v |2 = v v
v
2 2

and then the second term on the left side can be rewritten as
 2
v
(v ) v = (v  ) = ( v )
2
= (v )  ( ) v +  ( v ) + v (  )
   
=0 =0 since
incompressible (v )=0
uid

Putting everything together, we obtain the vorticity equation

D
 ) v + 2
= ( 
Dt

Comments-results obtained from the vorticity equation

Kelvins Theorem revisited - from vorticity equation:

D

If 0, then Dt
= ( ) v , so if
 0 everywhere at one time,
 0 always.

can be thought of as diusivity of vorticity (and momentum), i.e.,  once generated

(on boundaries only) will spread/diuse in space if is present.

v
v

v v
Dv v D
D v
= 2v + ... = 2 + ...
Dt Dt

 T
Diusion of vorticity is analogous to the heat equation: = K2 T , where K is the
t
heat diusivity.

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Numerical example  1 mm /s. For diusion time t = 1 second, diusion
 for
distance L O t O (mm). For diusion distance L = 1cm, the necessary
diusion time is t O (L2 /) O(10)sec.

In 2D space (x, y),

v = (u, v, 0) and 0
z

 = v is to v (
So,  is parallel to the z-axis). Then,

( ) v = x + y + z v 0,
 x  y z
0 0

0

so in 2D we have

D
= 2

Dt
If = 0, D

Dt
= 0, i.e., in 2D following a particle the angular velocity is conserved.
Reason: In 2D space the length of a vortex tube cannot change due to continuity.

 In 3D space,

Di vi 2 i
= j +
Dt x xj xj
  j  
vortex turning and stretching diusion

for example,

D2 u2 u2 u2
= 1 + 2 + 3 + diusion
Dt x1 x x3
    2  
vortex turning vortex stretching vortex turning

z x3 z x3
u2
dz > 0
dz x3
dy
u2 = 0 y x2 u2 = 0 y x2
u2
dy > 0
x2
x x1 x x1

u2 D2 u2 3 >0 D2
>0 >0 > 0 >0
x2 1Dt
424 3 x3 1Dt
424 3
vortex stretching rate vortex turning rate

3.5.1 Example: Pile on a River

Scouring

What really happens as length of the vortex tube L increases?

IFCF is no longer a valid assumption.

Why?
Ideal ow assumption implies that the inertia forces are much larger than the viscous
eects. The Reynolds number, with respect to the vortex tube diameter D is given by
UD
Re

As the vortex tube length increases the diameter D becomes really small Re is not
that big after all.
Therefore IFCF is no longer valid.

3.6 Potential Flow

Potential Flow (P-Flow) is an ideal and irrotational uid ow

Inviscid Fluid =0


+ Ideal Flow

P-Flow Incompressible Flow v = 0



+

Irrotational Flow  = 0 or = 0

3.6.1 Velocity potential

For ideal ow under conservative body forces by Kelvins theorem if  0 at some

time t, then  0 irrotational ow always. In this case the ow is P-Flow.

Given a vector eld v for which  = v 0, there exists a potential function

(scalar) - the velocity potential - denoted as , for which

v =

Note that
 = v = 0

for any , so irrotational ow guaranteed automatically. At a point x and time t,
the velocity vector v (x, t) in cartesian coordinates in terms of the potential function
(x, t) is given by
 

v (x, t) = (x, t) = , ,
x y z

 (x)

u u

u=0
>0 <0
x x
u >0 u <0

from low
to high

The velocity vector v is the gradient of the potential function , so it always points
towards higher values of the potential function.

3.6.2 Governing Equations and Boundary Conditions for Potential Flow

(a) Continuity

v = 0 = 2 = 0

Number of unknowns

Number of equations 2 = 0

Therefore we have closure. In addition, the velocity potential and the pressure p
are decoupled. The velocity potential can be solved independently rst, and after
is obtained we can evaluate the pressure p.

p = f (v ) = f () Solve for , then nd pressure.

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(b) Bernoulli equation for P-Flow
This is a scalar equation for the pressure under the assumption of P-Flow for
steady or unsteady ow.

Euler equation:
   
v v2 p
+ v  = + gy
t 2

Substituting v = and
 = 0 into Eulers equation above, we obtain
     
1 p
+ ||2 = + gy
t 2
or
 
1 p
+ ||2 + + gy = 0,
t 2
which implies that

1 p
+ ||2 + + gy = f (t)
t 2
everywhere in the uid for unsteady, potential ow. The equation above can be
written as
 
1 2
p = + || + gy + F (t)
t 2
which is the Bernoulli equation for unsteady or steady potential ow.

DO NOT CONFUSE WITH

BERNOULLI EQUATION FROM 3.4,

USED FOR STEADY, ROTATIONAL FLOW

Summary: Bernoulli equationS for ideal ow.

(a) For steady rotational or irrotational ow along streamline:
 
1 2
p = v + gy + C()
2
(b) For unsteady or steady irrotational ow everywhere in the uid:
 
1 2
p = + || + gy + F (t)
t 2

(c) For hydrostatics, v 0, t = 0:

p = gy + c hydrostatic pressure (Archimedes principle)

(d) Steady and no gravity eect ( t = 0, g 0):

v 2
p= + c = ||2 + c Venturi pressure (created by velocity)
2 2
(e) Inertial, acceleration eect:

Eulerian inertia
 

p +
t

p v +
t

p
p p+ x
x
x

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(c) Boundary Conditions

KBC on an impervious boundary

vn

= un
 no ux across boundary = Un given
n
n Un given

DBC: specify pressure at the boundary, i.e.,

 
1
+ ||2 + gy = given
t 2

Note: On a free-surface p = patm .

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3.6.3 Stream function

Continuity: v = 0; Irrotationality: v =  = 0
Velocity potential: v = , then v = () 0 for any , i.e.,
irrotationality is satised automatically. Required for continuity:

v = 2 = 0
 dened by

Stream function

v = 




 0 for any
Then v =  , i.e., satises continuity automatically.
Required for irrotationality:
   
 =
v = 0  2 =0 (1)



still 3 unknown
 =(x ,y ,z )

For 2D and axisymmetric ows,  is a scalar (stream functions are more use
ful for 2D and axisymmetric ows).

For 2D ow: v = (u, v, 0) and z
0.

 
 i       
 j k 


 
v = =
 x y z  =
z i +

z j +
y
x k



y
x
x
y

x y z

Set x = y 0 and z = , then u = y
; v =
x

So, for 2D:

 = x + y + z 0

x y z
Then, from the irrotationality (see (1)) 2 = 0 and satises Laplaces
equation.

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2D polar coordinates: v = (vr , v ) and z
0.

y
r
r

  vr v
 
v
z
 er re ez       

1
  1 1

=

v = 
=

z
er

z
e + r r ez
r

r z 
r
r
r r

r z

Again let
r = 0 and z = , then
1
vr = and v =
r r

 also reduces to (read JNN 4.6 for details).

For 3D but axisymmetric ows,

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 Physical Meaning of .
In 2D

u= and v =
y x
We dene
 
x  
x
(x, t) = (x0 , t) + v nd

= (x0 , t) + (udy vdx)


x0 
x0
 
total volume ux
from left to right
accross a curve C
between x and x0

v
x

C
v
t

v
xo C n

For to be single-valued, must be path independent.

    
= or = 0 v n
d
=  v ds = 0
C C C C CC S =0, continuity

Therefore, is unique because of continuity.

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Let x1 , x2 be two points on a given streamline (v n = 0 on streamline)

streamline

x2
(x2 ) = (x1 ) + v n d


   
2 1 
x1 =0
along a
streamline

Therefore, 1 = 2 , i.e., is a constant along any streamline. For example, on

an impervious stationary body v n = 0, so = constant on the body is the
appropriate boundary condition. If the body is moving v n = Un

= 0 + Un d
on the boddy

given

= constant =0
u=0 n

= given

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 Flux = vx = uy.

Therefore, u = and v =
y x

(x, y + y)

u
streamline
-v
streamline (x +x, y)
(x,y)

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Summary of velocity potential formulation vs. stream-function formulation for ideal ows

For irrotational ow use

For incompressible ow use

For P-Flow use or

velocity potential stream-function

denition v = v = 
continuity v = 0 2 = 0 automatically
  satised
 
irrotationality v = 0 automatically satised  =  2
=0

2D: w = 0, z =0
continuity 2 = 0 automatically satised
irrotationality automatically satised z : 2 = 0

Cauchy-Riemann equations for (, ) = (real, imaginary) part of an analytic complex

function of z = x + iy

u= x
u= y
Cartesian (x, y)

v= y v =
x

1
vr = r
vr = r
Polar (r,)
1
v = r
v =
r

Given or for 2D ow, use Cauchy-Riemann equations to nd the other:

e.g. If = xy, then = ?

1
u= =y= = y 2 + f1 (x)

x y 2 1
= (y 2 x2 ) + const

2
= x2 + f2 (y)
1
v= =x=

y x 2

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