Derivation of the Navier-Stokes momentum equations

Start with Cauchy’s formula

d(ρu)
= div(σ) + f , (1)
dt
where u is the flow velocity, ρ the fluid density, σ the stress tensor and f are body forces.
If the fluid is at rest, the stress tensor must by isotropic. All second order isotropic tensors
are proportional to the identity tensor, thus

σrest = −pth I, (2)

where pth is the thermodynamic pressure.

We then extend this model to capture dynamic effects

σ := σrest + σdyn , (3)

such that σdyn = 0 in rest.

In Newtonian fluids, is is assumed that the dynamic part σdyn of the stress tensor σ is pro-
portional to the strain rate tensor
 
du 1
s := sym , sym(A) := (A + AT )
dx 2

via a fourth order tensor like in Hooke’s law

(σdyn )ij = (K)ijkl (s)kl . (4)

However we assume that the stress tensor is symmetric (valid if there is no net torque on the
fluid elements), and that the fluid is isotropic. All isotropic fourth order tensors are of the form

(K)ijkl = λδij δkl + µδik δjl + γδil δkj . (5)

Exchanging the k and l indices on both sides of (4), we get

(σdyn )ij = (K)ijlk (s)lk = (K)ijlk (s)kl . (6)

|{z}
symmetric

Comparing (4) and (6) and keeping in mind that s is a general tensor, we see that

(K)ijkl = (K)ijkl , (7)

and thus
γ = µ. (8)
For the complete Cauchy stress tensor σ, we get

σ = −pth I + 2µs + λ tr (s) I. (9)

µ is the dynamic viscosity and λ is the volume viscosity.

We now introduce the mechanical or mean pressure pmech as the negative mean trace of the
stress tensor σ:
−1 2 2
pmech := tr (σ) = pth − ( µ + λ) tr (s) = pth − ( µ + λ) div (u). (10)
3 3 3
1
 The volume viscosity λ is usually not well-known. That’s why we usually use Stokes’ hypothesis
to assume our problems away:
−2
λ := µ. (11)
3
Under this hypothesis, the thermodynamic pressure (state function) and the mechanical pres-
sure (force per area) coincide, so we drop the subscripts. Summing up, we get
 
d(ρu) 2
= div −pI + 2µs − µ div(u)I + f
dt 3
(12)
(13),(14) 2
= − grad(p) + div (2µs) − grad (µ div (u)) + f ,
3
where we used the fact that for a scalar φ

div (φI) = grad (φ) (13)

and for a vector v in cartesian coordinates

 
 d2 v 
 
dv
div = tr  T
= ∆v . (14)
dx |dxdx
{z }
Hessian

We can tweak (12) a little bit more by using conservation of mass (aka continuity equation)

∂ρ ! ∂ρ dρ
+ div(ρu) = 0 ⇔ + grad(ρ) · u + ρ div(u) = 0 ⇔ + ρ div(u) = 0. (15)
∂t ∂t dt
To do this, we assume an incompressible flow, that is
dρ
= 0. (16)
dt
So we conclude that u is solenoidal
div (u) = 0. (17)
Then the left hand side of (12) becomes

d(ρu) dρ du du
= u+ρ =ρ . (18)
dt dt
|{z} dt dt
=0

In the right hand side, we can drop the term with div (u). In the end, for incompressible flows,
we get
 
∂u du
ρ + u = − grad(p) + div (2µs) + f
∂t dx
= − grad(p) + 2µ div (s) + 2s grad(µ) + f
= − grad(p) + µ∆u + 2s grad(µ) + f .