Basic Governing Differential

Equations
CEE 331
March 2, 2015

Monroe L. Weber-Shirk

School of Civil and

Environmental Engineering

Overview
Continuity Equation
Navier-Stokes Equation
(a bit of vector notation...)

Examples (all laminar flow)

Flow between stationary parallel horizontal
plates
Flow between inclined parallel plates
Pipe flow (Hagen Poiseuille)

Why Differential Equations?

A droplet of water
Clouds
Wall jet
Hurricane

Conservation of Mass in
Differential Equation Form
IF v I
F
yJG
v yJxz
G
H y KH y K

Mass flux out of differential volume

yxz
t

vxz

Rate of change of mass in

differential volume

z
Mass flux into differential volume

Continuity Equation
Mass flux out of differential volume

v
F
I
v y v y
y Jxz
G
H y y y y K
2

out

in

Higher order term

Rate of mass decrease

v
I

yxz
G
J
H y y K
t

y
y
t
v

0
y t

1-d continuity equation

Continuity Equation

a f af a f

u v w

0
t
x
y
z
divergence

V 0 Vector notation
t

3-d continuity equation

u, v, w are
velocities in x, y,
and z directions

If density is constant...
u v w

0
x y z

or in vector notation

True everywhere! (contrast with CV equations!)

V 0

Continuity Illustrated
u v w

0
x y z

What must be happening?

v
<0
y

u
>0
x

Navier-Stokes Equations
Derived by Claude-Louis-Marie Navier in 1827
General Equation of Fluid Motion
Based on conservation of ___________
momentum with forces
____________
Gravity
___________________
Pressure
___________________
Shear
U.S. National Academy of Sciences has made the full
solution of the Navier-Stokes Equations a top priority

Navier-Stokes Equations
V a F

a g p V
2

a p g 2 V

Navier-Stokes Equation
g is constant
a is a function of t, x, y, z

a Inertial forces [N/m3], a is Lagrangian acceleration

Is acceleration zero when V/ t = 0?

NO!

p g Pressure gradient (not due to change in elevation)

p g 0 then _____
V 0
If _________

V Shear stress gradient

2

du

dx

Notation: Total Derivative

Eulerian Perspective
D
dt dx dy dz
(t , x, y, z )

Dt
t dt x dt y dt z dt
D

(t , x, y, z )
u
v
w
Dt
t
x
y
z
DV
V
V
V
V
(t , x, y, z )
u
v
w
Dt
t
x
y
z
V
V
V
V
a
u
v
w
t
x
y
z
V
a
V V
t

Total derivative
(chain rule)

Material or
substantial derivative
Lagrangian acceleration

() () ()
()
i
j
k
x
y
z
()
()
()
V () u v w
x
y
z

Application of Navier-Stokes
Equations
The equations are nonlinear partial
differential equations
No full analytical solution exists
The equations can be solved for several
simple flow conditions
Numerical solutions to Navier-Stokes
equations are increasingly being used to
describe complex flows.

Navier-Stokes Equations: A
Simple Case
No acceleration and no velocity gradients
a p g 2 V
0 p g
p g

p
gx
x
p
0
x

xyz could have any orientation

p
g y
y

p
g
y

p gy C

p
g z Let y be vertical upward
z
Component of g in the x,y,z direction
p
0
z

For constant

Infinite Horizontal Plates:

Laminar Flow
Derive the equation for the laminar, steady, uniform flow
between infinite horizontal parallel plates.
a p g 2 V

0 p g 2 V
2u
p
0
2
x

v0
2
2
2
Hydrostatic in y
v v v
2 2
p
2
x y
z
0 g
y
w

0
2 w 2 w 2 w
2 2
00
2
x
y
z

2u 2u 2u
p
x 0 g x 2 2 2
x
y
z
x

p
y 0 gy
y

z 0 p g z
z

Infinite Horizontal Plates:

Laminar Flow
2u
p
0
2
x

d 2u
dp
d

2
dx
dy
dy
2

dp
d
u

dy
dy
2

dx
dy

du
dp

A
dy

dy

dx

dy

du

dy
Pressure gradient in x balanced by
shear gradient in y

No a so forces must balance!

du
dp
y
A
dx
dy

y 2 dp
Ay B u
2 dx

Now we must find A and B Boundary Conditions

Infinite Horizontal Plates:

Boundary Conditions
y

No slip condition
u = 0 at y = 0 and y = a

y 2 dp
Ay B u
2 dx

dp
let
negative
be___________
dx

What can we learn about ?

B0
a 2 dp
Aa 0
2 dx
y y a dp
u
2 dx

a dp
A
2 dx

du
dp
y A
dx
dy

a dp
y
2 dx

Laminar Flow Between Parallel

Plates
U

a g p 2 V
0 g p V
2

x
No fluid particles
are accelerating

2u 2u 2u
p
0 gx
2 2
2
x
y
z
x
2u
p
0 gx
2
x

Write the x-component

Flow between Parallel Plates

2u
p
0 gx
2
x

d 2u
dp
0 gx

2
dx
dy

d 2u
dp

gx
2
dx
dy

u is only a function of y
g x g i
General equation describing laminar
flow between parallel plates with the
only velocity in the x direction

Flow Between Parallel Plates:

Integration

d u
dp

x
dy 2
dx

d u
dp

2 dy g x dy
dx

dy
du
dp

y gx A
dy
dx

dp
du

dy

A
dy

dx
dy

y2
dp
u g x Ay B
2
dx

Boundary Conditions
y2
dp
u g x Ay B
2
dx
Boundary condition

u = 0 at y = 0

0 00 B
Boundary condition

u = U at y = a

a2
dp
U g x Aa
2
dx
Uy y 2 ay
dp
u

gx
a
2
dx

U a
dp
A
gx
a
2
dx

Discharge
y
y 2 ay
dp
u U
gx
a
2
dx
a

y
y 2 ay
dp
q udy U
g x dy
2
dx
a
0
a

Ua a 3
dp
q

gx
2 12
dx

Discharge per unit width!

Example: Oil Skimmer

An oil skimmer uses a 5 m wide x 6 m long
moving belt above a fixed platform (=60) to
skim oil off of rivers (T=10 C). The belt travels at
3 m/s. The distance between the belt and the fixed
platform is 2 mm. The belt discharges into an open
container on the ship. The fluid is actually a
mixture of oil and water. To simplify the analysis,
assume crude oil dominates. Find the discharge
and the power required to move the belt.

= 860 kg/m

= 1x10-2 Ns/m2

g
60

Example: Oil Skimmer

Ua a 3
dp
q

gx
2 12
dx

dp
0
dx

g
60

g x g i g cos(60) 0.5 g

a 0.002 m

U 3 m/s

(3 m/s)(0.002 m)
(0.002 m)3
2
3
q

0.5
9.806
m/s
860
kg/m
)

-2
2
2
12 1x10 N s/m
dominates

q = 0.0027 m2/s

(per unit width) In direction of belt

Q = 0.0027 m2/s (5 m) = 0.0136 m3/s

Example: Oil Skimmer Power

Requirements
How do we get the power requirement?
___________________________
Power = Force x Velocity [Nm/s]

What is the force acting on the belt?

Shear
force (L W)
___________________________

Remember the equation for shear?

=(du/dy)
_____________

Evaluate at y = a.

U a
dp
du
dp

y gx A
x

a
2
dx

dy
dx

a
dp
U

y gx
2
dx
a

Example: Oil Skimmer Power

Requirements
a
dp
U

y g x
2
dx
a

dp
g x g cos 60
dx

a
U
g cos 60
2
a

3 m
2 N s
1x10

2
0.002
m

860
kg
N
s
m

9.8 m/s
0.5
19.2 2

3
2
m
0.002 m
m
Power LWU

FV

N
3 m

Power 19.2 2 6 m 5 m
s
m

(shear by belt on fluid)

= 3.46 kW

How could you reduce the power requirement? Decrease

__________

Example: Oil Skimmer

Where did the Power Go?
Where did the energy input from the belt
go?
Potential and kinetic energy
Heating the oil (thermal energy)
P Qh Potential energy
N

P 8430 3
m

h=3m

m3
0.0136 3 m
s

P 344 W

Velocity Profiles
Pressure gradients
and gravity have
the same effect.
In the absence of
pressure gradients
and gravity the
velocity profile is
________
linear

y
y 2 ay
dp
u U

a
2
dx

Example: No flow
Find the velocity of a vertical belt that is 5
mm from a stationary surface that will
result in no flow of glycerin at 20C (m =
0.62 Ns/m2 and =1250 kg/m3)
Draw the glycerin velocity profile.
What is your solution scheme?
Ua a 3
dp
q

gy

2 12
dy

Laminar Flow through Circular

Tubes
Different geometry, same equation
development (see Munson, et al. p 327)
Apply equation of motion to cylindrical
sleeve (use cylindrical coordinates)

Laminar Flow through Circular

Tubes: Equations
r 2 R2
dp
vl

4
dx
vmax

R2
dp

gx
4
dx

R is radius of the tube

Max velocity when r = 0

R2
dp
V
gx
8
dx

Velocity distribution is paraboloid of

average velocity
revolution therefore _____________
(V) is 1/2 vmax
_____________

R4
dp
Q
gx
8
dx

Q = VA = VR2

Laminar Flow through Circular

Tubes: Diagram
r 2 R2
dp
vl

4
dx
dvl
r
dp

gx
dr 2
dx

Velocity
Shear (wall on fluid)

dvl r
dp

gx
dr 2
dx
Next slide!
r ghl
True
for
Laminar
or

2 l
Turbulent flow

Laminar flow

Shear at the wall

ghl d
0
4l

Remember the approximations of no shear, no head loss?

Relationship between head loss

and pressure gradient for pipes
p1
V12
p2
V22
z1 1
hp
z2 2
ht hl cv energy equation
1 g
2g
2 g
2g
p1
p2
z1
z2 hl
1 g
2 g

Constant cross section

ghl p2 p1 gz 2 gz1
hl
p
z
g

g
x
x
x

g
g

hl
p

g x
x
x

hl
dp

g x
l
dx

In the energy equation

the z axis is tangent to g

x is tangent to V
z
z
x
g
gx
x

l is distance between control

surfaces (length of the pipe)

The Hagen-Poiseuille Equation

hl
dp

g

g x
l
dx

Relationship between head loss

and pressure gradient
Hagen-Poiseuille Laminar pipe flow equations

R4
dp
Q
gx
8
dx
hl
R4
Q
g

8
l

D 4 ghl
Q
128 l

From Navier-Stokes
What happens if you double the
pressure gradient in a horizontal
tube? ____________
flow doubles
D 2 ghl
V
32 l

V is average velocity

Example: Laminar Flow (Team

work)
Calculate the discharge of 20C
water through a long vertical section of 0.5
mm ID hypodermic tube. The inlet and outlet
pressures are both atmospheric. You may
neglect minor losses.
What is the total shear force?
What assumption did you make? (Check your
assumption!)

Example: Hypodermic Tubing

Flow
p1
V12
p2
V22
z1 1
Hp
z2 2
H t hl
1
2g
2
2g
D 4 hl
Q
128 L

c
Q

hafa

9806 N / m3 0.0005m

128 1x103 Ns / m2

4Q
V 2
d
Vd
Re
Re

Re 38

V 0.0764m / s

hl d
0
4l
Q 158
. x108 m3 / s
2rlhl d
Fshear
4l
Q 158
. L / s
Fshear r 2 hl

0.0764m / s 0.0005m 1000kg / m3

1x10

Ns / m 2

= weight!

Summary
Navier-Stokes Equations and the Continuity
Equation describe complex flow including
turbulence
The Navier-Stokes Equations can be solved
analytically for several simple flows
Numerical solutions are required to describe
turbulent flows

Glycerin
Ua a 3
dp
Q

gy

2 12
dy
Ua a 3 g
0

2
12

dp
gy
g
dy

a2 g
U
6
2
3
0.005
m
12300
N
/
m

U
0.083m / s
2
6 0.62 Ns / m

1254 kg / m h
0.083m / sfa
0.005mf
a
Vl c
R

0.8
3

0.62 Ns / m2