LECTURE 4
INTRODUCTION TO FLUID DYNAMICS
¡ A conformal mapping is a specific transformation
that preserves angles and local orientation
¡ For a mapping to be conformal we demand
𝑓′ 𝑧 ≠ 0
¡ If 𝑓 𝑡 = ∑$
!"#$ 𝐶! 𝑒
%& ! '
then
1 *+
𝐶( = / 𝑓 𝑡 𝑒 %&" ' 𝑑𝑡
2𝜋 )
RECAP ¡ Fourier transforms take a function and
decompose it into it’s constituent frequencies
¡ Spatial Fourier transform:
$
1
𝐹 𝑘 = / 𝑓 𝑥 𝑒 #%*+,- 𝑑𝑥
2𝜋 #$
¡ The inverse Fourier transform:
$
1
𝑓 𝑥 = / 𝐹 𝑘 𝑒 %*+,- 𝑑𝑘
2𝜋 #$
OVERVIEW OF
¡ Fluid Dynamics Introduction
¡ Introducing the Material Derivative
LECTURE 4
¡ Stream Function and Streamlines
¡ Introduction to the Navier-Stokes Equation
SECTION 1
INTRODUCTION TO FLUID DYNAMICS
FLUID DYNAMICS
¡ Fluid dynamics as the study of fluids (liquids and gases) in motion and at rest
¡ Fluid dynamics can be used to describe anything from smooth flows to turbulent motion
¡ Fluid analysis is important for industiries;
¡ Aeronautics and Aerospace: Design of aircraft, spacecraft, and missiles
¡ Automotive Engineering: Vehicle aerodynamics and fuel efficiency
¡ Marine Engineering: Ship hydrodynamics and propulsion
¡ Environmental Engineering: Atmospheric modeling and pollution dispersion
¡ Biomedical Engineering: Blood flow in arteries, respiratory fluid dynamics, etc.
WHAT IS A FLUID?
¡ Solids can resist shear forces, and will only deform slightly
¡ Fluids, however, cannot resist shearing forces and will deform under applied stress
¡ Fluids will take the shape of their containers
¡ Following the interactions of individual molecules is nearly impossible. Instead, we consider the collective motions
of particles as a fluid
PROPERTIES OF FLUIDS
¡ Key properties:
¡ Density – Varies with temperature, pressure and composition
¡ Velocity – A vector quantity that, combined with density, determines the momentum of the flow
¡ Viscosity – Measures the ability of a fluid to flow freely
¡ Viscous fluids include honey– difficult to flow, and move slowly
¡ Pressure
¡ Temperature
¡ We take fluids in fluid dynamics to
¡ Be incompressible
¡ Have constant temperature, pressure, density etc. in time
TYPES OF FLOW
¡ Steady vs. Unsteady Flows: Steady if properties at any point do not change with time
¡ Uniform Flows: If the flow velocity is the same at each point in space
¡ Laminar vs. Turbulent Flows: Laminar if flow is smooth and orderly; turbulent if irregular and chaotic
¡ Incompressible vs. Compressible Flows: Incompressible if density remains constant; compressible if density
changes significantly.
¡ Invicid flows: Flows are said to be invicid if they have zero viscocity
CONSERVATION OF MASS
¡ If a fluid is incompressible then given that the mass of the fluid is
conserved, the volume must as be constant
¡ The rate of flow of fluid flowing into a region must be the same as
the rate of flow out of that region
¡ Volumetric flow rate Q tells us the rate of flow of a fluid
¡ Where 𝑢! is the flow velocity of the fluid, and A is the cross-
sectional area
CONSERVATION OF MASS
¡ Mass is conserved: mass in = mass out
¡ If the density is constant:
¡ Types of flow:
¡ Steady - do not depend on time
¡ Uniform Flows - do not depend on space
SUMMARY OF ¡ Laminar - smooth and orderly
¡ Incompressible - density remains constant
SECTION 1 ¡ Invicid flows – zero viscosity
¡ For incompressible flows, mass conservation
gives:
SECTION 2
MATHEMATICAL LANGUAGE
PARTIAL DERIVATIVES
¡ If we have a surface that depends on two different parameters (𝑥, 𝑦)
then we can take a gradient along that surfce in different ways
¡ We find the slope in the x direction (while keeping y fixed)
¡ Or we can find the slope in the y direction (while keeping x fixed)
¡ In each case we can take a partial derivative to see how our function
varies in x or y only
¡ We denote a partial derivative in the x direction as:
𝜕
𝜕𝑥
¡ This is done by taking a derivative of our function wilst keeping its
dependence on y fixed
PARTIAL DERIVATIVE - EXAMPLE
Example
¡ Consider the function 𝑓(𝑥, 𝑦) = 𝑥2 + 𝑦3. Find the partial derivatives in 𝑥 and 𝑦
¡ First let’d do the partial derivative in x:
𝜕𝑓
= 2𝑥
𝜕𝑥
¡ Now the partial derivative in y:
𝜕𝑓
= 3𝑦 "
𝜕𝑦
PARTIAL DERIVATIVE - EXAMPLE
Example
¡ Consider the function 𝑓(𝑥, 𝑦) = 𝑥2 𝑦3. Find the partial derivatives in 𝑥 and 𝑦
¡ First let’d do the partial derivative in x:
𝜕𝑓
= 2𝑥𝑦 #
𝜕𝑥
¡ Now the partial derivative in y:
𝜕𝑓
= 3𝑥 " 𝑦 "
𝜕𝑦
GRADIENT
$%
¡ We’re used to gradients on a graph; e.g. is the rate of change of y with respect to x
$&
¡ Gradients can be generalised to 3D
¡ ’Grad’ is a vector derivative
¡ Acting with the ∇ operator on a scalar field 𝑆(𝑥, 𝑦, 𝑧) produces a vector field
GRADIENT
¡ Gradients are coordinate independent
GRADIENT
¡ Gradients are coordinate independent
GRADIENT
¡ Gradients are coordinate independent
GRADIENT
¡ Gradients are coordinate independent
DIVERGENCE
¡ The divergence of a vector field 𝐕 measures how much 𝐕 spreads out at each point (𝑥, 𝑦, 𝑧)
¡ The divergence is the dot product of the ∇ operator and the vector field on which it acts:
Exampe
¡ A field pointing and spreading out in the radial direction, 𝑽 = c𝑥4
𝒙 + 𝒄𝑦4
𝒚 + 𝑐𝑧9𝒛
CURL
¡ The curl of 𝐕(x, y, z) measure the vorticity of 𝐕 (i.e. how ‘swirly’ it is)
CURL
¡ The curl of 𝐕(x, y, z) measure the vorticity of 𝐕 (i.e. how ‘swirly’ it is)
CURL
¡ The curl of 𝐕(x, y, z) measure the vorticity of 𝐕 (i.e. how ‘swirly’ it is)
CURL - EXAMPLE
Example
¡ Consider the vecotr field 𝑽 = −cy4
𝒙 + 𝒄𝒙4
𝒚 swirling in the xy plane
¡ We need to consider all three co-ordinate components individually
THE LAPLACIAN
¡ The Laplacian is the scalar square of the ∇ vector
¡ It is the divergence of the gradient
¡ This is a very important operator in physics and appears in many physical equations
¡ Gradient of a scalar:
¡ Divergence of a vector:
SUMMARY OF
SECTION 2 ¡ Curl of a vector:
¡ The Laplacian of a scalar:
SECTION 3
USING MATHEMATICAL LANGUAGE
LAGRANGIAN AND EULERIAN TIME DERIVATIVES
¡ The Lagrangian time derivative (often called the material time derivative) is denoted by the operator 𝐷/𝐷𝑡 and, as
its name implies, is defined as the rate of change with time of some property of the fluid (denoted here by Q
which could be the velocity, density, pressure, etc.) within some particular fluid element; as we move along with
the fluid
¡ The Eulerian time derivative, denoted here by 𝜕/𝜕𝑡 is the rate of change with time of some fluid property at a
fixed point within the coordinate frame of reference that we have chosen for that Eulerian view.
¡ Think of the fluid flow as a road filled with busy traffic and consider Q in this example to be the velocity of the
vehicles. Then the Lagrangian acceleration, 𝐷𝑄/𝐷𝑡, is the acceleration of an individual vehicle as it speeds up or
slows down during its journey. On the other hand, the Eulerian acceleration, 𝜕/𝜕𝑡, would be the rate of increase
or decrease in velocity of the vehicles at one particular location on the highway.
LAGRANGIAN AND EULERIAN TIME DERIVATIVES
Eulerian Lagrangian
𝜕 𝐷
𝜕𝑡 𝐷𝑡
LAGRANGIAN AND EULERIAN TIME DERIVATIVES
¡ The time rate of change of Q for this fluid element is denoted by 𝐷𝑄/𝐷𝑡. We can write this as:
¡ We can consider taking a taylow expansion of the first term on the RHS:
¡ Hence,
¡ Component by component this is:
LAGRANGIAN AND EULERIAN TIME DERIVATIVES
¡ Here 𝑢 = (𝑢, 𝑣, 𝑤)
¡ An example in cartesian coordinates:
LAGRANGIAN AND EULERIAN TIME DERIVATIVES
¡ First term is a local time derivative, and the second term is the movement of a fluid parcel by the flow
¡ We can the second term an ‘advection term’
LAGRANGIAN AND EULERIAN TIME DERIVATIVES – STEADY FLOW
¡ A steady flow in a particular coordinate system is one in which the velocities at every point are not changing with
time so that
¡ In other words, the Eulerian time derivatives of the velocity are zero
¡ This does not mean that there is no acceleration in the flow since the Lagrangian accelerations are not
necessarily zero
LAGRANGIAN AND EULERIAN TIME DERIVATIVES – STEADY FLOW
¡ A very simple example is to consider the steady
flow through a duct as shown
¡ Since the flow is steady the velocity at some fixed
point in the nozzle, such as A, is unchanging with
time
¡ However, the velocity is decreasing from left to
right
¡ The Lagrangian acceleration is the acceleration of a
fluid element passing through the point A is not
zero
¡ However, the Eulerian acceleration is the
acceleration at point A, which is zero
¡ Lagriangian time derivative moves with
the flow
¡ Eulerian time derivative follows the
flow from a fixed location
SUMMARY OF ¡ Relationship:
SECTION 3 ¡ The first time is the local rate of
change of the fluid, the second term is
the advenction of the flow
SECTION 4
STREAM FUNCTIONS AND STREAMLINES
STREAMLINES
¡ A streamline is, at any time t, a curve whose tangent is everywhere
parallel to the velocity vector
¡ Streamlines at a given time do not intersect, because a particle at a given
point cannot have two different velocities at the same time
¡ A trajectory (or pathline) is the path followed by a particle. Trajectories
can intersect
¡ In an unsteady flow where the velocity vector changes with time the
pattern of streamlines also changes from instant to instant
¡ In a steady flow, the orientation as the pattern of streamline will be fixed
¡ Streamlines and trajectories only coincide in a steady flow
STREAMLINES
¡ A streamline cannot intersect itself nor two
streamlines can cross
¡ There cannot be any movement of the fluid mass
across the streamlines
¡ Streamline spacing varies inversely as the velocity;
converging of streamlines in any particular direction
shows accelerated flow in that direction
¡ Whereas a path lines gives the path of one
particular particle at successive instant of time a
streamline indicates the direction of a number of
particles at the same instant
¡ The series of streamlines represent the flow
pattern at an instant
PATHLINES
¡ A path line is the trajectory of fluid particle
¡ A path line shows the direction of particular
particle as it moves
¡ In 3D the parameters are function of three space
coordinates and time
¡ Path lines can cross in unsteady flows
SREAMTUBE
¡ A fluid mass bounded by a group of streamlines is
called a stream tube
¡ The contents of a stream tube are known as
“current filament”
¡ As there is no flow perpendicular to streamlines
therefore, there is no flow across the surface
(called stream surface)
¡ The shape of a stream tube change from one
instant to another, because of change in the
position of streamlines
Streamlines around a solid sphere
STREAMLINES
¡ Recall our material derivative:
¡ If we consider
𝑢 E ∇𝑄
¡ This is the rate of change of 𝑄 with distance along the streamline times the flow speed, which gives the rate of
change of 𝑄 with time along the streamline
¡ Therefore
𝑢 · ∇𝑄 = 0
indicates that 𝑄 is constant for a fluid element moving along that streamline
EQUATIONS OF STREAMLINES
¡ A small displacement (𝑑𝑥, 𝑑𝑦, 𝑑𝑧) along the streamline is then parallel to 𝑣 𝑥, 𝑦, 𝑧 . Hence, for a steady flow:
Example:
¡ Take the flow 𝑢 = (𝑘𝑥, −𝑘𝑦). Find the equation of the streamlines
¡ This is a steady flow, so we can eliminate 𝑡 from the particle path to
obtain
𝑑𝑥 𝑑𝑦
=−
𝑘𝑥 𝑘𝑦
¡ Integrating gives:
ln |𝑥| + ln |𝑦| = 𝐶
¡ Which is the equation for a hyperbola
STREAMFUNCTION
¡ In an incompressible fluid, ∇ · 𝒗 = 0, which implies that there exists a vector 𝑨 such that 𝒗 = ∇ × 𝑨
¡ Component by component we can write 𝑨 as
¡ This does not uniquely descibe 𝑨
¡ 𝑨 is a vector field, onto which we can add a constant vector without changing the velocity
¡ In 2D we can specialise this to:
¡ Where 𝜓 ≡ 𝐴' is called the stream function
STREAMFUNCTION ALONG STREAMLINES
¡ Recall that
𝑢 · ∇𝑄 = 0
Gives 𝑄 being constant along the streamline
¡ Now lets consider how we can apply this to our streamfunction. The rate of change of ψ along a streamline is
given by
¡ Using we can see that 𝑢 · ∇𝜓 = 0
¡ Hence 𝜓 is a constant along streamlines:
𝜓 = 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
STREAMLINES – EXAMPLE
Example
¡ Consider the unsteady flow:
𝑣& = 𝑣( , 𝑣% = 𝑘𝑡, 𝑣' = 0
¡ Integrating the first equation gives
𝜓(𝑥, 𝑦, 𝑡) = 𝑣( 𝑦 + 𝑓(𝑥, 𝑡)
¡ Where 𝑓(𝑥, 𝑡) is a constant in y
¡ Integrating the second equation gives
𝜓 𝑥, 𝑦, 𝑡 = −𝑘𝑡𝑥 + 𝑔(𝑦, 𝑡)
¡ Where 𝑔(𝑦, 𝑡) is a constant in x
¡ Combining these we get:
𝜓 𝑥, 𝑦, 𝑡 = 𝑣( 𝑦 − 𝑘𝑡𝑥 + 𝑐(𝑡)
STREAMLINES – EXAMPLE
¡ Example
¡ At a given time 𝜓 is a constant along streamlines
we take:
𝜓 𝑥, 𝑦, 𝑡 = 𝑣( 𝑦 − 𝑘𝑡𝑥 + 𝑐 𝑡 = 𝑐𝑜𝑛𝑠𝑡
¡ Which gives:
𝑘𝑡𝑥
𝑦= + 𝑐𝑜𝑛𝑠𝑡. (𝑡)
𝑣(
¡ A streamline is a curve whose tangent is
everywhere parallel to the velocity vector
¡ A trajectory is the path followed by a particle
¡ Streamlines and trajectories only coincide in a
steady flow
If 𝑄 is constant along a streamline then
SUMMARY OF
¡
𝑢 · ∇𝑄 = 0
¡ Streamlines satisfy:
SECTION 4
¡ The streamfunction stisfies:
and are constant along streamlines
SECTION 5
INTRODUCTION TO NAVIER STOKES
CONTINUITY EQUATION
¡ This is an expression of the conservation of mass
¡ In terms of the Lagrangian derivative:
¡ The more common form is to write it in terms of the Eulerian derivatie:
INCOMPRESSIBE FLOWS
¡ If a flow in incompressibe the 𝜌 is a constant throughout the entire fluid, and cannot be changed
¡ If we set 𝜌 to constant in the continuity equation
Then we get:
∇%𝐯=0
¡ This becomes the condition for incompressibility
NAVIER STOKES
¡ This is an expression of the conservation of momentum
NAVIER STOKES
¡ This is an expression of the conservation of momentum
Laplacian
Viscocity
Local time derivative
Density
Advection
Gradient of pressure
¡ Continuity equation:
SUMMARY OF
¡ An incompressible fluid satisfies:
SECTION 5 𝛁"𝐯=0
¡ Navier stokes:
