# 0t a a

CV i i

The element is so small that the volume integral simply reduces to a differential term:
0ρ 0ρ
#
CV 0t
d9 <
0t
dx dy dz

Momentum Conservation The mass flow terms occur on all six faces, three inlets and three outlets. We make use
of the field or continuum concept from Chap. 1, where all fluid properties are considered
to be uniformly varying functions of time and position, such as ρ 5 ρ(x, y, z, t). Thus,
if T is the temperature on the left face of the element in Fig. 4.1, the right face will
𝜕 have a slightly different temperature T 1 ( 0T/0x) dx. For mass conservation, if ρu is
! 𝐹⃗ = & 𝜌𝑉 𝑑𝒱 + & 𝜌𝑉 𝑉 0 𝑛 𝑑𝐴known on the left face, the value of this product on the right face is ρu 1 ( 0ρu/0x) dx.
-. 𝜕𝑡 -3
y
Control volume

1. Governing Equations
𝜕
ρ u dy dz
𝜌𝑢𝑉𝑑𝑦𝑑𝑧 + ∂+
ρ u𝜌𝑢𝑉 ( ρ u) dx𝜌𝑢𝑉
dy dz 𝑑𝑥 𝑑𝑦𝑑𝑧
∂x 𝜕𝑥
dy
x
dz
Fig. 4.1 Elemental cartesian fixed
control volume showing the inlet dx
and outlet mass flows on the x faces. z

Face Momentum flow in Momentum flow out

𝑥 𝜌𝑢𝑉𝑑𝑦𝑑𝑧 𝜕
𝜌𝑢𝑉 + 𝜌𝑢𝑉 𝑑𝑥 𝑑𝑦𝑑𝑧
𝜕𝑥
𝑦 𝜌𝑣𝑉𝑑𝑥𝑑𝑧 𝜕
𝜌𝑣𝑉 + 𝜌𝑣𝑉 𝑑𝑦 𝑑𝑥𝑑𝑧
𝜕𝑦
𝑧 𝜌𝑤𝑉𝑑𝑥𝑑𝑦 𝜕
𝜌𝑤𝑉 + 𝜌𝑤𝑉 𝑑𝑧 𝑑𝑥𝑑𝑦 9
Nasr Azadani 𝜕𝑧
 Momentum Conservation
𝜕
! 𝐹⃗ = & 𝜌𝑉 𝑑𝒱 + ! 𝑚̇< 𝑉< − ! 𝑚̇< 𝑉<
-. 𝜕𝑡 =>? <A

1. Governing Equations
𝜕 𝜕
! 𝐹⃗ = 𝜌𝑉 𝑑𝑥𝑑𝑦𝑑𝑧 + B 𝜌𝑢𝑉 + 𝜌𝑢𝑉 𝑑𝑥 𝑑𝑦𝑑𝑧
𝜕𝑡 𝜕𝑥

𝜕 𝜕
+ 𝜌𝑣𝑉 + 𝜌𝑣𝑉 𝑑𝑦 𝑑𝑥𝑑𝑧 + 𝜌𝑤𝑉 + 𝜌𝑤𝑉 𝑑𝑧 𝑑𝑥𝑑𝑦 D
𝜕𝑦 𝜕𝑧

− 𝜌𝑢𝑉𝑑𝑦𝑑𝑧 + 𝜌𝑣𝑉𝑑𝑥𝑑𝑧 + 𝜌𝑤𝑉𝑑𝑥𝑑𝑦

𝜕 𝜕 𝜕 𝜕
! 𝐹⃗ = 𝜌𝑉 + 𝜌𝑢𝑉 + 𝜌𝑣𝑉 + 𝜌𝑤𝑉 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

10
Nasr Azadani
 Momentum Conservation

𝜕 𝜕 𝜕 𝜕
! 𝐹⃗ = 𝜌𝑉 + 𝜌𝑢𝑉 + 𝜌𝑣𝑉 + 𝜌𝑤𝑉 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

1. Governing Equations
E 𝜕𝜌 𝜕𝑉 𝜕 𝜕𝑉 𝜕 𝜕𝑉
= 𝑉 +𝜌 +𝑉 𝜌𝑢 + 𝜌𝑢 +𝑉 𝜌𝑣 + 𝜌𝑣
𝜕𝑡 𝜕𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑦

𝜕 𝜕𝑉
+𝑉 𝜌𝑤 + 𝜌𝑤 F 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑧 𝜕𝑧

𝑑𝑉
! 𝐹⃗ = 𝜌 𝑑𝑥𝑑𝑦𝑑𝑧
𝑑𝑡

11
Nasr Azadani
 dFgrav 5 ρg dx dy dz (4.23)
where g may in general have an arbitrary orientation with respect to the coordinate sys-
tem. In many applications, such as Bernoulli’s equation, we take z “up,” and g 5 2gk.
The surface forces are due to the stresses on the sides of the control surface. These
stresses are the sum of hydrostatic pressure plus viscous stresses τij that arise from

Momentum Conservation motion with velocity gradients:

2p 1 τxx τyx τzx

σij 5 † τxy 2p 1 τyy τzy † (4.24)
τxz τyz 2p 1 τzz

𝑑𝐹⃗ = 𝑑𝐹⃗G + 𝑑𝐹⃗H

The subscript notation for stresses is given in Fig. 4.3. Unlike velocity V, which is
a three-component vector, stresses σij and τij and strain rates ´ij are nine-component
tensors and require two subscripts to define each component. For further study of tensor
analysis, see Refs. 6, 11, or 13.
It is not these stresses but their gradients, or differences, that cause a net force on

1. Governing Equations
the differential control surface. This is seen by referring to Fig. 4.4, which shows only

𝑑𝐹⃗G = 𝑓⃗G 𝑑𝑥𝑑𝑦𝑑𝑧

y
σyy

σyx
σyz
σxy

𝜎LL 𝜎ML 𝜎NL σzy

𝜎⃗<K = 𝜎LM 𝜎MM 𝜎NM

σxx

σzx σxz

𝜎LN 𝜎MN 𝜎NN σzz

x

σi j = Stress in j
z direction on a face
Fig. 4.3 Notation for stresses. normal to i axis

12
Nasr Azadani
 Momentum Conservation
232 Chapter 4 Differential Relations for Fluid Flow

∂σyx
(σyx + dy) dx dz
y ∂y

1. Governing Equations
σzx dx dy
∂σxx
σxx dy dz (σxx + dx) dy dz
∂x
dy

x
σyx dx dz
dz

dx
z
Fig. 4.4 Elemental cartesian fixed
control volume showing the surface ∂σzx
(σzx + dz) dx dy
forces in the x direction only. ∂z

𝜕𝜎
the x-directed stresses to avoid cluttering up the drawing. For example, the leftward
force σxx dy dz on the leftLLface is balanced by the rightward force σxx dy dz on the
𝑑𝐹H,L = −𝜎LL 𝑑𝑦𝑑𝑧 + 𝜎 + 𝑑𝑥 𝑑𝑦𝑑𝑧
right face, leaving only the net rightward force (0σxx /0x) dx dy dz on the right face.
LL
𝜕𝑥
The same thing happens on the other four faces, so the net surface force in the x direction
is given by

𝜕𝜎0x0ML(σ ) 1 0y0 (σ ) 1 0z0 (σ ) d dx dy dz

dFx,surf 5 c xx (4.25) yx zx

+ −𝜎ML 𝑑𝑥𝑑𝑧 We+see that

𝜎ML + proportional
this force is𝜕𝑦
𝑑𝑦to the𝑑𝑥𝑑𝑧element volume. Notice that the stress
terms are taken from the top row of the array in Eq. (4.24). Splitting this row into
𝜕𝜎NL
pressure plus viscous stresses, we can rewrite Eq. (4.25) as

+ −𝜎NL 𝑑𝑥𝑑𝑦 + 𝜎NL + 5 2 0p 1𝑑𝑧 dF 0

(τ )𝑑𝑥𝑑𝑦
0 x 0
d 9 𝜕𝑧0x
1 (τ ) 1 (τ ) (4.26)
xx yx zx
0x 0y 0z
where d 9 5 dx dy dz. In an exactly similar manner, we can derive the y and z forces
per unit volume on the control surface: 13
Nasr Azadani dFy 0p 0 0 0
 Momentum Conservation

𝜕𝜎LL 𝜕𝜎ML 𝜕𝜎NL

𝑑𝐹H,L = + + 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑥 𝜕𝑦 𝜕𝑧

1. Governing Equations
𝜕𝜎LM 𝜕𝜎MM 𝜕𝜎NM
𝑑𝐹H,M = + + 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝜎LN 𝜕𝜎MN 𝜕𝜎NN
𝑑𝐹H,N = + + 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑥 𝜕𝑦 𝜕𝑧

𝜕𝜎LL 𝜕𝜎ML 𝜕𝜎NL 𝜕𝜎LM 𝜕𝜎MM 𝜕𝜎NM

𝑑𝐹⃗H = P + + 𝚤⃗ + + + 𝚥⃗
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

𝜕𝜎LN 𝜕𝜎MN 𝜕𝜎NN

+ + + 𝑘T 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑥 𝜕𝑦 𝜕𝑧

𝑑𝐹⃗H = 𝛻 0 𝜎⃗<K 𝑑𝑥𝑑𝑦𝑑𝑧

14
Nasr Azadani
 Momentum Conservation
q General form (Cauchy’s equation)
𝑑𝑉
𝜌 = 𝛻 0 𝜎⃗<K + 𝑓⃗G
𝑑𝑡

1. Governing Equations
Ø Conservation of angular momentum
𝜎<K = 𝜎K<
Ø Newtonian fluids
𝜎<K = −𝑃𝛿<K + 𝜏<K
𝑃 =𝑃+𝜅 𝛻0V
1
𝑃 = − tr 𝜎<K
3
𝜏<K = 2𝜇𝑆<K + 𝜆 𝛻 0 V 𝛿<K
1 c
𝑆<K = 𝛻V + 𝛻V
2
2
𝜅=𝜆+ 𝜇 15
Nasr Azadani 3
 Momentum Conservation
q Navier-Stokes’ equations (general form)
𝑑𝑉
𝜌 = −𝛻𝑃 + 𝛻 0 𝜏⃗<K + 𝑓⃗G
𝑑𝑡

1. Governing Equations
𝑑𝑉 c
𝜌 = −𝛻𝑃 + 𝛻 0 𝜇 𝛻V + 𝛻V + 𝛻 0 𝜆𝛻 0 V𝛿<K + 𝑓⃗G
𝑑𝑡
Ø Stokes’ hypothesis
2
𝜅=0 → 𝜆=− 𝜇
3

𝑑𝑉 1
𝜌 f
= −𝛻𝑃 + 𝜇 𝛻 V + 𝛻 𝛻 0 V + 𝑓⃗G
𝑑𝑡 3
Ø Incompressible flow
𝑑𝑉
𝛻0V=0 → 𝜌 = −𝛻𝑃 + 𝜇𝛻 f V + 𝑓⃗G
𝑑𝑡
16
Nasr Azadani
 Momentum Conservation

Laplacian in different coordinates

q Cartesian coordinates

1. Governing Equations
𝜕 f 𝜕 f 𝜕 f
𝛻f = f + f + f
𝜕𝑥 𝜕𝑦 𝜕𝑧

q Cylindrical coordinates
1 𝜕 𝜕 1 𝜕 f 𝜕 f
𝛻f = 𝑟 + f f+ f
𝑟 𝜕𝑟 𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧

q Spherical coordinates
1 𝜕 f 𝜕 1 𝜕 𝜕 1 𝜕f
𝛻= f 𝑟 + f sin 𝜃 + f f
𝑟 𝜕𝑟 𝜕𝑟 𝑟 sin 𝜃 𝜕𝜃 𝜕𝜃 𝑟 sin 𝜃 𝜕𝜙 f
17
Nasr Azadani
 Momentum Conservation
Incompressible Navier-Stokes’ equations in Cartesian coordinate

𝜕 f𝑢 𝜕 f𝑢 𝜕 f𝑢

1. Governing Equations
𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑃
𝜌 +𝑢 +𝑣 +𝑤 =− +𝜇 + + + 𝑓G,L
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑥 f 𝜕𝑦 f 𝜕𝑧 f

𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑃 𝜕 f𝑣 𝜕 f𝑣 𝜕 f𝑣
𝜌 +𝑢 +𝑣 +𝑤 =− +𝜇 + + + 𝑓G,M
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑦 𝜕𝑥 f 𝜕𝑦 f 𝜕𝑧 f

𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑃 𝜕 f𝑤 𝜕 f𝑤 𝜕 f𝑤
𝜌 +𝑢 +𝑣 +𝑤 =− +𝜇 + + + 𝑓G,N
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑧 𝜕𝑥 f 𝜕𝑦 f 𝜕𝑧 f

18
Nasr Azadani
 Momentum Conservation
Incompressible Navier-Stokes’ equations in cylindrical coordinate

𝜕𝑣m 𝜕𝑣m 𝑣n 𝜕𝑣m 𝑣nf 𝜕𝑣m

𝜌 + 𝑣m + − + 𝑣N
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 𝜕𝑧

1. Governing Equations
𝜕𝑃 1 𝜕 𝜕𝑣m 𝑣m 1 𝜕 f 𝑣m 2 𝜕𝑣n 𝜕 f 𝑣m
=− +𝜇 𝑟 − f+ f − + + 𝑓G,m
𝜕𝑟 𝑟 𝜕𝑟 𝜕𝑟 𝑟 𝑟 𝜕𝜃 f 𝑟 f 𝜕𝜃 𝜕𝑧 f

𝜕𝑣n 𝜕𝑣n 𝑣n 𝜕𝑣n 𝑣m 𝑣n 𝜕𝑣n

𝜌 + 𝑣m + + + 𝑣N
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 𝜕𝑧
1 𝜕𝑃 1 𝜕 𝜕𝑣n 𝑣n 1 𝜕 f 𝑣n 2 𝜕𝑣m 𝜕 f 𝑣n
=− +𝜇 𝑟 − f+ f + + + 𝑓G,n
𝑟 𝜕𝜃 𝑟 𝜕𝑟 𝜕𝑟 𝑟 𝑟 𝜕𝜃 f 𝑟 f 𝜕𝜃 𝜕𝑧 f

𝜕𝑣N 𝜕𝑣N 𝑣n 𝜕𝑣N 𝜕𝑣N

𝜌 + 𝑣m + + 𝑣N
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝜕𝑧
𝜕𝑃 1 𝜕 𝜕𝑣N 1 𝜕 f 𝑣N 𝜕 f 𝑣N
=− + 𝑓G,N + 𝜇 𝑟 + f + + 𝑓G,N
𝜕𝑧 𝑟 𝜕𝑟 𝜕𝑟 𝑟 𝜕𝜃 f 𝜕𝑧 f
19
Nasr Azadani
 Momentum Conservation
Incompressible Navier-Stokes’ equations in Spherical coordinate
𝜕𝑣m 𝜕𝑣m 𝑣n 𝜕𝑣m 𝑣o 𝜕𝑣m 𝑣nf + 𝑣of
𝜌 + 𝑣m + − −
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 sin 𝜃 𝜕𝜙 𝑟
𝜕𝑃 𝜕 1 𝜕 f 1 𝜕 𝜕𝑣m 1 𝜕 f 𝑣m

1. Governing Equations
=− +𝜇p 𝑟 𝑣m − f sin 𝜃 + f f
𝜕𝑟 𝜕𝑟 𝑟 f 𝜕𝑟 𝑟 sin 𝜃 𝜕𝜃 𝜕𝜃 𝑟 sin 𝜃 𝜕𝜙 f
2 𝜕 2 𝜕𝑣o
− sin 𝜃 𝑣n − T + 𝑓G,m
𝑟 f sin 𝜃 𝜕𝜃 𝑟 f sin 𝜃 𝜕𝜙
𝜕𝑣n 𝜕𝑣n 𝑣n 𝜕𝑣n 𝑣o 𝜕𝑣n 𝑣m 𝑣n 𝑣of cot 𝜃
𝜌 + 𝑣m + + + −
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 sin 𝜃 𝜕𝜙 𝑟 𝑟
1 𝜕𝑃 1 𝜕 f 𝜕𝑣n 1 𝜕 2 𝜕 1 𝜕 f 𝑣n
=− +𝜇p f 𝑟 + f sin 𝜃 𝑣n + f f
𝑟 𝜕𝜃 𝑟 𝜕𝑟 𝜕𝑟 𝑟 𝜕𝜃 sin 𝜃 𝜕𝜃 𝑟 sin 𝜃 𝜕𝜙 f
2 𝜕𝑣m 2 cot 𝜃 𝜕𝑣o
+ − T + 𝑓G,n
𝑟 f 𝜕𝜃 𝑟 f sin 𝜃 𝜕𝜙
𝜕𝑣o 𝜕𝑣o 𝑣n 𝜕𝑣o 𝑣o 𝜕𝑣o 𝑣m 𝑣o 𝑣m 𝑣o cot 𝜃
𝜌 + 𝑣m + + + +
𝜕𝑡 𝜕𝑟 𝑟 𝜕𝜃 𝑟 sin 𝜃 𝜕𝜙 𝑟 𝑟
1 𝜕𝑃 1 𝜕 𝜕𝑣o 1 𝜕 2 𝜕 1 𝜕 f 𝑣o
=− +𝜇p f 𝑟f + f sin 𝜃 𝑣o + f f
𝑟 sin 𝜃 𝜕𝜙 𝑟 𝜕𝑟 𝜕𝑟 𝑟 𝜕𝜃 sin 𝜃 𝜕𝜃 𝑟 sin 𝜃 𝜕𝜙 f
2 𝜕𝑣m 2 cot 𝜃 𝜕𝑣n
+ + s + 𝑓G,o
𝑟 f sin 𝜃 𝜕𝜙 𝑟 f sin 𝜃 𝜕𝜙 20
Nasr Azadani
 Momentum Conservation

Claude-Louis Navier

1. Governing Equations
Born: 10 February 1785, France

Died: 21 August 1836, France

Fields: Physics, Mathematics

Known for: Navier-Stokes equations

Nasr Azadani
 Momentum Conservation
Sir George Gabriel Stokes
Born: 13 August 1819, Ireland
Died: 1 February 1903, Ireland

1. Governing Equations
Fields: Physics, Mathematics
Known for:
q Stokes's theorem
q Navier-Stokes equations
q Stokes's law
q Stokes shift
q Stokes number
q Stokes problem
q Stokes relations
q Stokes phenomenon
Nasr Azadani