Unit-II: Fluid Kinematics and Dynamics

FLUID KINEMATICS
Fluid Kinematics gives the geometry of fluid motion. It is a branch of fluid mechanics, which
describes the fluid motion, and it’s consequences without consideration of the nature of forces
causing the motion. Fluid kinematics is the study of velocity as a function of space and time in the
flow field. From velocity, pressure variations and hence, forces acting on the fluid can be
determined.
VELOCITY FIELD
Velocity at a given point is defined as the instantaneous velocity of the fluid particle, which at a
given instant is passing through the point. It is represented by V=V(x,y,z,t). Vectorially,
V=ui+vj+wk where u,v,w are three scalar components of velocity in x,y and z directions and (t) is
the time. Velocity is a vector quantity and velocity field is a vector field.
Fluid Mechanics is a visual subject. Patterns of flow can be visualized in several ways.
Basic types of line patterns used to visualize flow are streamline, path line, streak line and
time line.
(a) Stream line is a line, which is everywhere tangent to the velocity vector at a given instant.
(b) Path line is the actual path traversed by a given particle.
(c) Streak line is the locus of particles that have earlier passed through a prescribed point.
(d) Time line is a set of fluid particles that form a line at a given instant.

Streamline is convenient to calculate mathematically. Other three lines are easier to obtain
experimentally. Streamlines are difficult to generate experimentally. Streamlines and Time lines are
instantaneous lines. Path lines and streak lines are generated by passage of time. In a steady flow
situation, streamlines, path lines and streak lines are identical. In Fluid Mechanics, the most
common mathematical result for flow visualization is the streamline pattern – It is a common
method of flow pattern presentation.
Streamlines are everywhere tangent to the local velocity vector. For a stream line, (dx/u) = (dy/v) =
(dz/w). Stream tube is formed by a closed collection of streamlines. Fluid within the stream tube is
confined there because flow cannot cross streamlines. Stream tube walls need not be solid, but may
be fluid surfaces

METHOD OF DESCRIBING FLUID MOTION

Two methods of describing the fluid motion are: (a) Lagrangian method and (b) Eularian method.
A single fluid particle is followed during its motion and its velocity, acceleration etc. are described
with respect to time. Fluid motion is described by tracing the kinematics behavior of each and every
individual particle constituting the flow. We follow individual fluid particle as it moves through the
flow. The particle is identified by its position at some instant and the time elapsed since that instant.
We identify and follow small, fixed masses of fluid. To describe the fluid flow where there is a
relative motion, we need to follow many particles and to resolve details of the flow; we need a large
number of particles. Therefore, Langrangian method is very difficult and not widely used in Fluid
Mechanics.
EULARIAN METHOD

Fig. Eulerian Method

The velocity, acceleration, pressure etc. are described at a point or at a section as a function of time.
This method commonly used in Fluid Mechanics. We look for field description, for Ex.; seek the
velocity and its variation with time at each and every location in a flow field. Ex., V=V(x,y,z,t).
This is also called control volume approach. We draw an imaginary box around a fluid system. The
box can be large or small, and it can be stationary or in motion.

TYPES OF FLUID FLOW

1. Steady and Un-steady flows

2. Uniform and Non-uniform flows
3. Laminar and Turbulent flows
4. Compressible and Incompressible flows
5. Rotational and Irrotational flows
6. One, Two and Three dimensional flows

STEADY AND UNSTEADY FLOW

Steady flow is the type of flow in which the various flow parameters and fluid properties at any
point do not change with time. In a steady flow, any property may vary from point to point in the
field, but all properties remain constant with time at
every point.[ ∂V/∂ x,y,z= 0; [∂p/ ∂t]x,y,z =0. Ex.: V=V(x,y,z); p=p(x,y,z) . Time is a
t] criterion.
Unsteady flow is the type of flow in which the various flow parameters and
fluid properties at any point change with time. [∂V/∂t] x,y,z≠0 ; [∂p/∂t] x,y,z≠0,
Eg.:V=V(x,y,z,t), p=p(x,y,z,t) or V=V(t), p=p(t) . Time is a criterion

UNIFORM AND NON-UNIFORM FLOWS

Uniform Flow is the type of flow in which velocity and other flow parameters at any instant of time
do not change with respect to space. Eg., V=V(x) indicates that the flow is uniform in ‘y’ and ‘z’
axis. V=V (t) indicates that the flow is uniform in ‘x’, ‘y’ and ‘z’ directions. Space is a criterion.
Uniform flow field is used to describe a flow in which the magnitude and direction of the velocity
vector are constant, i.e., independent of all space coordinates throughout the entire flow field (as
opposed to uniform flow at a cross
section). That is, [ ∂V/ t=constant =0, that is ‘V’ has unique value in entire flow
∂s]
field.
Non-uniform flow is the type of flow in which velocity and other flow parameters at any instant change
with respect to space.
[ ∂V/ ∂s] t=constant is not equal to zero. Distance or space is a criterion

LAMINAR AND TURBULANT FLOWS

Laminar Flow is a type of flow in which the fluid particles move along well-
defined paths or stream-lines. The fluid particles move in laminas or layers gliding
smoothly over one another. The behavior of fluid particles in motion is a criterion. Turbulent Flow

is a type of flow in which the fluid particles move in zigzag way

in the flow field. Fluid particles move randomly from one layer to another. Reynolds number is a
criterion. We can assume that for a flow in pipe, for Reynolds No. less than 2000, the flow is
laminar; between 2000-4000, the flow is transitional; and greater than 4000, the flow is turbulent.

COMPRESSIBLE AND INCOMPRESSIBLE FLOWS

Incompressible Flow is a type of flow in which the density ( ρ) is constant in the

flow field. This assumption is valid for flow Mach numbers with in 0.25. Mach number is used as a
criterion. Mach Number is the ratio of flow velocity to velocity of sound waves in the fluid medium
Compressible Flow is the type of flow in which the density of the fluid changes in the flow field.
Density is not constant in the flow field. Classification of flow based on Mach number is given
below:
M < 0.25 – Low speed
M < unity – Subsonic
M around unity – Transonic
M > unity – Supersonic
M > > unity, (say 7) – Hypersonic

ROTATIONAL AND IRROTATIONAL FLOWS

Rotational flow is the type of flow in which the fluid particles while flowing along stream-lines also
rotate about their own axis.
Ir-rotational flow is the type of flow in which the fluid particles while flowing along stream-lines do
not rotate about their own axis.

ONE, TWO AND THREE DIMENSIONAL FLOWS

The number of space dimensions needed to define the flow field completely governs dimensionality
of flow field. Flow is classified as one, two and three- dimensional depending upon the number of
space co-ordinates required to specify the velocity fields.
One-dimensional flow is the type of flow in which flow parameters such as velocity is a function of
time and one space coordinate only.
For Ex., V=V(x,t) – 1-D, unsteady ; V=V(x) – 1-D, steady
Two-dimensional flow is the type of flow in which flow parameters describing the flow vary in two
space coordinates and time.
For Ex., V=V(x,y,t) – 2-D, unsteady; V=V(x,y) – 2-D, steady
Three-dimensional flow is the type of flow in which the flow parameters describing the flow vary in
three space coordinates and time.
For Ex., V=V(x,y,z,t) – 3-D, unsteady ; V=V(x,y,z) – 3D, steady

CONTINUITY EQUATION

Rate of flow or discharge (Q) is the volume of fluid flowing per second. For incompressible fluids
flowing across a section,
Volume flow rate, Q= A ×V m3/s where A=cross sectional area and V= average
velocity.
For compressible fluids, rate of flow is expressed as mass of fluid flowing across a section per
second.
Mass flow rate (m) =(ρAV) kg/s where ρ = density.

Fig. Continuity Equation

 Continuity equation is based on Law of Conservation of Mass. For a fluid flowing through a pipe,
in a steady flow, the quantity of fluid flowing per second at all cross- sections is a constant.
Let v 1=average velocity at section [1], ρ1=density of fluid at [1], A1=area of flow at
[1]; Let v2, ρ2, A2 be corresponding values at section [2].
Rate of flow at section [1]= ρ 1 A1
v1
Rate of flow at section [2]= ρ 2 A2
 1 A1 v1= ρ2 A2 v2 v2
This equation is applicable to steady compressible or incompressible fluid flows and
is called Continuity Equation. If the fluid is incompressible, 1 = ?2 and the continuity
equation reduces to A 1 v1= A2 v2
For steady, one dimensional flow with one inlet and one outlet,
ρ 1 A1 v1− ρ2 A2 v2=0
For control volume with N inlets and outlets
_ i=1N (ρi Ai vi) =0 where inflows are positive and outflows are negative .
Velocities are normal to the areas. This is the continuity equation for steady one dimensional flow
through a fixed control volume
When density isx2+ay2+az2)1/2
constant, _

Problem 1.0
Given the velocity field V= (4+xy+2t)i + 6x3j + (3xt2+z)k. Find acceleration of a fluid
particle at (2,4,-4) at t=3.
[dV/dt]=[ ∂V/∂t]+u[∂V/∂x]+v[∂V/ ∂y]+w[∂V/∂z]
u. (4+xy+2t); v=6x3; w= (3xt2+z)
[ ∂V/∂x]= (yi+18x2j+3t2k); [∂V/∂y]= xi; [∂V/∂z]= k; [∂V/ ∂t] = 2i+6xtk . Substituting,
[dV/dt]= (2+4y+xy2+2ty+6x4)i + (72x2+18x3y+36tx2)j +
(6xt+12t2+3xyt2+6t3+z+3xt2)k
The acceleration vector at the point (2,4, -4) and time t=3 is obtained by substitution,
a. 170i+1296j+572k; Therefore, a x=170, ay=1296, az=572
b. Resultant |a|= [1702+12962+5722]1/2 units = 1426.8 units.
 VELOCITY POTENTIAL AND STREAM FUNCTION
Velocity Potential Function is a Scalar Function of space and time co-ordinates such that its
negative derivatives with respect to any direction give the fluid velocity in that direction.
_ = _ (x,y,z) for steady flow.
u. -( ∂_/∂x); v= -( ∂_/∂y); w= -( ∂_/ ∂z) where u,v,w are the components of
velocity in
x,y and z directions.
In cylindrical co-ordinates, the velocity potential function is given by u u r. (?_/?r),
_ = (1/r)( ∂_/∂_)
The continuity equation for an incompressible flow in steady state is
( ∂u/∂x + ∂v/∂y + ∂w/∂z) = 0
Substituting for u, v and w and simplifying,
( ∂2_ /∂x2 + ∂2_ /∂y2 + ∂2_/∂z2) = 0
Which is a Laplace Equation. For 2-D Flow, ( ∂2_ /∂x2 + ∂2_ /∂y2) =0

If any function satisfies Laplace equation, it corresponds to some case of steady

incompressible fluid flow.
IRROTATIONAL FLOW AND VELOCITY POTENTIAL

Assumption of Ir-rotational flow leads to the existence of velocity potential. Consider the rotation
of the fluid particle about an axis parallel to z-axis. The rotation
component is defined as the average angular velocity of two infinitesimal linear
segments that are mutually perpendicular to each other and to the axis of rotation.
Consider two-line segments _x, _y. The particle at P(x,y) has velocity components u,v in the x-y
plane.

The angular velocities of _x and _y are sought.

The angular velocity of (_x) is {[v+ (∂v/∂x) _x –v] / _x} = (∂v/∂x) rad/sec
The angular velocity of (_y) is -{[u+ ( ∂u/∂y) _y –u] / _y} = -(u/y) rad/sec Counter clockwise
direction is taken positive. Hence, by definition, rotation
component (_ _ z. is _z= 1/2 {(?v/?x)- (?u/?y)}. The other two components
are
x. 1/2 {(?w/?y)- (?v/?z)}
y. 1/2 {(?u/?z)- (?w/?x)}
The rotation vector = _ = i_ x +j_y +k_z.
The vorticity vector(Ω) is defined as twice the rotation vector = 2_

PROPERTIES OF POTENTIAL FUNCTION

_ z. 1/2 {(?v/?x)-
(?u/?y)}
_ x. 1/2 {(?w/?y)-
(?v/?z)}
y. 1/2 {(?u/?z)-
(?w/?x)};
Substituting u=- (∂_/∂x); v=- (∂_/∂y); w= - (∂ _/∂z) ; we get
_ z. 1/2 {(?/?x)(- ?_/?y) - (?/?y)(- ?_/?x)}
= ½{-(∂2_/∂x∂y)+ (∂2_/ ∂y∂x)} = 0 since _ is a continuous function.
Similarly, _ x=0 and _y =0
All rotational components are zero and the flow is irrotational.– Therefore, irrotational flow is also
called as Potential Flow.
If the velocity potential (_) exists, the flow should be irrotational. If velocity potential function satisfies
Laplace Equation, It represents the possible case of steady, incompressible, irrotational flow.
Assumption of a velocity potential is equivalent to the assumption of irrotational flow.
Laplace equation has several solutions depending upon boundary conditions.
If _ 1 and _2 are both solutions, _1+ _2 is also a solution
2(_1)=0, ∇ 2(_2)=0, ∇ 2(_1+ _2)=0
Also if _
is a solution, C_1 is also a solution (where C=Constant)
STREAM FUNCTION (_)
Stream Function is defined as the scalar function of space and time such that its partial derivative with
respect to any direction gives the velocity component at right angles to that direction. Stream function is
defined only for two dimensional flows and 3-D flows with axial symmetry.
( ∂_/∂x) = v ; (∂_/∂y) = -u
In Cylindrical coordinates, u r = (1/r) (∂_/∂_) and u_ = (∂_/∂r)
z = 0. Hence for 2-D flow, (∂2 _ /∂x2)+ (∂2_ /∂y2)
PROPERTIES OF STREAM FUNCTION

1.If the Stream Function (_) exists, it is a possible case of fluid flow, which may be rotational or
irrotational.
2.If Stream Function satisfies Laplace Equation, it is a possible case of an irrotational flow.

EQUI-POTENTIAL & CONSTANT STREAM FUNCTION LINES

On an equi-potential line, the velocity potential is constant, _=constant or d(_)=0. _ = _(x,y) for
steady flow.
d(_) = (∂_/∂x) dx + (∂_/∂y) dy.
d(_) = -u dx – v dy = -(u dx + v dy) = 0.
For equi-potential line, u dx + v dy = 0
Therefore, (dy/dx) = -(u/v) which is a slope of equi-potential lines
For lines of constant stream Function,
_ = Constant or d(_)=0, _ = _(x,y)
d(_) = (∂_/∂x) dx + (∂_/∂y) dy = vdx - udy
Since (∂_/∂x) = v; (∂_/∂y) = -u
Therefore, (dy/dx) = (v/u) = slope of the constant stream function line. This is the slope of the
stream line.
The product of the slope of the equi-potential line and the slope of the constant stream function line
(or stream Line) at the point of intersection = -1.
Thus, equi-potential lines and streamlines are orthogonal at all points of intersection.

Examples: Uniform flow, Line source and sink, Line vortex

Two-dimensional doublet – a limiting case of a line source approaching a line sink

RELATIONSHIP BETWEEN STREAM FUNCTION AND VELOCITY POTENTIAL

u. -(∂_/∂x), v= -(∂_/∂ y)
u. -(∂_/∂y), v= (∂_/∂x) ; Therefore,
-(∂_/∂x) = - (∂_/∂y) and - (∂_/∂ y) = ( ∂_/∂x)
Hence, (∂_/∂ x) = ( ∂_/∂y) and (∂_/∂y) = -(∂_/∂x)

Problem-1
The velocity potential function for a flow is given by _= (x2 –y2). Verify that the flow is
incompressible and determine the stream function for the flow.
u=–(∂_/∂x)= –2x , v= – (∂_/∂y)= 2y
For incompressible flow, (∂u/∂x)+ (∂v/∂y)= 0
Continuity equation is satisfied. The flow is 2-D and incompressible and exists.

u. –(∂_/∂y); v= (∂_/∂x) ; (∂_/∂y)= –u = 2x;

_ = 2xy+F(x) + C ; C=Constant

(_/ ∂x)= v = 2y; _ = 2xy+ F(y)+C Comparing we get, _= 2xy+C

Problem-2.
The stream function for a 2-D flow is given by _ = 2xy. Calculate the velocity at the point P (2,3)
and velocity function (_).
Given _ = 2xy; u= –(∂_/∂y) = -2x; v= (∂_/∂x)=2y
Therefore, u= –4 units/sec. and v= 6 units/sec.
Resultant=√(u2+v2) = 7.21 units/sec.
( ∂_/∂x)= –u = 2x; _= x2+F(y)+C; C=Constant.
( ∂_/∂y) = –v= –2y; _= – y2+F(x)+C,
Therefore, we get, _= (x2 –y2) +C

TYPES OF MOTION

A Fluid particle while moving in a fluid may undergo any one or a combination of the following
four types of displacements:
1. Linear or pure translation
2. Linear deformation
3. Angular deformation
4. Rotation.

(1) Linear Translation is defined as the movement of fluid element in which fluid element
moves from one position to another bodily – Two axes ab & cd and a’b’& c’d’ are parallel.

(2) Linear deformation is defined as deformation of fluid element in linear direction – axes are
parallel, but length changes.
(3) Angular deformation, also called shear deformation is defined as the average change in the
angle contained by two adjacent sides. The angular deformation or
shear strain rate = ½(__ 1 + __2) = ½(?v/?x + ?u/?y)
Fig Angular deformation Fig. Rotation

(4) Rotation is defined as the movement of the fluid element in such a way that both its axes (horizontal
as well as vertical) rotate in the same direction. Rotational

components are:
_ z. 1/2 {(?v/?x)-
(?u/?y)}
_ x. 1/2 {(?w/?y)- (?v/?z)}
y. 1/2 {(?u/?z)- (?w/?x)}. Vorticity (?) is defined as the value twice of the
rotation
and is given as 2_
Problem-3.
Find the vorticity components at the point (1,1,1) for the following flow field;
u=2x2+3y, v= – 2xy+3y2+3zy, w= –(3z2¸2) +2xz – 9y2z
 =2_ where Ω= Vorticity and _= component of rotation.
Ω Ωx. {(?w/?y)- (?v/?z)}= –18yz–3y= –21
Ω units
y. {(?u/?z)- (?w/?x)}= 0–2z= –2 units
z. {(?v/?x)- (?u/?y)}= – 2y –3 = –5
units