Fluid Mechanics: Fundamentals and Applications

2nd EDITION IN SI UNITS

Yunus A. Cengel, John M. Cimbala
McGraw-Hill, 2010

Chapter 4
FLUID KINEMATICS

Lecture slides by
Dr Tipu Sultan

Copyright © The McGraw-Hill Companies, Inc. Permission required for reproduction or display.
 Objectives
• Understand the role of the material derivative in
transforming between Lagrangian and Eulerian
descriptions
• Distinguish between various types of flow
visualizations and methods of plotting the
characteristics of a fluid flow
• Appreciate the many ways that fluids move and
deform
• Distinguish between rotational and irrotational
regions of flow based on the flow property vorticity
• Understand the usefulness of the Reynolds
transport theorem
2
4–1 ■ LAGRANGIAN AND EULERIAN DESCRIPTIONS
Kinematics: The study of motion.
Fluid kinematics: The study of how fluids flow and how to describe fluid motion.
There are two distinct ways to describe motion: Lagrangian and Eulerian
Lagrangian description: To follow the path of individual objects.
This method requires us to track the position and velocity of each individual
fluid parcel (fluid particle) and take to be a parcel of fixed identity.

With a small number of objects, such In the Lagrangian description, one

as billiard balls on a pool table, must keep track of the position and
individual objects can be tracked. velocity of individual particles. 3
• A more common method is Eulerian description of fluid motion.
• In the Eulerian description of fluid flow, a finite volume called a flow domain
or control volume is defined, through which fluid flows in and out.
• Instead of tracking individual fluid particles, we define field variables,
functions of space and time, within the control volume.
• The field variable at a particular location at a particular time is the value
of the variable for whichever fluid particle happens to occupy that
location at that time.
• For example, the pressure field is a scalar field variable. We define the
velocity field as a vector field variable.

Collectively, these (and other) field variables define the flow field. The velocity
field can be expanded in Cartesian coordinates as

4
 • In the Eulerian description we
don’t really care what happens to
individual fluid particles; rather we
are concerned with the pressure,
velocity, acceleration, etc., of
whichever fluid particle happens
to be at the location of interest at
the time of interest.
• While there are many occasions in
which the Lagrangian description
is useful, the Eulerian description
In the Eulerian description, one is often more convenient for fluid
defines field variables, such as mechanics applications.
the pressure field and the
velocity field, at any location
and instant in time.

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A Steady Two-Dimensional Velocity Field

Velocity vectors for the velocity field of Example 4–1. The scale is shown by
the top arrow, and the solid black curves represent the approximate shapes of
some streamlines, based on the calculated velocity vectors. The stagnation
point is indicated by the circle. The shaded region represents a portion of the
flow field that can approximate flow into an inlet. 8
Types of Flow

9
Types of Flow

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Types of Flow Re = Ratio of inertial forces to viscous forces

Laminar flow or streamline flow in pipes (or

tubes) occurs when a fluid flows in parallel
layers, with no disruption between the layers. At
low velocities, the fluid tends to flow without
lateral mixing, and adjacent layers slide past one
another like playing cards. There are no cross-
currents perpendicular to the direction of flow,
nor eddies or swirls of fluids. In laminar flow, the
motion of the particles of the fluid is very orderly
with all particles moving in straight lines parallel
to the pipe walls.

Turbulent flow is a flow regime characterized by

chaotic property changes. This includes a rapid
variation of pressure and flows velocity in space
and time. In contrast to laminar flow, the fluid no
longer travels in layers, and mixing across the
tube is highly efficient. Flows at Reynolds
numbers larger than 4000 are typically (but not
necessarily) turbulent, while those at low
Reynolds numbers below 2300 usually remain
laminar. Flow in the range of Reynolds numbers
2300 to 4000 and known as transition. 11
Streamline

3-D
Differential Eq.

Slope of
Streamline

Streamlines are used for analysis. 12

Streak line, path lines and Timeline are used for visualization.
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Acceleration Field
The equations of motion for fluid flow
(such as Newton’s second law) are
written for a fluid particle, which we
also call a material particle.
If we were to follow a particular fluid
particle as it moves around in the
flow, we would be employing the
Lagrangian description, and the
equations of motion would be directly
applicable.
For example, we would define the Newton’s second law applied to a fluid
particle’s location in space in terms particle; the acceleration vector (gray arrow)
of a material position vector is in the same direction as the force vector
(xparticle(t), yparticle(t), zparticle(t)). (black arrow), but the velocity vector (red
arrow) may act in a different direction.
e.g:

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 Velocity field

Chain Rule

Given:

Therefore,
HOW?

Local acceleration Advective (convective)

(nonzero for unsteady state, acceleration (nonzero for
zero for steady state) steady and unsteady state
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The components of the acceleration vector in cartesian coordinates:

Local Advective
acceleration acceleration

Flow of water through the nozzle of a

garden hose illustrates that fluid
particles may accelerate, even in a
steady flow. In this example, the exit
speed of the water is much higher than
the water speed in the hose, implying
Figure 4.8 that fluid particles have accelerated
even though the flow is steady. 17
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Material Derivative
The total derivative operator d/dt in this equation is given a special name, the
material derivative; it is assigned a special notation, D/Dt, in order to
emphasize that it is formed by following a fluid particle as it moves through
the flow field.
Other names for the material derivative include total, particle, Lagrangian,
Eulerian, and substantial derivative.

The material derivative D/Dt is defined by following

a fluid particle as it moves throughout the flow field.
In this illustration, the fluid particle is accelerating to
the right as it moves up and to the right. 21
The material derivative D/Dt is composed
of a local or unsteady part and a
convective or advective part.
22
Note: From Example 4.1

23
x 24
Homework

• Please read and understand about:

• Flow Patterns and Flow Visualization
 Streamlines and Streamtubes, Pathlines,
 Streaklines, Timelines
 Refractive Flow Visualization Techniques
 Surface Flow Visualization Techniques

• Plots of Fluid Flow Data

 Profile Plots, Vector Plots, Contour Plots

…………………..to do assignment
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4–5 ■ VORTICITY AND ROTATIONALITY
Another kinematic property of great importance to the analysis of fluid flows is
the vorticity vector, defined mathematically as the curl of the velocity vector

Vorticity is equal to twice

the angular velocity of a fluid
particle

The direction
of a vector
cross product
is determined
by the right- The vorticity vector is equal to
hand rule. twice the angular velocity vector
of a rotating fluid particle. 26
• If the vorticity at a point in a flow field is nonzero, the
fluid particle that happens to occupy that point in
space is rotating; the flow in that region is called
rotational (ζ ≠ 0 ; rotational).
• Likewise, if the vorticity in a region of the flow is zero The difference between
(or negligibly small), fluid particles there are not rotational and irrotational
rotating; the flow in that region is called irrotational. flow: fluid elements in a
(ζ = 0 ; irrotational). rotational region of the
• Physically, fluid particles in a rotational region of flow flow rotate, but those in
rotate end over end as they move along in the flow. an irrotational region of
the flow do not.

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For a two-dimensional flow in the xy-plane, the vorticity vector
always points in the z-direction or −z-direction. In this
illustration, the flag-shaped fluid particle rotates in the
counterclockwise direction as it moves in the xy-plane;
its vorticity points in the positive z-direction as shown. 28
For a two-dimensional flow in the r-
plane, the vorticity vector always
points in the z (or -z) direction. In
this illustration, the flag-shaped fluid
particle rotates in the clockwise
direction as it moves in the rθ-plane;
its vorticity points in the -z-direction
as shown.
Note: rotate clockwise = vorticity
points in -z direction. 29
counterclockwise = z direction
 Comparison of Two Circular Flows
Not all flows with circular streamlines are rotational

Streamlines and velocity profiles for (a) flow A, solid-body rotation and (b) flow B, a line 30
vortex. Flow A is rotational, but flow B is irrotational everywhere except at the origin.
 A simple analogy can be made
between flow A and a merry-go-
round or roundabout, and flow B
and a Ferris wheel.
As children revolve around a
roundabout, they also rotate at
the same angular velocity as that
of the ride itself. This is analogous
to a rotational flow.
In contrast, children on a Ferris
wheel always remain oriented in
an upright position as they trace
out their circular path. This is
analogous to an irrotational flow.

A simple analogy: (a) rotational

circular flow is analogous to a
roundabout, while (b) irrotational
circular flow is analogous to a
Ferris wheel. 31
4–6 ■ THE REYNOLDS TRANSPORT THEOREM
Two methods of analyzing the spraying of
deodorant from a spray can:
(a) We follow the fluid as it moves and
deforms. This is the system approach—no
mass crosses the boundary, and the total
mass of the system remains fixed.
(b) We consider a fixed interior volume of the
can. This is the control volume approach—
mass crosses the boundary.

The relationship
between the time rates
of change of an
extensive property for a
system and for a control
The Reynolds transport theorem
volume is expressed by
(RTT) provides a link between
the Reynolds transport
the system approach and the
theorem (RTT). 32
control volume approach.
 The time rate of change of the
property B of the system is equal to
the time rate of change of B of the
control volume plus the net flux of B
out of the control volume by mass
crossing the control surface.
This equation applies at any instant
in time, where it is assumed that
the system and the control volume
occupy the same space at that
particular instant in time.

A moving system (hatched region) and

a fixed control volume (shaded region)
in a diverging portion of a flow field at
times t and t+t. The upper and lower
bounds are streamlines of the flow. 33
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35
 Reynolds transport
theorem applied to a
control volume moving
at constant velocity.

Relative velocity crossing a control

surface is found by vector addition of
the absolute velocity of the fluid and
the negative of the local velocity of
the control surface. 36
An example control volume in which
there is one well-defined inlet (1) and
two well-defined outlets (2 and 3). In
such cases, the control surface integral
in the RTT can be more conveniently
written in terms of the average values of
fluid properties crossing each inlet
and outlet. 37
Alternate Derivation of the Reynolds Transport Theorem

A more elegant mathematical derivation of

the Reynolds transport theorem is possible
through use of the Leibniz theorem

The Leibniz theorem takes into account the

change of limits a(t) and b(t) with respect to
time, as well as the unsteady changes of
integrand G(x, t) with time.

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40
The equation above is valid
for arbitrarily shaped,
moving and/or deforming CV
at time t.

The material volume (system)

and control volume occupy the
same space at time t (the blue
shaded area), but move and
deform differently. At a later time
they are not coincident. 41
42
Relationship between Material Derivative and RTT
While the Reynolds transport
theorem deals with finite-size
control volumes and the
material derivative deals with
infinitesimal fluid particles, the
same fundamental physical
interpretation applies to both.
Just as the material derivative
can be applied to any fluid
property, scalar or vector, the
Reynolds transport theorem
can be applied to any scalar or
The Reynolds transport theorem for finite vector property as well.
volumes (integral analysis) is analogous to the
material derivative for infinitesimal volumes
(differential analysis). In both cases, we
transform from a Lagrangian or system
viewpoint to an Eulerian or control volume
viewpoint.
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