Fluid Mechanics AS102

Class Note No: 02

Tuesday. July 31, 2007

Review of Last Lecture: contact info

Luoyi Tao; Office: 104; Phone: 4003

Email: luoyitao@ae.iitm.ac.in,

Interactive & Open door policy

luoyitao@iitm.ac.in

Review of Last Lecture: grading policy...

Homework assignments & Tutorials, 20%

Two quizes, 20% each

Final exam, 40%

Plus the extra points

Homework assignments collected; Randomly select

problems to grade

Review of Last Lecture: grading policy...

Tutorial time:
Friday 1:00pm - 1:50pm

Special Attention:

key concepts, to be identified, will be repeatedly tested in

the quizes and the final;
problems in assignments & tutorials will appear in the
quizes and the final, with slight modifications

Attendancy:
I & you follow the rules

Review of Last Lecture: reference books

Yuan, S. W., Foundations of Fluid Mechanics.

Granger R. A., Fluid Mechanics. (Dover edition?)

Subramanya, K., 1000 Solved Problems in Fluid

Mechanics (includes hydraulic machines). Tata
McGraw-Hill Publishing Company Limited.

Giles R. V., Evett J. B. , and Liu C., Schaums Outline of

Theory and Problems of Fluid Mechanics and Hydraulics.
Third Edition. Tata McGraw-Hill Publishing Company
Limited.

Review of Last Lecture: why continuum treatment

What is a fluid (gas, liquid)?

shape determined by its confines?

unable to resist shearing?

Review of Last Lecture: why continuum treatment

why not deal with individual molecules & atoms in this course

Interests Macro-scale motions such as

Air flow around an airplane

(Water or Air) Pipe flows (of large size)
Atmospheric & Oceanic motion, etc.,

where

enough number of molecules present

details of micro-scale motions not essential & collectively
accountable through temperature, pressure...
integral, differential equations of motion adequate
(continuum treatment)

Cartesian Tensor Calculus: review

What is a Cartesian tensor?

Cartesian? the rectangular coordinate systems (RCS)

involved
z

x3

i3

k
j

i
x

i2

i1
x1
Figure: Standard & Indicial

x2

Cartesian Tensor Calculus: review

Cartesian Tensors? Examples:

# Order zero, scalars like T, P only magnitude
# Order one, vectors like V, a both magnitude & direction
# (*) Order two, like Cauchy stress (to be introduced later)

Why?
# essential for formulating and solving problems in fluid
mechanics ...
# easy for bookkeepping & mathematical operation

Cartesian Tensor Calculus: review

Vector representation & operation rules:
Standard notation:
a = ax i + ay j + az k,

a x , ay , az R

(1)

Indicial Notation:
a = a 1 i1 + a 2 i 2 + a 3 i3 =

3
X

a k ik

(2)

k =1

Summation Convention:
a = ak ik :=

3
X

k =1

ak ik =

3
X

a j ij = a j i j

j=1

index k repeated twice and twice only (!)

k taking on all the values of its range

k dummy, replaceable by others

(3)

Cartesian Tensor Calculus: review

Vector algebra:
addition :
a + b := (ak + bk ) ik

a+b=b+a
(a + b) + c = a + (b + c)

(4)

subtraction :
a b := (ak bk ) ik b + a = a b

(5)

multiplication by a (real) scalar :

m a := (m ak ) ik

m (n a) = (mn) a = n (m a)
(m + n) a = m a + n a
m (a + b) = m a + m b

(6)

Cartesian Tensor Calculus: review

Vector algebra:
dot product & cross product of vectors:
PSfrag
b

a
Figure: dot product a b

definition 1 of dot product :

a b := |a| |b| cos ,

(7)

e. g.
ij ik = jk = ?, j, k
jk the Kronecker delta

(8)

Cartesian Tensor Calculus: review

Vector algebra:
given a = 101i1 + 3i2 + 239i3 , b = 1i1 + 20i2 + 11i3
a b = ? or = ?...
definition 2 of dot product (in a r.c.s.):
a b := ak bk (summation convention)
(independent of any specific rectangular coordinate
systems)

(9)

Xdefinition 1 & definition 2 are equivalent

ab=ba
a (b + c) = a b + a c
m (a b) = (m a) b = a (m b) = (a b) m

(10)

Cartesian Tensor Calculus: review

Vector algebra:

v=ab

Figure: cross product a b

definition 1 of cross product :

, 0 ,
a b := |a| |b| sin v
| = 1,
|v
the Plane (right-handed)
v

(11)

Cartesian Tensor Calculus: review

Vector algebra:
e. g.
ij ij = 0, i1 i2 = i3 , i2 i3 = i1 , i3 i1 = i2
or
ii ij = ijk ik , i, j, k = 1, 2, 3
ijk the alternating tensor;
even, odd, not permutation = ?

Cartesian Tensor Calculus: review

Vector algebra:
given a = 101i1 + 3i2 + 239i3 , b = 1i1 + 20i2 + 11i3
= ?...
a b = ? or = ?, v
definition 2 of cross product (in a r.c.s.):
a b := ijk ai bj ik (summation convention)

(12)

Xdefinition 1 & definition 2 are equivalent

a b = b a
(a + b) c = a c + b c
m (a b) = (m a) b = a (m b)

(13)

Cartesian Tensor Calculus: review

Vector algebra:
Apply the rules to verify:
(a b) c = a (b c) = b (c a) = det [abc]
(a b)i ci =
a (b c) = (a c) b (a b) c
ijk ai (b c)j =

Cartesian Tensor Calculus: review

Vector calculus:
:= ik

xk

= ik k = ik (),k

k := (),k :=

xk

(14)

the gradient
grad := = ik k = ik ,k
(from the scalar multiplication ?)

(15)

Cartesian Tensor Calculus: review

Vector calculus:

the divergence
divq := q = k qk = qk ,k

(16)

(from the dot product ? )

the curl or rotation

curlq := rotq := q = ijk i qj ik = ijk qj ,i ik
(from the cross product ? )

(17)

Cartesian Tensor Calculus: review

Vector calculus:
() = + ,
() ,i = ,i + ,i
(a) = () a + a,
(ai ) ,i = ,i ai + ai ,i
(a) = () a + a,




ijk i aj = ijk aj ,i =

(a b) = b ( a) a ( a) ,
(a b)k ,k =

Cartesian Tensor Calculus: review

Vector calculus:
(a b) = (b ) a (a ) b + a ( b) b ( a)


ijk i (a b)j = ijk mnj am bn j ,i =

(a b) = (a ) b + (b ) a + a ( b) + b ( a)
2 := = j j = ,jj
= 0, ijk i ()j = ijk ,ji =


( a) = 0, ( a)k ,k = ijk i aj ,k = ijk aj ,ik =
( a) = ( a) 2 a

Cartesian Tensor Calculus: review

Vector calculus:
Stokes theorem:
n
S

dS

x3
dx

x2
x1
Figure: Stokes theorem (right-handed)

qdx =

n(q) dS,

qi dxi =

ni ijk qk ,j dS

(18)

Cartesian Tensor Calculus: review

Vector calculus:
the divergence theorem of Gauss:
Let S denote the surface bounding a volume V , and n the
(outward) unit vector normal to the surface. Then
Z
Z
Z
Z
ni qi dS
(19)
qi ,i dV =
nqdS,
qdV =
V

Cartesian Tensor Calculus

Vector to Second Order Tensor:
What is a vector?
x1

x3

x2

=Q x
xm
mn n

Qik Qjk = ij
Qij =

i3
i1

i2

im = Qmn in
i2

i1

xi
xj

x2

i3

x1
x3
Figure: coordinate transformation

a = ak ik = al il

am
= Qmn an

as the def...Q?

(20)

Cartesian Tensor Calculus

Vector to Second Order Tensor:

Let a, b be vectors
ab := ak bl ik il = ak bl ik il ,

ak bl = Qkm Qln am an

In general, a second order tensor A is

A = Akl ik il = Akl ik il ,
Aij ai ?

Akl = Qkm Qln Amn

Aij aj ? Aij ai bj ?

(21)

Cartesian Tensor Calculus

the gradient


grad A := A := ik k Aij ii ij = ik Aij ,k ii ij = Aij ,k ik ii ij (22)

the divergence


divA := A := ik k Aij ii ij = Akj ,k ij ...

the
Z divergence Ztheorem
nAdS,
AdV =
S

Aik ,k dV =
V

Aki ,k dV =

nk Aik dS ? ...

(23)

nk Aki dS (24)
S

(25)