Chapter 4 A

4 Principles of Fluid Motion
ME2134 Fluid Mechanics I

4
Principles of Fluid Motion
4-1
4
4.1
System and Control Volume
4.2
Lagrangian and Eulerian Flow Descriptions
4.3
Flow Patterns
4.3.1
Streamlines
4.3.2
Pathlines
4.3.3
Streaklines
4.3.4
Timelines
4.4
Classification of Fluid Flows
4.4.1
Viscous versus Inviscid Flow
4.4.2
Laminar versus Turbulent Flow
4.4.3
Compressible versus Incompressible Flow
4.4.4
Internal versus External Flow
4.4.5
Steady versus UnsteadyFlow
4.4.6
Uniform versus Non-uniform Flow
4-2
4.4.7
One-, Two- and Three-Dimensional Flow
4.5
Conservation of Mass
4.5.1
Mass and Volume Flow Rate
4.5.2
Integral Form of Continuity Equation
4.6
Bernoulli Equation
4.6.1
Acceleration of a Fluid Particle
4.6.2
Derivation of Bernoulli Equation
4.6.3
Static, Stagnation, Dynamic and Total
Pressures
4.6.4
Limitations on Use of Bernoulli Equation
4.6.5
Hydraulic Grade Line and Energy Grade Line
4-3
Learning Objectives
To understand
How to mathematically describe of the motion of a fluid
The concept of pathlines, streaklines and streamlines
How to calculate pathlines, streaklines and streamlines
How to calculate the fluid acceleration
The classification of different flow regimes
How to derive Bernouilli equation and understand its
restrictions
How to apply Bernouilli equation in some typical fluid
flow problems
4-4
4.1
KEY IDEA: System quantity of matter or a region in

space chosen for study
KEY IDEA: Surroundings mass or region outside the
system
KEY IDEA: Boundary
real or imaginary surface that separates system from its
surroundings
movable or fixed
4-5
4.1
KEY IDEA: Closed system
consists of fixed amount of mass
no mass can cross its boundary
energy, in the form of heat or work, can cross
boundary
volume does not have to be fixed
4-6
4.1
Example: Pistoncylinder device
System gas trapped in cylinder by piston
Boundary inner surfaces of piston and cylinder
Surroundings everything outside the gas, including
piston and cylinder
No mass crossing boundary closed system
Energy may cross boundary
Part of boundary (inner surface of the piston) may move
4-7
4.1
KEY IDEA: Control volume / open system
both mass and energy can cross boundary
usually encloses a device that involves mass flow
such as a compressor, turbine, or nozzle
any arbitrary region in space can be selected as a
control volume, but proper choice often makes
analysis much easier
can be fixed in size and shape or involve a moving
boundary
4-8
4.2
2 methods to describe fluid flows:
Lagrangian description
Eulerian description
Lagrange
1736-1813
KEY IDEA: Lagrangian description

Tracks the motion (position and velocity vectors)
of a generic individual fluid particle (labelled X)
Observer moves with the fluid
The main difficulty is that the observer moves with
the fluid
Analogous to closed system
4-9
Euler
1707-1783
4.2
KEY IDEA: Eulerian description
More commonly used to describe fluid flow
A finite control volume (CV) is defined, through which
particles flow in and out
Individual fluid particles are not identified and tracked
Define field variables (functions of space and time)
within CV: pressure field P(x, y, z, t), velocity field (x, y,
z, t), temperature field T(x, y, z, t), etc.
Field variables define the flow field
All field variables are defined at any location (x, y, z)
within CV and at any instant of time t
4-10
4.2

x3
e3
O
e1
e2
x2
x1
For general unsteady 3-D fluid flow in Cartesian

coordinates, velocity field is given by
V V x, t V x , y , z , t
V u, v, w u x, y , z, t e1 v x, y , z, t e 2 w x, y , z, t e 3
where u, v and w are the x, y and z components of the
velocity vector V, respectively. In general, u, v and w
are functions of x, y, z and t
4-11
4.2
A velocity field is steady if it is

independent of time. This
concept is frame-dependent
Usually, steady means

Eulerian steady
(fixed frame of reference)
Eulerian steady
Im travelling
steadily!
He is
unsteady
v x,t f x
4-12
4.2
Example: smoke discharging from a chimney

Eulerian description:
Attach a temperature-measuring device to top of
chimney (point 0)
Record temperature at point 0 as a function of time
At different times, different fluid particles pass by
stationary device
4-13
4.2
Obtain temperature, T, for point 0 as a function of
time, T(x0, y0, z0, t)
Use of numerous temperature-measuring devices
fixed at various locations yields the temperature field,
T(x, y, z, t)
Lagrangian description:
Attach temperature-measuring device to a particular
fluid particle (particle A)
Record particle As temperature as it moves about
Obtain particle As temperature as a function of time,
TA = TA(t)
Use of many such measuring devices moving with
various fluid particles yields the temperature of these
fluid particles as a function of time
Eulerian description can be converted to Lagrangian and vice versa
4-14
4.3
Flow Patterns
KEY IDEA: Streamlines
A streamline is a curve that is everywhere tangent to the
instantaneous local velocity vector a mathematical
concept
Typical set of streamlines:
4-15
4.3.1 Streamlines
Streamlines are everywhere parallel to the local velocity
fluid cannot cross a streamline by definition
Any particle starting on one streamline will stay on that
same streamline
Streamlines cannot cross each other
Fluid flowing past a solid boundary does not flow into or
out of the solid surface
Close to a solid boundary, streamlines are parallel to that
boundary
Streamlines are difficult to generate experimentally
4-16
4.3.1 Streamlines
Calculation of streamlines
Consider an infinitesimal arc length
r
dr dxi dyj dzk
along a streamline
4-17
4.3.1 Streamlines
r
According to definitionr of a streamline, dr is parallel to
local velocity vector V ui vj wk
r
Similar triangles r components of dr proportional to
components of V
KEY IDEA:
where
dr dx dy dz
V
u
v
w
r
dr = magnitude of dr
r
V = magnitude of V
(4.3.1)
If the velocities (u, v, w) are known functions of position

and time, (4.3.1) can be integrated to find the streamline
passing through the initial point (x0, y0, z0, t0)
4-18
4.3.1 Streamlines
KEY IDEA: Streamtube consists of a bundle of streamlines:
The walls of a streamtube are streamlines

Fluid cannot flow across a streamline, so fluid cannot cross
a streamtube wall
Streamtube walls need not be solid but may be fluid
surfaces
4-19
4.3.1 Streamlines
Both streamlines and streamtubes are instantaneous
quantities, defined at a particular instant in time
according to the velocity field at that instant
In an unsteady flow, streamline and streamtube pattern
may change significantly with time
In a steady flow, the positions of streamlines and
streamtubes do not change
Streamlines are visualized by taking a short-time
exposure of fluid particles each will trace out a velocity
vector
4-20
Example 4.0
Consider the 1-dimensional steady shear flow

u U
y
, vw0
h
To find the streamlines

dx dy or dy 0
u
v
dx
S = F/A
.
u = Uy/h, = U/h
This yields y = constant for the streamlines (straight lines

parallel to the flow direction)
4-21
Example 4.1
Consider the following steady 2-dimensional flow (biaxial flow)
v u, v, w, u &x, v &y, w 0
The streamlines are found by solving
dx dy or dx dy or ln y ln x constant
&x
&y
u
v
stagnation streamline
xy C
y
These streamlines are hyperbolas
xy = const.
x
stagnation point
4-22
Example 4.1
Use different values of C plot various lines in x-y plane
streamlines
Arrows indicate flow direction
4-23
Example 4.2
Consider the 2-dimensional unsteady flow

v u, v, w, u x, v yt, w 0
The streamlines are found by solving

dx dy or dx dy ln y t ln x constant y Cx t
u
v
x
ty
The streamline passing through (1,1) has C = 1.
4-24
4.3.2 Pathlines
KEY IDEA: A pathline is the actual path travelled by an
individual fluid particle over some time interval
Pathline is a Lagrangian concept the path of an
individual fluid particle is tracked as it moves around in
the flow field
4-25
4.3.2 Pathlines
Pathlines can be generated experimentally by marking a
fluid particle (dying a small fluid element) and taking a
long-time time exposure photograph of its motion
through the flow
Example: waves moving along surface of water in a tank
pathlines are elliptical in shape
4-26
4.3.2 Pathlines
Calculation of pathlines:
Pathline is defined by integration of the velocity
t
components:
x t x0 udt
(4.3.2)
y t y0 vdt
(4.3.3)
z t z0 wdt
(4.3.4)
t0
t
d x V, x t x
0 0
dt
t0
t
t0
or in vector notation:
x t x 0 Vdt
(4.3.5)
t0
Given velocity field (u, v, w, t), the integration is started at

a specified initial position and time (x0, y0, z0, t0)
4-27
4.3.3 Streaklines
KEY IDEA: A streakline is the locus of fluid particles that have

passed sequentially through a prescribed point in the flow. Main
point: locus of particles passing through one common point in space
Streaklines most common flow pattern generated in physical
experiments
4-28
4.3.3 Streaklines
Example: insert small tube into a flow and introduce a
continuous stream of tracer fluid (dye for water flow or
smoke for airflow) observed pattern is a streakline
Circles represent individual injected fluid particles
released from the same point at uniform time intervals
streakline formed by connecting all circles into smooth
curve
Tracer particle 1 released at earlier time than tracer
particle 2 and so on
Physical experiments dye or smoke injected
continuously (not as individual particles) resulting flow
pattern is a streakline
4-29
4.3
Flow Patterns
KEY IDEA: Steady flow streamlines, pathlines and
streaklines are identical
Steady flow path taken by a marked particle (pathline)
is the same as line formed by all other particles that
previously passed through point of injection (streakline)
these lines are in turn tangent to the velocity field
(streamlines)
4-30
4.3
Flow Patterns
KEY IDEA: Unsteady flow streamlines, pathlines and

streaklines may be different
Streamline represents instantaneous flow pattern at
given instant of time
Streakline and pathline flow patterns generated by
passage of time age and time history associated with
flow pattern
Streakline instantaneous snapshot of time-integrated
flow pattern
Pathline time-exposed flow path of individual particle
over some time interval
4-31
4.3
Flow Patterns
Example: Unsteady flow
4-32
4.3
Example: Steady flow
Flow Patterns
4-33
4.3
Flow Patterns
Example: Unsteady flow past an oscillating plate
Flow is unsteady and periodic due to flapping of plate

against oncoming stream streakline does not coincide
with streamline or pathline passing through same
release point
4-34
4.3.4 Timelines
KEY IDEA: A timeline is a set of adjacent fluid particles
that were marked at the same (earlier) instant in time
Timelines useful for investigating uniformity of flow
Can be generated experimentally in water using
hydrogen bubble wire
4-35
4.3.4 Timelines
Example: Timelines produced by a hydrogen bubble wire
in a boundary layer
4-36
Review
Streamlines are everywhere parallel to the local velocity:

instantaneous flow pattern
dr dx dy dz
V
u
v
w
A pathline is the actual path traced out by a fluid particle: flow over a
period of time by a single particle
t
x t x 0 Vdt
t0
A streakline is the locus of all fluid particles that have passed

through a point in the flow: flow pattern over a period of time by
many particles
Steady flow: streamlines pathlines streaklines
Movies clips: IVLE link
http://web.mit.edu/fluids/www/Shapiro/ncfmf.html
4-37
Example 4.3
Consider the two-dimensional velocity field

v u, v, w, u x, v yt, w 0
The equation for pathlines

dx u x dx dt,
dt
x
dy
dy
v ty tdt
dt
y
x 0 X , y 0 Y
Solving these
ln x t const1, ln y 1 t 2 const 2
2
xe
t const1
Xe , y e
t
t 2 / 2 const 2
Ye
t 2 /2
The pathline passing through point (1,1) at time t = 0 is

1 Xe X , 1 Ye Y x e , y e
0
t 2 /2
4-38
Example 4.3
To find the streakline passing through (1,1) we note that

any pathline passing through (1,1) at some point in time
t0 satisfies
1 Xe , 1 Ye
t0
This yields
t02 / 2
t0
X e , Y e
xe
t t0
, ye
t02 / 2
t t / 2
2
2
0
A plot of this for different t0 will yield a family of

streaklines, all pass through (1,1) at some point in time
4-39
4.4
Classification of Fluid Flows
There are many ways to classify fluid flows
One possible classification:
4-40
4.4.1 Viscous versus Inviscid Flow

Viscous flows flows in which frictional or viscous
effects are significant
There is no fluid with zero viscosity all fluid flows
involve viscous effects to some degree
In many practical flows, there are regions (typically away
from solid surfaces) where viscous forces are negligible
compared to other forces (inertia, pressure, gravity)
neglect viscous effects in these regions inviscid (ideal)
flow
Inviscid flow assume 0
Generally easier to analyze an inviscid flow than a
viscous flow
4-41
4-42

No-slip condition fluid has zero velocity at wall
Fluid velocity approaches V far away from wall
Fluid velocity increases from zero at wall to V far away
from wall non-zero velocity gradient in a thin layer
adjacent to wall boundary layer
KEY IDEA: Boundary layer
flow region adjacent to solid surface in which viscous
effects and velocity gradients are significant
velocity gradient 0 shear stress 0
du
0
dy
Outside boundary layer flow unaffected by presence
of plate viscous effects unimportant assume flow to
be inviscid
4-43
4.4.2 Laminar versus Turbulent Flow

Laminar flow highly ordered fluid motion characterized
by smoothly flowing layers of fluid
Turbulent flow highly disordered fluid motion typically
occurring at high velocities and is characterized by
random three-dimensional velocity fluctuations
Transitional flow flow that alternates between being
laminar and turbulent
KEY IDEA: Reynolds number
Nature of flow characterized by dimensionless
parameter called Reynolds number, Re:
VD
Re
where
: fluid density
: fluid dynamic viscosity
4-44

D : pipe diameter
V : fluid velocity
Low Re number flow: Re<<1: reversible
Laminar flow Re < 2300
VD
Re
5
Transitional flow 2300 < Re < 10
Turbulent flow Re > 105
http://www.youtube.com/watch?v=KqqtOb30jWs
http://www.youtube.com/watch?v=NplrDarMDF8
4-45

Laminar
Transitional
Turbulent
4-46
4.4.3 Compressible versus Incompressible Flow
Incompressible flow flows in which variations in density are

negligible
Liquids incompressible
Gases need to consider Mach number, Ma:
Speed of flow
V
Ma
c Speed of sound
Speed of sound c = 346 m/s in air at room temperature at sea level

Gases incompressible if Ma < 0.3 changes in density less than
5%
Compressibility effects of air can be neglected at speeds < 100 m/s

Compressible flow density variations within flow are not negligible
Ma > 0.3
Ma < 1 subsonic flow

Ma = 1 sonic flow
Ma > 1 supersonic flow shock waves can form abrupt
change in fluid properties across a shock wave
4-47
4.4.3 Compressible versus Incompressible Flow

http://www.youtube.com/watch?v=QjpikTn2qAk (F-14)
Examples of shock waves
http://www.youtube.com/watch?v=ZrCvn0ksKgU (F-18)
Bullet at Mach 1.5
Airplane model at Mach 1.1
Sphere (Mach 1.53) Sphere (Mach 5.7)

F/A-18 Hornet
4-48
4.4.4 Internal versus External Flow

Internal flow fluid flow is completely bounded by solid
surfaces eg. flow in a pipe or duct
External flow flow of an unbounded fluid over a
surface
Example: External flow past a sphere:
4-49
4.4.4 Internal versus External Flow

Example: External flow past a tennis ball:
http://www.youtube.com/watch?v=7KKFtgx2anY
http://www.youtube.com/watch?v=vQHXIHpvcvU
http://www.youtube.com/watch?v=gmSKGMSfOcs
4-50
4.4.5 Steady versus Unsteady Flow

Steady flow flow at any point does not change with
time
Unsteady flow flow pattern varies with time eg.
external flow past a circular cylinder
Example: Steady flow past an aerofoil
4-51
4.4.5 Steady versus Unsteady Flow

Example: Unsteady flow past a circular cylinder
http://www.youtube.com/watch?v=SJ3w4bg5Tx8&feature=related
4-52
4.4.6 Uniform versus non-Uniform Flow

Uniform flow flow in which velocity does not vary with
location eg. inviscid flow through a channel:
4-53
4.4.6 Uniform versus Non-uniform Flow

Non-uniform flow flow in which velocity varies with
location eg. viscous flow through a channel:
4-54
4.4.7 One-, Two- and Three-Dimensional Flow

A flow is said to be one-, two- or three dimensional if flow
velocity varies in one, two or three primary dimensions,
respectively
Consider steady flow through a circular pipe attached to
a large tank:
No-slip condition zero fluid velocity everywhere on

pipe surface
4-55

Entrance region of pipe velocity varies in both r- and
z-directions flow is two-dimensional
Further downstream velocity profile develops fully and
remains unchanged in x-direction flow becomes fully
developed velocity varies only in r-direction flow is
one-dimensional
Velocity varies only in x-direction one-dimensional
flow:
4-56

Velocity varies in both x- and y- directions twodimensional flow:
4-57
Supplementary Slides
4-58
Example 4.4
Water flows from oscillating
rslit produces velocity field
V u0 sin t y v0 i v0 j
where u0, v0 and are positive

constants
y-component of velocity
remains constant
x-component of velocity at y =
0 coincides with velocity of
oscillating sprinkler head
u u0 sin t @ y = 0
Determine
a) streamline passing through origin at t = 0 and t = /2
b) pathline of particle at origin at t = 0 and t = /2
c) discuss shape of streakline passing through origin
4-59
Solution:
Part (a)
Streamlines:
Example 4.4
dy v
v0

dx u u0 sin t y v0
Separating variables and integrating:
u0 sin t y v0 dy v0 dx
u0 v0 cos t y v0 v0 x C
where C is a constant
Streamline passing through origin (x = y = 0) at t = 0:
C u0 v0
Equation of streamline passing through x = y = 0, at t = 0
u0 y
x cos
1
v0
4-60
Example 4.2
Streamline passing through origin (x = y = 0) at t = /2:
C0
Equation of
streamline:
y
x sin
v0
u0
Flow is
unsteady
streamlines vary
with time
4-61
Example 4.4
Part (b)
Pathlines:

y
dx
u
u0 sin t
dt
v0
dy
v
v0 y v0 t C1
dt
where C1 is a constant
v0 t C1
C1
dx
u0 sin t
u0 sin
dt
v
v
0
C1
x u0 sin
t C2
v0
where C2 is a constant
4-62
Example 4.4
Particle at origin (x = y = 0) at t = 0:
C1 C2 0
Pathline:
x0
y v0 t
Particle at origin (x = y = 0) at t = /2:
Pathline:
v0
C1
2
x u0 t
u0
C2
2

y v0 t
v0
y x
u0
4-63
Example 4.4
Flow is unsteady pathlines do not coincide

4-64
Example 4.4
Part (c)
Streakline through origin at time t = 0 is locus of particles
at t = 0 that previously (t < 0) passed through origin
Each particle flowing through origin travels in a straight
line (pathlines are rays from the origin), the slope of
which lies between v0/u0
Particles passing through origin at different times located
on different rays from origin and at different distances
from origin
Flow is unsteady streakline varies with time, although
it always has the oscillating, sinuous character
4-65
Example 4.2
https://engineering.purdue.edu/~wassgren/applet/java/flowvis/Index.html
Unsteady flow streamlines, pathlines, and streaklines

do not coincide
4-66

Chapter 4 A

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Chapter 4 A

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4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

ME2134 Fluid Mechanics I

Principles of Fluid Motion

4 Principles of Fluid Motion

4 Principles of Fluid Motion

Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

System and Control Volume

KEY IDEA: System quantity of matter or a region in

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

KEY IDEA: Lagrangian description

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

Lagrangian and Eulerian Flow Descriptions

For general unsteady 3-D fluid flow in Cartesian

4 Principles of Fluid Motion

Lagrangian and Eulerian Flow Descriptions

A velocity field is steady if it is

Usually, steady means

4 Principles of Fluid Motion

Lagrangian and Eulerian Flow Descriptions

Example: smoke discharging from a chimney

4 Principles of Fluid Motion

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

If the velocities (u, v, w) are known functions of position

4 Principles of Fluid Motion

The walls of a streamtube are streamlines

4 Principles of Fluid Motion

4 Principles of Fluid Motion

Consider the 1-dimensional steady shear flow

To find the streamlines

This yields y = constant for the streamlines (straight lines

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

These streamlines are hyperbolas

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

Consider the 2-dimensional unsteady flow

The streamlines are found by solving

The streamline passing through (1,1) has C = 1.

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I

4 Principles of Fluid Motion

ME2134 Fluid Mechanics I