Derivation of the vorticity equation for constant density
In what follows, bold-faced symbols like u, ω and ∇ are vectors.
For a fluid of constant density ρ, the acceleration curl is zero:
Du ∇× = 0. (0.1) Dt We’ll now evaluate the vertical component of the above equation, i.e.
∂ Dv ∂ Du − = 0. (0.2) ∂x Dt ∂y Dt We first expand out the material derivative to get
∂ ∂v ∂ ∂u + u · (∇v) − + u · (∇u) = 0 . (0.3) ∂x ∂t ∂y ∂t We note that operators like ∂/∂t, ∂/∂x, ∂/∂y, ∂/∂z and ∇ all commute, i.e. their order can be exchanged. Hence, recognising ∂v ∂u ζ= − (0.4) ∂x ∂y as the z component of the vorticity ω, we have ∂ζ ∂ ∂ + [u · (∇v)] − [u · (∇u)] = 0 . (0.5) ∂t ∂x ∂y Now using ∂ ∂F ∂G [F · G] = ·G+F · (0.6) ∂x ∂x ∂x for any two vector fields F and G, we have ∂ζ ∂u ∂(∇v) ∂u ∂(∇u) + · (∇v) + u · − · (∇u) − u · = 0. (0.7) ∂t ∂x ∂x ∂y ∂y Commuting the operators ∂/∂x and ∇, as well as ∂/∂y and ∇, we have
∂ζ ∂v ∂u ∂u ∂u +u·∇ + · (∇v) − u · ∇ − · (∇u) = 0 (0.8) ∂t ∂x ∂x ∂y ∂y or, using Eq. 0.4, ∂ζ ∂u ∂u + u · ∇ζ + · (∇v) − · (∇u) = 0 (0.9) ∂t ∂x ∂y and using the definition of the material derivative, this becomes Dζ ∂u ∂u + · (∇v) − · (∇u) = 0 . (0.10) Dt ∂x ∂y Let’s now write out the remaining terms in component form:
Dζ ∂u ∂v ∂w ∂v ∂v ∂v ∂u ∂v ∂w ∂u ∂u ∂u + , , · , , − , , · , , =0 (0.11) Dt ∂x ∂x ∂x ∂x ∂y ∂z ∂y ∂y ∂y ∂x ∂y ∂z and after performing the dot products, Dζ ∂u ∂v ∂v ∂v ∂w ∂v ∂u ∂u ∂v ∂u ∂w ∂u + + + − − − = 0. (0.12) Dt ∂x ∂x ∂x ∂y ∂x ∂z ∂y ∂x ∂y ∂y ∂y ∂z 2 Grouping the second and third terms, as well as the fifth and sixth terms, we have
Dζ ∂u ∂v ∂v ∂u ∂v ∂u ∂w ∂v ∂w ∂u + + − + + − = 0. (0.13) Dt ∂x ∂y ∂x ∂x ∂y ∂y ∂x ∂z ∂y ∂z But incompressibility ∇ · u = 0 implies ∂u ∂v ∂w + =− (0.14) ∂x ∂y ∂z and this term is seen to multiply ζ, from Eq. 0.4: Dζ ∂w ∂w ∂v ∂w ∂u − ζ+ − = 0. (0.15) Dt ∂z ∂x ∂z ∂y ∂z The final step is to make use of the x and y components of the vorticity ω: ∂w ∂v ∂u ∂w ξ= − ; η= − (0.16) ∂y ∂z ∂z ∂x which can be turned around to give expressions for the “vertical shear” ∂v ∂w ∂u ∂w = −ξ ; = +η. (0.17) ∂z ∂y ∂z ∂x Inserting these into Eq. 0.15, we have
Dζ ∂w ∂w ∂w ∂w ∂w − ζ+ −ξ − + η = 0. (0.18) Dt ∂z ∂x ∂y ∂y ∂x The horizontal derivatives of w cancel, leaving Dζ ∂w ∂w ∂w − ζ− ξ− η = 0. (0.19) Dt ∂z ∂x ∂y This may be re-arranged as Dζ ∂w ∂w ∂w =ξ +η +ζ (0.20) Dt ∂x ∂y ∂z or since ω = (ξ, η, ζ), we can use the vector form Dζ = (ω · ∇)w (0.21) Dt This is the vertical component of the vorticity equation. To get the other components, we just use symmetry: replace ζ by ξ and w by u to get the x component, Dξ = (ω · ∇)u (0.22) Dt and replace ζ by η and w by v to get the y component, Dη = (ω · ∇)v (0.23) Dt All three components can be written as a single vector expression Dω = (ω · ∇)u (0.24) Dt known as the “vorticity equation”. The right hand side of this equation is called the “stretching term”, and it is the only way vorticity can change following a fluid element when the density is constant.
