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Kinematics
CHAPTER 2
Kinematics
Leonhard Euler
(1707-1783)
Swiss mathematician
Eulerian Viewpoint:
Lagrangian Viewpoint:
Sit on a fluid element and
move with it as the fluid moves.
moving
fluid element
fixed
control volume
Eulerian Viewpoint:
Lagrangian Viewpoint:
Sit on a fluid element and move
with it as the fluid moves. The
position s of a fluid element is a
function of time t.
t1
S1 = s(t1)
t2
S2 = s(t2)
frame fixed
in space
Fluid Mechanics 2010 Chapter 2
incoming
volume
7
Kinematics of
Fluid Motion
An example of a
Lagrangian frame of
reference is a camera
on top of a race car.
(1)Lagrangian method :
Follows an individual particle moving through the flow.
or
r = r (a,b,c,t)
z = f3(a,b,c,t)
Lagrangian variables :
a,b,c,t
where a,b,c are original coordinates
velocity
x x(a, b, c, t )
dx
ux
u x ( a , b, c , t )
dt
y y (a, b, c, t )
dy
uy
u y (a, b, c, t )
dt
z z ( a, b, c, t )
dz
uz
u z (a, b, c, t )
dt
acceleration
d 2x
du x
dt
dt 2
a x ( a , b, c , t )
ax
ay
d2y
2
du y
dt
dt
a y ( a , b, c , t )
d 2z
du z
dt
dt 2
a z ( a , b, c , t )
az
10
(2)Eulerian method:
is concerned with the field of flow,
appropriate to fluid mechanics.
Fix attention at discrete points without regard to identity of particles
occupying the points at given time.
The flow parameters are functions of both space and time.
The Eulerian velocity field is given by:
u f1 ( x , y , z , t )
v f 2 ( x, y , z , t )
w f 3 ( x, y , z , t )
Acceleration Field:
Eulerian Frame: we describe the acceleration in terms of
position and time. This is analogous to describing the
velocity field in terms of space and time.
v
v
V
v dV
a
lim
dt t 0 t
v
v
V ( xx,
yy,zz,tt)
V(x,y,z,t)
lim
t 0
t
v
v
v
v
v
v
V
V
V
V
(V(x, y,z,t)xyzt
+
V(x, y,z,t)
)
x
y
z
t
= lim
t 0
t
v
v
v
v
Vx Vy
Vz
V
lim(
)
v
v
v
v
t 0 xt
yt
zt
t
V
V
V
v V
v
v
v
v
a
u
v
w
V
V
V V
t
x
y
z
u
v
w
x
y
z t Fluid Mechanics 2012 Chapter 3
15
v
v
v
v
V
V
V
v V
a
u
v
w
t
x
y
z
dV
V
a
(V )V .
dt
t
du
u
u
u
u
u
v
w
dt
t
x
y
z
dv
v
v
v
v
ay
u
v
w
dt
t
x
y
z
dw
w
w
w
w
az
u
v
w
dt
t
x
y
z
ax
dV
V
a
(V )V .
dt
t
Total or substantial derivative:
local accelerations:
convective accelerations:
dV
dt
V
t
(V )V
r
V
0
t
r
V 0
t
steady flow
unsteady flow
(V )V 0
(V )V 0
uniform flow
nouiform flow
(V ) N
dt
t
()
i
j k
x
y
z
(V )
dt
t
(V )
dt
t
Conclusion
The basic difference between the two methods lies in the
fact that
in the Lagrangian method the coordinates of particles
arc represented as functions of time,
u f1 ( x, y, z , t )
Example:
If u kx, v ky, w 0 , find the total acceleration.
Is the flow steady and uniform?
dV
V
a
(V )V .
dt
t
du u
u
u
u
u
v w
dt t
x
y
z
dv v
v
v
v
ay
u v
w
dt t
x
y
z
dw w
w
w
w
az
u
v
w
dt
t
x
y
z
ax
du u
u
u
u
u
v w
dt t
x
y
z
dv v
v
v
v
ay
u v w
dt t
x
y
z
dw w
w
w
w
az
u
v
w
dt
t
x
y
z
Solution:
ax
(kx)
(kx)
(kx)
(kx)
( ky )
0 k 2 x,
dt
t
x
y
dv ( ky )
( ky )
( ky )
( ky )
ay
ux
(ky )
uz
k 2 y ,
dt
t
x
y
z
dw
az
0,
dt
ax
du
2 2
a k xi k yj
u kx, v ky, w 0
Determine the local acceleration vector.
r
V u v v v w v
i
j
k 0
t
t
t
t
dx
dy
dz
, v , w
dt
dt
dt
dx dy dz
dt
u
v
w
where t is a dependent variable
2. Streamlines
Streamline: A streamline is an imaginary line connecting
a series of points in space at a given instant in such a
manner that all particles falling on the line at that instant
have velocities whose vectors are tangent to the line.
of length dr
and the
velocity V will coincide.
Hence the equation of a
streamline is
V
streamline
r r
V dr 0
Equations:
r
i
r r
V dr u
r
j
v
r
k
w 0
streamline
dx dy dz
Streamline equations:
dx dy dz
u
v
w
dt
u
v
w
dx dy dz
u
v
w
No flow
across
stream tube
walls
30
Example:
If u kx, v ky, w 0 , find the equation of
streamline and pathline.
Solution:
Streamline:
dx dy dz
u
v w
dx dy
u
v
dx
dy
kx ky
d (ln x) d (ln y )
dx dz
u
w
dx dz
kx 0
dz 0
Pathline:
xy C1
z C2
dx dy dz
dt
u
v w
dx
dt
u
dx
dt
kx
d (ln x) kdt
dy
dt
v
dy
dt
ky
d (ln y ) kdt
dz
dt
w
dz
dt
0
dz 0
lnx kt C3
lny kt C4
x C3e kt
y C4 e kt
z C5
Example:
Given the steady two-dimensional velocity distribution
u=x+t, v=-y+t ,w=0.Compute streamlines and pathline of the
flow.
12/04/16
33
Example:
Given the steady two-dimensional velocity distribution
u=x+t, v=-y+t ,w=0.Compute streamlines and pathline of the
flow.
Solution:
Streamline:
Since time t is treated as a constant and w=0, the motion is twodimensional.
dx dy dz
u
v w
Integrating:
dx
dy
x t y t
ln( x t ) ln( y t ) C
1
( x t )( y t ) C1
Hyperbolas( )
12/04/16
dz 0
z C2
34
Pathline:
dx dy dz
dt
ux u y uz
dx
dt
ux
dx
dt
xt
dz 0
z C2
dx
xt
dt
dy
dt
uy
dz
dt
uz
dy
P( x) y Q( x)
dx
ye
Pdx
x (t 1) Ce
Pdx
( Qe dx C )
ye
Pdx
Pdx
( Qe dx C )
P 1, Q t , y ~ x, x ~ t
x e ( te dt C )
t
vdu uv udv
t
t
t
t
t
te
dt
te
e
)
dt
te
x e t (e t (t 1) C )
x (t 1) Ce
General
Motion
Linear Motion
Rotational Motion
Linear deformation
Angular Deformation
u
u
xx dxdt /(dxdt )
x
x
v
w
yy , zz
y
z
udt
u
(u dx)dt
x
u v w
V
x y z
when
v
v
d tg (d ) dxdt / dx dt
x
x
d tg (d )
u
y
dydt / dy
u
y
dt
u
v
d d
x
y
when
u
v
d d
x
y
v
dt
x
u
dt
y
d d d
d d d
d
1
1 v u
d 1 v u
(d d ) ( )dt z
( )
2
2 x y
dt 2 x y
Angular
velocity
d 1 v u
1
1 v u
( )
(d d ) ( )dt xy
dt 2 x y
2
2 x y
strain rate
Counterclockwise rotation
is considered positive.
1 u w
y ( )
2 z x
) yx
2 x y
1 w v
(
) zy
2 y
z
1 u w
(
) xz
2 z
x
xy
yz
zx
xx
u
v
w
, yy , zz
x
y
z
1 v u
xy ( ) yx
2 x y
1 w v
yz (
) zy
2 y z
1 u w
zx (
) xz
2 z x
1 u w
1 w v
1 v u
x ( ) y ( ) z ( )
2 y z
2 x y
2 z x
If velocity at o is V
Then velocity at M is
VM V d V
V
V
V
VM V
dx
dy
dz
x
y
z
V
V
V
VM V
dx
dy
dz
x
y
z
The expressions for components are
u
u
u
uM u dx dy dz
x
y
z
v
v
v
vM v dx dy dz
x
y
z
w
w
w
wM w
dx
dy
dz
x
y
z
uM u
u
u
u
dx dy dz
x
y
z
u
1 u v
1 u w
dx ( )dy (
)dz
x
2 y x
2 z x
1 u v
1 u w
( )dy (
)dz
2 y x
2 z x
u
v
w
xx , yy , zz
x
y
z
1 v u
xy ( ) yx
2 x y
1 w v
yz (
) zy
2 y z
1 u w
zx (
) xz
2 z x
1 u w
1 w v
1 v u
x ( ) y ( ) z ( )
2 y z
2 x y
2 z x
V V0 dr dr
Vector expression:
where
V V0 dr dr
Vu ui vj wk
Vu00 u0 i v0 j w0 k
xi y j z k
Velocity vector
Displacement
Velocity vector
Rotation angular
Velocity vector
Vector
distance
xx yx zx
xy yy zy
xz yz zz
to be irrotational.
Rotational flow
Example 2. 2
The velocity fields are given as follows:
(1)
u ky v kx w 0
(2)
u ax v ay w 0
(3)
u ay v 0 w 0
1
equation of streamline,
dy
dx
ky kx
dz 0
x2 y2 r 2 ,
z C.
1
1 v u
z ( u ) z ( ) k 0.
2
2 x y
Therefore, deformation
rate tensor is
The motion has
neither linear nor
angular deformation
rates.
rotational
flow
xx yy zz 0
xy yx 0,
the rate of
strain is zero
yz zy 0
zx xz 0
(2)
The equations of streamline
Thus
xy C1 ,
z C2 .
The streamlines are a series
of hyperbolas in the plane z
(b) Curl V
The fluid flow is a rotational motion.
r
r
CurlV 2 ( u ) 0.
(c) Deformation rate tensor
The motion has linear deformation
rates only.
xx a,
yy a,
zz 0.
xy yx yz zy zx xz 0.
(3)
The equations of streamline
y C1 ,
z C2 .
The streamlines are parallel
straight lines in the plane
(See Fig.)
Curl V
Therefore
The motion is irrotationaI.
1
a
z ( u ) z 0.
2
2
xx yy zz 0.
xy yx
a
,
2
yz zy zx xz 0.
V 0
V 0
One
Two
Three
dimensional
Uniform
nonuniform
12/04/16
Steady
Unsteady
Rotational
Irrotational
67
3. Kinematics
of Fluid Motion
One-dimensional flow:
The velocity vector depends on only one
space variable. Such flows occur in long,
straight pipes or between parallel plates.
The velocity in
the pipe varies
only with r,
u=u(r).
u u u p p p
0
x y z x y z
68
3. Kinematics
of Fluid Motion
Developed flow:
The velocity profiles do not vary with respect to the space coordinates in
the direction of flow.
The developed flow demands that the region of interest be a substantial
distance from an entrance or a sudden change in geometry.
69
Laminar flow:
the fluid flows in laminas or layers
Turbulent flow:
the velocity components have random
turbulent fluctuations imposed upon their mean values.
Reynolds number:
Re
Ud
(4)
ky
,
2
2
x y
kx
,
2
2
x y
w0
ky
u
,
x
2
2
x y
kx
,
uy 2
2
x y
u z 0.
x2 y2 r 2 ,
z C.
( u ) 0.
xy yx
1 u y u x
(
)
2 x
y
k(x2 y 2 )
2
,
2 2
(x y )