Class 6 - Eqns of Motion
Class 6 - Eqns of Motion
Class 6 - Eqns of Motion
Position :
2) Eulerian Method
DTM
Position:
1 o o, o
2 o o, o
3 o o, o
( , , )
( , , )
( , , )
x
y
z
Df x y z t
v
Dt
Df x y z t
v
Dt
Df x y z t
v
Dt
=
=
=
Velocity :
( , , , )
( , , , )
( , , , )
x
y
z
v x y z t
v x y z t
v x y z t
Velocity :
solve for position
as a function of
time and name
express the velocity
as a function of time
and spatial position
denotes the derivative wrt time
holding the spatial position fixed,
often called the local derivative
WOW! big, big difference: velocity as
a function of time and spatial position,
not velocity as a function of time and
particle name
complication: laws governing motion
apply to particles (Lagrange), not to
positions in space
2
1 o o, o
2
2
2 o o, o
2
2
3 o o, o
2
( , , )
( , , )
( , , )
x
y
z
D f x y z t
a
Dt
D f x y z t
a
Dt
D f x y z t
a
Dt
=
=
=
Acceleration :
skip this step and do not try to find
the positions of fluid particles
Giuseppe Lodovico Lagrangia
(Joseph-Louis Lagrange)
born 25 January 1736 in Turin, Italy
died 10 April 1813 in Paris, France
Leonhard Paul Euler
born 15 April 1707 in Basel, Switzerland
died 18 September 1783 in St. Petersburg, Russia
DTM
Acceleration in the Eulerian Method:
x
y
z
r
dr
A fluid particle, represented as a blue dot in the figure,
moves from position to during the time interval .
Its velocity changes from ( , ) to ( , )
where be chosen
d dt
t d t dt
d dt
a
+
+ +
=
r r r
v r v r r
r MUST v
( , ) ( , ) D d t dt t
Dt dt
+ +
=
v v r r v r
( , ) ( , ) ( , ) ( , ) ( , ) ( , )
( , ) ( , )
= the derivative wrt time at a fixed location
( , ) ( , ) rad change in between two po
D d t dt t d t dt d t d t t
Dt dt dt
d t dt d t
dt t
d t t d
dt dt
+ + + + + + +
= =
+ + + c
c
+
= =
v v r r v r v r r v r r v r r v r
a
v r r v r r v
v r r v r v r v G ints in space at a fixed time
and are independent variables; so we are free to chose them anyway we want. In order
to follow a particle, we must chose : rad
dt
t d
d dt
t
c
= = +
c
r
v
r v a v v G
.
If at a given instant we draw a line with the property that every point on
the line passed through the same reference point at some earlier time, the result
is known as a streakline.
It is called a streakline because, if the particles are dyed as they pass through
the common reference point, the result will be a line of dyed particles (i.e., a
streak) through the flowfield.
If at a given instant the velocity is calculated at all points in the flowfield
and then a line is drawn with the property that the velocities of all of the particles
lying on that line are tangent to it, the result is known as a streamline.
Streamlines are the velocity field lines. They provide a snapshot of the flowfield,
a picture at an instant. The surface formed by all the streamlines that pass
through a closed curve in space forms a stream tube.
1 o o, o
2 o o, o
3 o o, o
( , , )
( , , )
( , , )
x f x y z t
y f x y z t
z f x y z t
=
t
t
t
t
t
V
V
For a Fluid System:
dt
Volume R
Density
=(x,y,z,t)
where
part
t Dt
D
c
c
is referred to as
the SUBSTANTIAL DERIVATIVE
(or total, or material, or Lagrangian)
Seen by the
particle
0
0
=
=
c
c
}
}
R
R sys
d
Dt
D
d
t
t
t
AXIOMATA SIVE LEGES MOTUS
Lex I.
Corpus omne perseverare in statuo suo quiescendi vel movendi
uniformiter in directum, nisi quatenus a viribus impressis cogitur
statum illum mutare.
Lex II.
Mutationem motus proportionalem esse vi motrici impressae, &
fieri secundum lineam rectam qua vis illa imprimitur.
Lex III.
Actioni contrariam semper & qualem esse reactionem: sive
corporum duorum actiones in se mutuo semper esse quales &
in partes contrarias dirigi.
Corol. I.
Corpus viribus conjunctis diagonalem parallelogrammi eodem
tempore describere, quo latera separatis.
Conservation of Momentum
From a Lagrangian Perspective (Fluid Particle)
Law: Rate of Change of Momentum = F
body
+F
pressure
+F
viscous
Dt
D
d
t
d
t
d
part part
V V V
t t
t
=
c
c
=
c
c
= ROC of Momentum
F
body
: t d f =
dy
dx
dz
j
i
k
P
Net
density
volume dt
velocity V
body force per unit mass f
2
dy
y
yy
yy
c
c
t
t
2
dz
z
zy
zy
c
c
t
t
2
dy
y
p
p
c
c
c
c
+
t
t
t
t
On front
and rear
faces
y-component
Conservation of Momentum
From a Lagrangian Perspective (Fluid Particle)
Law: Rate of Change of Momentum = F
body
+F
pressure
+F
viscous
Dt
D
d
t
d
t
d
part part
V V V
t t
t
=
c
c
=
c
c
= ROC of Momentum
F
body
:
F
pressure
:
t d f =
t
t
d p so
d
y
p
dxdz dy
y
p
p dxdz dy
y
p
p component y
pressure
V =
c
c
=
|
|
.
|
\
|
c
c
+
|
|
.
|
\
|
c
c
=
F
j j j
2
1
2
1
dy
dx
dz
j
i
k
P
2
dy
y
p
p
c
c
P
x, i
y, j
z, k
2
dy
y
p
p
c
c
+
Conservation of Momentum
From a Lagrangian Perspective (Fluid Particle)
Law: Rate of Change of Momentum = F
body
+F
pressure
+F
viscous
Dt
D
d
t
d
t
d
part part
V V V
t t
t
=
c
c
=
c
c
= ROC of Momentum
F
body
:
F
pressure
:
F
viscous
:
t d f =
t
t
d p so
d
y
p
dxdz dy
y
p
p dxdz dy
y
p
p component y
pressure
V =
c
c
=
|
|
.
|
\
|
c
c
+
|
|
.
|
\
|
c
c
=
F
j j j
2
1
2
1
t
t t t t
t
t
t
t
t
t
t
t
t
t
t
d
z y x
dxdy dz
z
dxdy dz
z
dydz dx
x
dydz dx
x
dxdz dy
y
dxdz dy
y
component y
zy yy xy zy
zy
zy
zy
xy
xy
xy
xy
yy
yy
yy
yy
j j j
j j
j j
|
|
.
|
\
|
c
c
+
c
c
+
c
c
=
|
|
.
|
\
|
c
c
|
|
.
|
\
|
c
c
+
+
|
|
.
|
\
|
c
c
|
|
.
|
\
|
c
c
+
+
|
|
.
|
\
|
c
c
|
|
.
|
\
|
c
c
+
2
1
2
1
2
1
2
1
2
1
2
1
...
Likewise for
x and z
dy
dx
dz
j
i
k
P
2
dz
z
zy
zy
c
c
t
t
P
x, i
y, j
z, k
2
dy
y
yy
yy
c
c
+
t
t
2
dz
z
zy
zy
c
c
+
t
t
2
dy
y
yy
yy
c
c
t
t
Conservation of Momentum
From a Lagrangian Perspective (Fluid Particle)
Law: Rate of Change of Momentum = F
body
+F
pressure
+F
viscous
Dt
D
d
t
d
t
d
part part
V V V
t t
t
=
c
c
=
c
c
= ROC of Momentum
F
body
:
F
pressure
:
F
viscous
:
t d f =
t
t
d p so
d
y
p
dxdz dy
y
p
p dxdz dy
y
p
p component y
pressure
V =
c
c
=
|
|
.
|
\
|
c
c
+
|
|
.
|
\
|
c
c
=
F
j j j
2
1
2
1
t
t t t t
t
t
t
t
t
t
t
t
t
t
t
d
z y x
dxdy dz
z
dxdy dz
z
dydz dx
x
dydz dx
x
dxdz dy
y
dxdz dy
y
component y
zy yy xy zy
zy
zy
zy
xy
xy
xy
xy
yy
yy
yy
yy
j j j
j j
j j
|
|
.
|
\
|
c
c
+
c
c
+
c
c
=
|
|
.
|
\
|
c
c
|
|
.
|
\
|
c
c
+
+
|
|
.
|
\
|
c
c
|
|
.
|
\
|
c
c
+
+
|
|
.
|
\
|
c
c
|
|
.
|
\
|
c
c
+
2
1
2
1
2
1
2
1
2
1
2
1
...
k j i f
V
) . ( ) . ( ) . (
z y x
p
Dt
D
V + V + V + V =
So,
k j i
k j i
k j i
zz yz xz z
zy yy xy y
zx yx xx x
t t t
t t t
t t t
+ + =
+ + =
+ + =
where
Likewise for
x and z
dy
dx
dz
j
i
k
P
AXIOMS CONCERNING MOTION
Law 1.
Every body continues in its state of rest or of uniform motion in a
straight line, unless it is compelled to change that state by forces
impressed upon it.
Law 2.
Change of motion is proportional to the motive force impressed;
and is in the same direction as the line of the impressed force.
Law 3.
For every action there is always an opposed equal reaction; or,
the mutual actions of two bodies on each other are always equal
and directed to opposite parts.
Corollary 1.
A body, acted on by two forces simultaneously, will describe the
diagonal of a parallelogram in the same time as it would describe
the sides by those forces separately.
Isaac Newton
1642-1727
Conservation of Energy
From a Lagrangian Perspective (Fluid Particle)
Law: Rate of Change of Energy = W
body
+W
pressure
+W
viscous
+Q
Total energy is internal energy + kinetic energy
= e + V
2
/2 per unit mass
Rate of work (power) = force x velocity in
direction of force
Fouriers law to gives rate of heat added by
conduction
Dt
V e D
d
t
V e d
part
) ( ) (
2
2
1
2
2
1
+
=
c
+ c
= t
t
ROC of Energy
W
body
t d V f. =
dy
dx
dz
j
i
k
P
2
dy
y
v
v
c
c
2
dy
y
p
p
c
c
\
|
c
c
c
c
c
Velocity
components
u, v, w
2
dy
y
y
T
k
y
T
k
c
|
.
|
\
|
c
c
c
+
c
c
Conservation of Energy
From a Lagrangian Perspective (Fluid Particle)
Law: Rate of Change of Energy = W
body
+W
pressure
+W
viscous
+Q
Dt
V e D
d
t
V e d
part
) ( ) (
2
2
1
2
2
1
+
=
c
+ c
= t
t
ROC of Energy
W
body
W
pressure
W
viscous
t d V f. =
t d p ) .( V V =
t d w v u
z y x
) ) .( ) .( ) .( ( V + V + V =
Q:
t
t
d T k Q so
d
y
T
k
y
dxdz dy
y
T
k
y y
T
k dxdz dy
y
T
k
y y
T
k on contributi y
) .(
2
1
2
1
V V =
|
|
.
|
\
|
c
c
c
c
=
|
|
.
|
\
|
|
|
.
|
\
|
c
c
c
c
c
c
|
|
.
|
\
|
|
|
.
|
\
|
c
c
c
c
+
c
c
=
) .( ) .( ) .( ) .( ) .( .
) (
2
2
1
T k w v u p
Dt
V e D
z y x
V V + V + V + V + V =
+
V V f
So,
Equations for Changes Seen From
a Lagrangian Perspective
0 = d
Dt
D
R
t
}
} } } }
S
z y x
S R R
dS ) . ( + ) . ( + ) . ( + dS p - d = d
Dt
D
k n j n i n n f V t t
| | dS T). k( + dS . + + p - + d . = d )
2
V
+ (e
Dt
D
S S
z y x
R
2
R
} } } }
V + n V k n j n i n n f V ) . ( ) . ( ) . ( t t
Differential Form (for a particle)
Integral Form (for a system)
V . V =
Dt
D
k j i f
V
) . ( ) . ( ) . (
z y x
p
Dt
D
V + V + V + V =
) .( ) .( ) .( ) .( ) .( .
) (
2
2
1
T k w v u p
Dt
V e D
z y x
V V + V + V + V + V =
+
V V f
Conversion from Lagrangian to
Eulerian rate of change - Derivative
x
y
z
o(x(t),y(t),z(t),t)
o
o
o o o o o o o o
o o
V +
c
c
=
c
c
+
c
c
+
c
c
+
c
c
=
c
c
c
c
+
c
c
c
c
+
c
c
c
c
+
c
c
=
c
c
. V
t
z
w
y
v
x
u
t t
z
z t
y
y t
x
x t
Dt
D
t
part
The Substantial Derivative
Time Derivative Convective Derivative
Conversion from Lagrangian to
Eulerian rate of change - Integral
x
y
z
The Reynolds
Transport
Theorem
} }
}
}
}
}
} } }
+
c
c
=
|
.
|
\
|
V +
c
c
=
|
.
|
\
|
V + V +
c
c
=
V + =
+ =
=
c
c
S R
R
R
R
R
R R R sys
dS d
t
d
t
d
t
d d
Dt
D
Dt
Dd
d
Dt
D
Dt
d D
d
Dt
D
= d
t
n V
V
V V
V
.
) .(
. .
.
o t
t o
o
t o o
o
t o t
o
t
o t
o
t o
t o t o
o
o o
V +
c
c
= . V
t Dt
D
Volume R
Surface S
Apply
Divergence
Theorem
Equations for Changes Seen From
a Lagrangian Perspective
0 = d
Dt
D
R
t
}
} } } }
S
z y x
S R R
dS ) . ( + ) . ( + ) . ( + dS p - d = d
Dt
D
k n j n i n n f V t t
| | dS T). k( + dS . + + p - + d . = d )
2
V
+ (e
Dt
D
S S
z y x
R
2
R
} } } }
V + n V k n j n i n n f V ) . ( ) . ( ) . ( t t
Differential Form (for a particle)
Integral Form (for a system)
V . V =
Dt
D
k j i f
V
) . ( ) . ( ) . (
z y x
p
Dt
D
V + V + V + V =
) .( ) .( ) .( ) .( ) .( .
) (
2
2
1
T k w v u p
Dt
V e D
z y x
V V + V + V + V + V =
+
V V f
part
t Dt
D
c
c
=
Equations for Changes Seen From
an Eulerian Perspective
Differential Form (for a fixed volume element)
Integral Form (for a system)
0 = dS d
t
S R
} }
+
c
c
n V. t
} } } } }
+
c
c
S
z y x
S R R
dS ) . ( + ) . ( + ) . ( + dS p - d = dS d
t
k n j n i n n f n V V
V
t t
) . (
| | dS T). k( + dS . + + p - + d . = dS
V
+ e d )
t
V
+ e
S S
z y x
R S
2
2
R
} } } } }
V + +
c
c
n V k n j n i n n f V n V ) . ( ) . ( ) . ( . ) (
) (
2
1 2
1
t t
V . V =
Dt
D
k j i f
V
) . ( ) . ( ) . (
z y x
p
Dt
D
V + V + V + V =
) .( ) .( ) .( ) .( ) .( .
) (
2
2
1
T k w v u p
Dt
V e D
z y x
V V + V + V + V + V =
+
V V f
V +
c
c
= . V
t Dt
D
Equivalence of Integral and
Differential Forms
0 = dS d
t
S R
} }
+
c
c
n V. t
( ) t d = dS
R
S
} }
V V n V . .
( ) 0 . =
|
.
|
\
|
V +
c
c
}
t
d
t
R
V
( ) 0 . = V +
c
c
V
t
0 . . = V + V +
c
c
V V
t
V . V =
Dt
D
Cons. of mass
(Integral form)
Divergence
Theorem
Conservation of
mass for any
volume R
Then we get or
Cons. of mass
(Differential form)