CIVL3612/9612 Fluid mechanics: Equation sheet

The following is a comprehensive list of equations, of which, the required equations will be provided in the
question paper for mid-semester and final exams. Do NOT print this and take to final exam.
p
θ = tan−1 y/x


Cartesian to Polar: x = r cos θ, y = r sin θ r= x2 + y 2 ,
x y
cos θ = p , sin θ = p
x2 + y 2 x2 + y 2
→
− →
−
Vector: V = u î + v ĵ + w k̂ Cartesian V = vr eˆr + vθ eˆθ + vz eˆz Polar

Gradient of a scalar, α
∂α ∂α ∂α ∂α 1 ∂α ∂α
∇α = î + ĵ + k̂ Cartesian ∇α = eˆr + eˆθ + eˆz Polar
∂x ∂y ∂z ∂r r ∂θ ∂z
→
−
Divergence (dot product) of a Vector, V

→
− ∂u ∂v ∂w →
− 1 ∂(rvr ) 1 ∂vθ ∂vz
∇· V = + + Cartesian ∇· V = + + Polar
∂x ∂y ∂z r ∂r r ∂θ ∂z
→
−
Curl (cross product) of a Vector, V
     
→
− ∂w ∂v ∂u ∂w ∂v ∂u
∇× V = − î + − ĵ + − k̂ Cartesian
∂y ∂z ∂z ∂x ∂x ∂y
     
→
− 1 ∂vz ∂vθ 1 ∂vr ∂vz 1 ∂(rvθ ) ∂vr
∇× V = − eˆr + − eˆθ + − eˆz Polar
r ∂θ ∂z r ∂z ∂r r ∂r ∂θ
Substantial/Material derivative

D( ) ∂( ) ∂( ) ∂( ) ∂( ) D( ) ∂( ) ∂( ) vθ ∂( ) ∂( )
= +u +v +w Cartesian = + vr + + vz Polar
Dt ∂t ∂x ∂y ∂z Dt ∂t ∂r r ∂θ ∂z

ρ
Specific weight: γ = ρg Specific gravity: SG =
ρwater
2 2 2
p1 V1 p2 V2 p V
Bernoulli equation: + + z1 = + + z2 Total head: + +z =H
ρg 2g ρg 2g γ 2g

dy v dy v dx u
Equation for streamlines: = , = , =
dx u dz w dz w
→
−
→
− DV
Acceleration: a =
Dt
1 →
−
Rotation: →
−
ω = ωx î + ωy ĵ + ωz k̂ = ∇ × V
2

General 3D continuity equation (ρ is density)

∂ρ ∂(ρu) ∂(ρv) ∂(ρw) ∂ρ 1 ∂(rρvr ) 1 ∂(ρvθ ) ∂(ρvz )

+ + + = 0 Cartesian + + + Polar
∂t ∂x ∂y ∂z ∂t r ∂r r ∂θ ∂z
Stream function
∂ψ ∂ψ 1 ∂ψ ∂ψ
u= , v=− Cartesian ur = , vθ = − Polar
∂y ∂x r ∂θ ∂r
→
−
Velocity potential: V = ∇φ
∂φ ∂φ ∂φ ∂φ 1 ∂φ 1 ∂φ
u= , v= , w= Cartesian vr = , vθ = , vz = Polar
∂x ∂y ∂z ∂r r ∂θ r ∂z
 →
− 
→
− ∂V →
− →
−
Euler’s equations of motion for inviscid flow: ρ g − ∇p = ρ + ( V · ∇) V
∂t
2 2 2
1 ∂ 2( ) ∂ 2( )
 
2 ∂ () ∂ () ∂ () 2 1 ∂ ∂( )
Laplacian operator: ∇ ( ) = + + ∇ ( ) = r + +
∂x2 ∂y 2 ∂z 2 r ∂r ∂r r2 ∂θ2 ∂z 2

Basic potential flows:

Uniform flow: φ = U (x cos α + y sin α) , ψ = U (y cos α − x sin α) , u = U cos α , v = U sin α

m m m
Source and sink: φ= ln r , ψ = θ , vr = , vθ = 0, m > 0 : Source, m < 0 : Sink
2π 2π 2πr
→
−
I I
Circulation: Γ= V · ds, Γ = dφ = 0 (Irrotational flow)
C C
Γ Γ Γ
Vortex: φ = θ , ψ = − ln r , vr = 0 , vθ = , Γ > 0 : anti-clockwise, Γ < 0 : clockwise
2π 2π 2πr
K cos θ K sin θ K cos θ K sin θ
Doublet: φ = , ψ=− , vr = − 2
, vθ = −
r r r r2
Source in a uniform stream - Half body:
m m m
ψ = U r sin θ +θ, φ = U r cos θ + ln r, vr = U cos θ + , vθ = −U sin θ
2π 2π 2πr
Flow around a circular cylinder (radius, a):
a2 a2
   
K sin θ K cos θ
ψ = U r sin θ − , φ = U r cos θ + , vr = U 1 − 2 cos θ, vθ = −U 1 + 2 sin θ
r r r r

Normal stresses
∂u ∂vr
σxx = −p + 2µ σrr = −p + 2µ
∂x  ∂r
∂v 1 ∂vθ vr
σyy = −p + 2µ σθθ = −p + 2µ +
∂y r ∂θ r
∂w ∂vz
σzz = −p + 2µ σzz = −p + 2µ
∂z ∂z
Shear stresses
     
∂u ∂v ∂ vθ 1 ∂vr
τxy = τyx = µ + τrθ = τθr = µ r +
 ∂y ∂x  ∂r  r r ∂θ 
∂v ∂w ∂vθ 1 ∂vz
τyz = τzy = µ + τθz = τzθ = µ +
 ∂z ∂y  ∂z r ∂θ 
∂w ∂u ∂vr ∂vz
τzx = τxz = µ + τrz = τzr = µ +
∂x ∂z ∂z ∂r
Incompressible Navier-Stokes equations for viscous flows (ρ is density, p is pressure)
→
−
Continuity: ∇ · V = 0

Cartesian coordinates  2
∂ u ∂ 2u ∂ 2u
  
∂u ∂u ∂u ∂u ∂p
x-momentum: ρ +u +v +w =− + ρgx + µ + +
∂t ∂x ∂y ∂z ∂x ∂x2 ∂y 2 ∂z 2
 2
∂ v ∂ 2v ∂ 2v
  
∂v ∂v ∂v ∂v ∂p
y-momentum: ρ +u +v +w =− + ρgy + µ + +
∂t ∂x ∂y ∂z ∂y ∂x2 ∂y 2 ∂z 2
 2
∂ w ∂ 2w ∂ 2w
  
∂w ∂w ∂w ∂w ∂p
z-momentum: ρ +u +v +w = − + ρgz + µ + +
∂t ∂x ∂y ∂z ∂z ∂x2 ∂y 2 ∂z 2
Polar coordinates
∂vr vθ ∂vr vθ 2
 
∂vr ∂vr
r direction: ρ + vr + − + vz
∂t ∂r r ∂θ r ∂z
1 ∂ 2 vr 2 ∂vθ ∂ 2 vr
   
∂p 1 ∂ ∂vr vr
= − + ρgr + µ r − 2+ 2 2 − 2 +
∂r r ∂r ∂r r r ∂θ r ∂θ ∂z 2
 
∂vθ ∂vθ vθ ∂vθ vr vθ ∂vθ
θ direction: ρ + vr + + + vz
∂t ∂r r ∂θ r ∂z
1 ∂ 2 vθ 2 ∂vr ∂ 2 vθ
   
1 ∂p 1 ∂ ∂vθ vθ
=− + ρgθ + µ r − 2+ 2 2 + 2 +
r ∂θ r ∂r ∂r r r ∂θ r ∂θ ∂z 2
1 ∂ 2 vz ∂ 2 vz
     
∂vz ∂vz vθ ∂vz ∂vz ∂p 1 ∂ ∂vz
z direction: ρ + vr + + vz = − + ρgz + µ r + 2 2 +
∂t ∂r r ∂θ ∂z ∂z r ∂r ∂r r ∂θ ∂z 2

Dimensional Analysis, Similitude, and Modelling

ρV ` V
Reynolds number: Re = Froude number: F r = √
µ g`
p ρV 2
Euler number: Eu = Cauchy number: Ca =
ρV 2 Ev
V ω`
Mach number: M = Strouhal number: St =
c V
ρV 2 `
Weber number: W e =
σ

Equations for topics that will be discussed after the mid-semester exam will be added later.