Hydraulics

Prof. Mohammad Saud Afzal

Department of Civil Engineering
 The Velocity Field
 The infinitesimal particles of a fluid are tightly packed together (as is implied by
the continuum assumption).
 Thus, at a given instant in time, a description of any fluid property (such as density,
pressure, velocity, and acceleration) may be given as a function of the fluid’s
location.
 This representation of fluid parameters as functions of the spatial coordinates is termed a
field representation of the flow.
෡
𝑽 = 𝒖 𝒙, 𝒚, 𝒛, 𝒕 𝒊Ƹ + 𝒗 𝒙, 𝒚, 𝒛, 𝒕 𝒋Ƹ + 𝒘 𝒙, 𝒚, 𝒛, 𝒕 𝒌
where u, and w are the x, y, and z components of the velocity vector.
 By definition, the velocity of a particle is the time rate of change of the position vector for
that particle.
 Shown in Fig.1, The position of particle

A relative to the coordinate system is

given by its position vector, which (if the

particle is moving) is a function of time.

 The time derivative of this position gives Fig.1

the velocity of the particle,

𝑑𝑟𝐴 Τ𝑑𝑡 = 𝑉𝐴 .
 By writing the velocity for all of the particles, we can obtain the field description of
the velocity vector 𝑽 = 𝑽 𝒙, 𝒚, 𝒛, 𝒕 .
 Since the velocity is a vector, it has both a direction and a magnitude. The magnitude

of V, denoted 𝑽 = 𝑽 = 𝒖𝟐 + 𝒗𝟐 + 𝒘𝟐 , is the speed of the fluid.

 Eulerian Flow
Descriptions
There are two general approaches in analyzing fluid mechanics problems. The

first method, called the Eulerian method.

In this case, the fluid motion is given by completely prescribing the necessary

properties (pressure, density, velocity, etc.) as functions of space and time.

From this method we obtain information about the flow in terms of what

happens at fixed points in space as the fluid flows through those points.
 A typical Eulerian representation of
the flow is shown by the figure in the
margin which involves flow past an air
foil at angle of attack.
 The pressure field is indicated by using
a contour plot showing lines of
constant pressure, with gray shading
indicating the intensity of the
pressure.
 Lagrangian Flow Descriptions
The second method, called the Lagrangian method, involves following individual

fluid particles as they move about and determining how the fluid properties

associated with these particles change as a function of time.

That is, the fluid particles are “tagged” or identified, and their properties

determined as they move.

The difference between the two methods of analyzing fluid flow problems can be

seen in the example of smoke discharging from a chimney.

 One-, Two-, and Three-Dimensional Flows
Generally, a fluid flow is a rather complex three-dimensional, time-dependent

෡
phenomenon. 𝑽 = 𝑽 𝒙, 𝒚, 𝒛 = 𝒖𝒊Ƹ + 𝒗𝒋Ƹ + 𝒘𝒌

In almost any flow situation, the velocity field actually contains all three velocity

components(u, v, and w, for example). In many situations the three-dimensional

flow characteristics are important in terms of the physical effects they produce. For

these situations it is necessary to analyze the flow in its complete three-

dimensional character.
The flow of air past an airplane wing provides an example of a complex three-dimensional

flow.

In many situations one of the velocity components may be small (in some sense) relative to

the two other components. In situations of this kind it may be reasonable to neglect the

smaller component and assume two-dimensional flow. That is, 𝐕 = 𝒖𝒊Ƹ + 𝒗𝒋,Ƹ where u and 𝒗

are functions of x and y (and possibly time, t).

It is sometimes possible to further simplify a flow analysis by assuming that two of the

velocity components are negligible, leaving the velocity field to be approximated as a

one-dimensional flow field. That is, 𝐕 = 𝒖𝒊.Ƹ

 Steady and Unsteady Flows
CLASSIFICATION OF FLOW

 Steady Flow: Fluid flow conditions at any point do not change with time. For example

𝜕𝑉 𝜕𝑝 𝜕𝜌
= 0, = 0, =0
𝜕𝑡 𝜕𝑡 𝜕𝑡

In a steady flow steam line, path line and streak line are identical.

𝜕𝑉
 Unsteady Flow: Flow parameters at any point change with time, e.g. ≠0
𝜕𝑡
 Uniform and Non-uniform Flows
 Uniform Flow: The flow is defined as uniform flow when in the flow field
the velocity and other hydrodynamic parameters do not change from point to
point at any instant of time.
 For a uniform flow, the velocity is a function of time only, which can be expressed in
Eulerian description as
𝑉 = 𝑉(𝑡)
 Implication:
 For a uniform flow, there will be no spatial distribution of hydrodynamic and
other parameters.
 Any hydrodynamic parameter will have a unique value in the entire field,
irrespective of whether it changes with time − unsteady uniform flow OR
does not change with time − steady uniform flow.
 Non-Uniform Flow: When the velocity and other hydrodynamic parameters changes

from one point to another the flow is defined as non-uniform.

 Important points:

 For a non-uniform flow, the changes with position may be found either in the

direction of flow or in directions perpendicular to it.

 Non-uniformity in a direction perpendicular to the flow is always encountered

near solid boundaries past which the fluid flows.

Reason: All fluids possess viscosity which reduces the relative velocity (of the fluid

w.r.t. to the wall) to zero at a solid boundary. This is known as no-slip condition.
 Streamline
 In a fluid flow, a continuous line so drawn that it is tangential to the velocity

vector at every point is known as a streamline.

 If the velocity vector 𝑽 = 𝒊𝒖

Ƹ + 𝒋𝒗 ෡
Ƹ + 𝒌𝒘

 Then the differential equation of a streamline is given by

𝑑𝑥 𝑑𝑦 𝑑𝑧
= =
𝑢 𝑣 𝑤
 Practice Problem
In a flow the velocity vector is given by V= 3xi + 4yj – 7zk. Determine the equation of the
streamline passing through a point M= (1, 4, 5).
Solution:

The equation of the streamline is

𝑑𝑥 𝑑𝑦 𝑑𝑧
= =
𝑢 𝑣 𝑤

Here, u = 3𝑥, v = 4𝑦 and w=-7𝑧

𝑑𝑥 𝑑𝑦 𝑑𝑧
Hence = =−
3𝑥 4𝑦 7𝑧

Considering the equations involving 𝑥 and 𝑦, on integration

 1 1
ln 𝑥 = 4 ln 𝑦 + ln 𝐶1′ Where, 𝐶1′ = a constant
3

4
Or, 𝑦 = 𝐶1 𝑥 3 Where 𝐶1 is another constant.

Similarly, by considering equations with x and z and on integration

1 1
ln 𝑥 = − 7 ln 𝑧 + ln 𝐶2′ Where, 𝐶2′ = a constant
3

𝐶2
Z= 7 Where, 𝐶2 is another constant.
𝑥3

4
Putting the coordinates of the point M (1, 4, 5). 𝐶1 = (1)4/3 =4 and 𝐶2 = 5 X 17/3 =5

The streamline passing through M is given by

𝟓
𝒚 = 4𝒙𝟒/𝟑 and z =
𝒙𝟕/𝟑
 Path lines
A path line is the actual path traveled by an individual fluid

particle over some time period.

Path lines are the easiest of the flow patterns to understand.

A path line is a Lagrangian concept in that we simply follow

the path of an individual fluid particle as it moves around in Fig.2

the flow field.

Thus, a path line is the same as the fluid particle’s material position vector (x

particle(t), y particle(t), z particle(t)), traced out over some finite time interval.
 Streak lines
 A streakline is the locus of fluid particles that have passed
sequentially through a prescribed point in the flow.
 Streaklines are the most common flow pattern generated in a
physical experiment. If you insert a small tube into a flow and
introduce a continuous stream of tracer fluid (dye in a water Fig.3

flow or smoke in an airflow), the observed pattern is a

streakline.
 Fig. 3 shows a streakline is formed by connecting all the circles into a
smooth curve.
 Stagnation Point
 A point of interest in the study of the kinematics of fluid

is the occurrence of points where the fluid flow stops.

When a stationary body is immersed in a fluid, the fluid

is brought to a stop at the nose of the body. Such a

point where the fluid flow is brought to rest is known as Fig.4

the stagnation point.

 Thus, a stagnation point is defined as a point in the flow field where the velocity

is identically zero.

ഥ viz., u, v, and w are

 This means that all the components of the velocity vector 𝑽

identically zero at the stagnation point.

 Acceleration
 Acceleration is a vector.

 In the natural co-ordinate system, viz., along and across a streamline (Fig. 5).

𝑑𝑉
𝑎= and a= 𝑎𝑠2 + 𝑎𝑛2
𝑑𝑡

𝜕𝑉𝑠 𝜕𝑉𝑠
 In the tangential direction: 𝑎𝑠 = + 𝑉𝑠
𝜕𝑡 𝜕𝑠

Fig.5
 𝜕𝑉𝑛 𝑉𝑠2
 In the normal direction : 𝑎𝑛 = +
𝜕𝑡 𝑟

where r = radius of curvature of the streamline at the point

𝑉𝑠 = tangential component of the velocity V

And 𝑉𝑛 = normal component of velocity generated due to change in direction.

𝝏𝑽𝒔 𝝏𝑽𝒏
 The terms and are called local accelerations.
𝝏𝒕 𝝏𝒕

𝝏𝑽 𝑽𝟐𝒔
Also 𝑽𝒔 𝒔 = tangential convective acceleration and = normal convective
𝝏𝒔 𝒓

acceleration.
 In Cartesian co-ordinates: 𝑽 = 𝒊𝒖
Ƹ + 𝒋𝒗 ෡
Ƹ + 𝒌𝒘

 Acceleration 𝑎𝑥 , 𝑎𝑦 , and 𝑎𝑧 in the x, y, z directions respectively are:

𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢
 𝑎𝑥 = +𝑢 +𝑣 +𝑤
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑣
 𝑎𝑦 = +𝑢 +𝑣 +𝑤
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑤
 𝑎𝑧 = + 𝑢 + 𝑣 + 𝑤
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
 Practice Problem
The velocity along the centreline of a nozzle of length L is

given by

𝒙 𝟐
𝑽 = 𝟐𝒕 𝟏 −
𝟐𝑳

where V= velocity in m/s, t = time in seconds from commencement of flow, x = distance

from inlet to the nozzle. Find the convective acceleration, local acceleration and
the total acceleration when t= 3s, x = 0.5 m and L = 0.8 m.
Solution:
𝜕𝑉 𝑥 2
(i) Local acceleration = =2 1 − 2𝐿 at t = 3 s
𝜕𝑡

and
𝜕𝑉 0.5 2
x = 0.5 m, =2 1− = 0.945 m/s2
𝜕𝑡 2×0.8

𝜕𝑉 𝑥 2 𝑥 1 4𝑡 2 𝑥 3
(ii) Convective acceleration = 𝑉 𝜕𝑥 = 2𝑡 1 − . 2𝑡. 2 1− − 2𝐿 = − 𝐿 1−
2𝐿 2𝐿 2𝐿

At 1 = 3 s and x= 0.5 m
4×32 0.5 3
Convective acceleration = − 0.8 1− = −𝟏𝟒. 𝟔𝟐𝟑 m/s2
2×0.8

(iii) Total acceleration = (local + convective) acceleration = 0.945 — 14.623 = — 13.68 m/s2
 Continuity equation
In One-dimensional Analysis
 In steady flow, mass rate of flow into stream tube is equal to mass rate
of flow out of the tube
𝜌1 𝐴1 𝑉1 = 𝜌2 𝐴2 𝑉2
 For incompressible fluid, under steady flow (Fig. 6).

𝐴1 𝑉1 = 𝐴2 𝑉2
Fig:6
 When there is a variation of velocity across the cross section of a conduit, for an

incompressible fluid discharge. (Fig. 7)

𝑄 = න 𝑣𝑑𝐴 = න 𝑣𝑑𝐴
𝐴1 𝐴2
Fig: 7
 Practice Problem
Fig shows a pipe network with junctions (nodes) at A, B, C, D, E, and F. The numerals in the fig indicates the
discharges at the nodes or in the pipes as the case is and the arrows indicate the directions of flows. By
continuity equation determine the missing discharge values and their direction in pipes AB, BC, CD, BE and EF
at the node F.
By continuity criterion, the flow entering into a node must be equal to the flow going out of the node.
Thus by considering flow into a node as positive, the algebraic sum of discharges at a node is zero.
Thus at node A:
100 – 70 – QAB = 0
Or QAB = 30 and QAB is from A to B.
At node D: 70 + 50 – QDC = 0
QDC = 120 and QDC is from D to C.
At node C: 120 - 80 – QCB = 0
QCB = 40 and QCB is from C to B.
At node B: 30 + 40 - 30 – QBE -20 = 0
QBE = 20 and QBE is from B to E.
At node E: 80 + 20 – QEF - 90 = 0
 QEF = 10 and QEF is from E to F.
At node F: 20 + 10 – QF = 0
QF = discharge out of node F = 30.
The distribution of discharges are as in fig below.

It can be seen now that at each node the continuity equation is satisfied.
 In Differential Form
 Cartesian co-ordinates:

𝜕𝜌 𝜕(𝜌𝑢) 𝜕(𝜌𝑣) 𝜕(𝜌𝑤)

+ + + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

 For incompressible fluid (d𝜌/dt = 0) and hence the above equation is

simplified as

𝜕𝑢 𝜕𝑣 𝜕𝑤
+ + =0
𝜕𝑥 𝜕𝑦 𝜕𝑧
 Rotational and irrotational action
 Consider a rectangular fluid element of sides dx and dy [(Fig. 8.(a)].

 Under the action of velocities acting on it let it undergo deformation as shown in Fig. 8.(b) in a time

dt.

Fig.8.a Fig.8.b
 𝜕𝑣
𝛾1 = angular velocity of element AB =
𝜕𝑥

𝜕𝑢
𝛾2 = angular velocity of element AD =
𝜕𝑦

 Considering the anticlockwise rotation as positive, the average of angular

velocities of two mutually perpendicular elements is defined as the rate
of rotation.
 Thus rotation about z-axis

𝟏 𝝏𝒗 𝝏𝒖
𝝎𝒛 = −
𝟐 𝝏𝒙 𝝏𝒚
 Thus for a three-dimensional fluid element, three rotational components as given in the

following are possible:

𝟏 𝝏𝒗 𝝏𝒖
About z axis, 𝝎𝒛 = −
𝟐 𝝏𝒙 𝝏𝒚

𝟏 𝝏𝒖 𝝏𝒘
About y axis, 𝝎𝒚 = −
𝟐 𝝏𝒛 𝝏𝒙

𝟏 𝝏𝒘 𝝏𝒗
About x axis, 𝝎𝒙 = −
𝟐 𝝏𝒚 𝝏𝒛
 Fluid motion with one or more of the terms 𝝎𝒛 , 𝝎𝒚 or 𝝎𝒛 different from zero is
termed rotational motion.
 Twice the value of rotation about any axis is called as vorticity along that axis.
𝝏𝒗 𝝏𝒖
 Thus the equation ( for vorticity along z-axis is ζ𝑧 = 2𝝎𝒛 = −
𝝏𝒙 𝝏𝒚

 A flow is said to be irrotational if all the components of rotation are zero,

viz. 𝝎𝒛 = 𝝎𝒚 = 𝝎𝒛 = 𝟎
 Practice Problem
For the following flows, determine the components of rotation about the various axes.
u = xy3z, v = - y2 z2, w = yz2 – ( y3 Z2 /2)

Solution: The components of rotation about the various axes are:

1 𝜕𝑣 𝜕𝑢 1 𝟑
𝜔𝑧 = 2 𝜕𝑥
− 𝜕𝑦 = 2 0 − 3𝑥𝑦 2 𝑧 = − 𝟐 𝒙𝒚𝟐 𝒛

1 𝜕𝑤 𝜕𝑣 𝟏 𝟑𝒚𝟐 𝒛𝟐
𝜔𝑥 = 2 − 𝜕𝑧 = 𝟐 𝒛𝟐 − + 𝟐𝒚𝟐 𝒛
𝜕𝑦 𝟐

1 𝜕𝑢 𝜕𝑤 1 3
1 3
𝜔𝑦 = − = 𝑥𝑦 − 0 = 𝒙𝒚
2 𝜕𝑧 𝜕𝑥 2 2
 Stream function
 In a two-dimensional flow consider two streamlines S1 and S2 . The flow rate (per unit depth) of

an incompressible fluid across the two streamlines is constant and is independent of the path,

(path a or path b from A to B in Fig. 9).

Fig.9
 A stream function Ψ is so defined that it is constant along a streamline and the difference

of Ψ𝑠 for the two streamlines is equal to the flow rate between them.

 Thus Ψ𝐴 − Ψ𝐵 = flow rate between S1 and S2 . The flow from left to right is taken as

positive, in the sign convention. The velocities u and v in x and s directions are

given by

𝜕Ψ 𝜕Ψ
𝑢= and v = −
𝜕𝑦 𝜕𝑥
 The stream function Ψ is defined as above for two dimensional flows only.

𝝏𝒗 𝝏𝒖
 For an irrotational flow, − = 0 and hence,
𝝏𝒙 𝝏𝒚

𝜕2 Ψ 𝜕2 Ψ
− 2 − 2 =0
𝜕𝑥 𝜕𝑦

𝝏𝟐 Ψ 𝝏𝟐 Ψ
 That is, the Laplace equation + 𝟐 =𝟎
𝝏𝒙𝟐 𝝏𝒚
 Potential function
 In irrotational flows, the velocity can be written as a gradient of a scalar function ϕ
called velocity potential.
𝜕ϕ 𝜕ϕ 𝜕ϕ
𝑢= ,v= and w =
𝜕𝑥 𝜕𝑦 𝜕𝑧

Considering the equation of continuity for an incompressible fluid,

𝜕𝑢 𝜕𝑣 𝜕𝑤
+ + =0
𝜕𝑥 𝜕𝑦 𝜕𝑧

 And substituting the expressions for u, v and w in terms of ϕ

𝜕2ϕ 𝜕2ϕ 𝜕2ϕ
𝛻2ϕ = + 2+ 2 =0
𝜕𝑥 2 𝜕𝑦 𝜕𝑧
 Thus the velocity potential satisfies the Laplace equation. Conversely, any function ϕ

which satisfies he Laplace equation is a possible irrotational fluid flow case.

 Lines of constant ϕ arc called equipotential lines and it can be shown that these lines

will form orthogonal grids with Ψ = constant lines. This fact is used in the construction

of flow nets for fluid flow analysis.

[Note : Some authors define ϕ such that

𝜕ϕ 𝜕ϕ 𝜕ϕ
𝑢=− ,v=− and w = − ]
𝜕𝑥 𝜕𝑦 𝜕𝑧
Relation between Ψ and ϕ for 2-dimensional flow
 ϕ exists for irrotational flow only.

𝜕ϕ 𝜕Ψ  Ψ = constant along a streamline.

𝑢= =
𝜕𝑥 𝜕𝑦  Φ = constant along an equipotential
𝜕ϕ 𝜕Ψ
v= =− line which is normal to streamlines.
𝜕𝑦 𝜕𝑥

 By continuity equation 𝜕2ϕ 𝜕2ϕ

+ =0
𝜕𝑥 2 𝜕𝑦 2

 By irrotational flow condition 𝜕2Ψ 𝜕2Ψ

2
+ 2 =0
𝜕𝑥 𝜕𝑦
 Practice Problem
A velocity potential for a two-dimensional flow is given by ɸ = (x2 — y2) + 3xy.
Calculate (i) the stream function and (ii) the flow rate between the streamlines passing through
points (1, 1) and (1, 2)

Solution:
𝜕𝛷 𝜕𝜓 3
ɸ = (x2 - y2)+ 3xy u = 𝜕𝑥 = 2𝑥 + 3𝑦 = Ψ = 2xy + 2 𝑦 2 + 𝑓(𝑥) (i)
𝜕𝑦

𝜕𝛷 𝜕𝜓 𝜕𝜓
𝑣= = −2𝑦 + 3𝑥 = − 𝜕𝑥 (ii) And from (i) − = −2𝑦 − 𝑓′(𝑥)
𝜕𝑦 𝜕𝑥
3
Thus f'(x) = -3x and hence f(x) = − 𝑥 2
2
3
The required stream function is Ψ = 2xy — (x2 — y2)
2
 3
At point (1, 1) Ψ1 = (2 — (1 —1)) = 2 units
2

At point (1, 2)

3
Ψ2 = [2 x (1 x 2) — (1 — 4)] = 8.5 units
2

Flow rate between the stream lines passing through (1, 1) and (1, 2)

Δ Ψ = Ψ2 − Ψ1 = (8.5 - 2.0) = 6.5 units