Fluid Kinematics

Dr. Zaib Ali

 Outline
• Velocity Field
• The Acceleration Field and Material Derivative
• Control Volume and System Representation
• The Reynolds Transport Theorem

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 Learning Objectives
• Discuss the differences between the Eulerian and
Langrangian descriptions of fluid motion.
• Identify various flow characteristics based on the velocity
field.
• Determine the streamline pattern and acceleration field
given a velocity field.
• Discuss the differences between a system and control
volume.
• Apply the Reynolds transport theorem and the material
derivative.
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 Fluid Kinematics
• Study of fluid motion (velocity, acceleration) without considering the forces that cause it.
• How to study fluid motion?
– Difficult rather impossible to quantify motion of fluid by tracking motion of individual molecules
• Continuum hypothesis
– Consider the fluid to be made of lots of small particles (with many molecules) that interact with
each other and surrounding
– The motion of the fluid can be determined by the velocity and acceleration of these fluid particles
– Any fluid property, p, T, ρ, v may be written as a function of its spatial coordinates, x, y, z and
secondly the time t; which is known as Field representation.
– So the temperature would be T = T(x, y, z, t) .
– The properties of the fluid will generally be a continuous function.
 The Velocity Field
• In fluid flow there is a net motion of molecules from one point in
space to another point as a function of time.
• At a given instant in time, a description of fluid velocity as a
function of the fluid’s location is termed a velocity field
• The velocity field describes the motion of a piece of the fluid at
rA=(x, y, z) at time t.
 The Velocity Field
• Magnitude of velocity at certain point is given by
𝑽 = 𝑢2 + 𝑣 2 + 𝑤 2
• 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).
 Fluid Kinematics
• Two approaches for analysis of fluid motion
– Eulerian approach:
• Fluid properties are determined at fixed points in space as fluid flows by.
– Lagrangian approach:
• Fluid particles are tagged/identified and their properties are determined as they move in space.
 Eulerian and Lagrangian Description
Consider smoke going up a chimney

• Eulerian approach Attach thermometer to the top of chimney, point 0. Record T as a function
of time. As different smoke particles pass through O, the temperature changes. Gives T(x0,
y0, z0, t). More thermometers to get T(x, y, z, t).
• Lagrangian approach Thermometers are attached to a particle, A. End up with TA = TA(t). Can
have many particles and track T for all of them. If we also know, position of each particle of
function of time, can translate Lagrangian information into Eulerian information.
 Eulerian and Lagrangian Description
• It is generally more common to use Eulerian approach to fluid flows. Measuring
water temperature, or pressure at a point in a pipe.
• Lagrangian methods sometimes used in experiments. Throwing tracers into moving
water bodies to determine currents.
• Bird migration example: Ornithologists with binoculars count migrating birds
moving past a (Eulerian) or scientists place radio transmitters on the birds
(Lagrangian).
 Streamlines, Streaklines and Pathlines
• Streamlines, streaklines and pathlines are used in the visualization
of fluid flow. Streamlines mainly used in analytic work,
streaklines and pathlines used in experimental work.

• A streamline is a line that is everywhere tangent to the velocity

field.
– For steady flow, the streamlines are fixed in space.
– Unsteady flow, streamlines may change with time.
– The slope of the streamline is equal to tangent of velocity field.
𝑑𝑦 𝑣
=
𝑑𝑥 𝑢
– If the velocity field is known as a function of x and y (and t if the flow is
unsteady), this equation can be integrated to give the equation of the
streamlines.
 Streamlines, Streaklines and Pathlines
• Streak-lines Consist of all the particles in a flow that have passed through a common
point. Mainly a laboratory tool. A streak-line can be made by injecting dye into a
moving fluid at a specific point.
– For a steady flow, each particle follows the previous ones precisely, and the streak-line is the same
as the streamline.
– For unsteady flows, particles injected at the same point at different times need not follow the same
path. An instantaneous photograph of the marked fluid would show the streak. The streak-line
would not be the same as the streamline.
• Pathline This is the trajectory followed by one particle when it moves from one point
to the next.

• For steady flow, streamlines, streaklines, and pathlines are the same.
Streamlines, Streaklines and Pathlines
 The Acceleration Field
• For the Eulerian description we describe the acceleration field as a function of
position and time.
• How to obtain the acceleration field if the velocity field is known?
• For unsteady flows the velocity at a given point in space may vary with time.
• In addition, a fluid particle may experience an acceleration because its velocity
changes as it flows from one point to another in space.
The Acceleration Field
 The Material Derivative
chain rule of differentiation

• Since A is any particle, the acceleration field is

The a is a vector with scalar components

 The Material Derivative
• The above result is known as material derivative (substantial derivative) and is often written in
shorthand notation as
𝐷𝑽
𝒂=
𝐷𝑡
With
𝐷( ) 𝜕( ) 𝜕( ) 𝜕( ) 𝜕( )
= +𝑢 +𝑣 +𝑤
𝐷𝑡 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
• One can define the material derivative for other properties for a fluid, e.g. temperature or
pressure.
𝐷𝑇 𝜕𝑇 𝜕𝑇 𝜕𝑇 𝜕𝑇
= +𝑢 +𝑣 +𝑤
𝐷𝑡 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝐷( ) 𝜕( )
• Material derivative is also written as = + (𝑽. 𝛁)( )
𝐷𝑡 𝜕𝑡
𝜕( )
• The material derivative allows for two types of contribution. Unsteady effects when ≠ 0 and
𝜕𝑡
𝜕( )
convective when ≠0
𝜕𝑥𝑦𝑧
 Local and Convective Derivatives

Material Derivative Local Derivative Convective Derivative

Unsteady Effects Convective Effects
 Unsteady Effects
Consider water from a header tank flowing
down a uniform cross section pipe.

• The water velocity at all points will be the same. However the
water velocity will gradually decrease as the header tank
empties.
𝜕𝑽 𝜕𝑽 𝜕𝑽 𝜕𝑽
𝒂= +𝑢 +𝑣 +𝑤
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝑽
𝒂= +0+0+0
𝜕𝑡
• The only term to survive is the local acceleration, namely
𝜕𝑽 𝜕
.The part of the material derivative is called the local
𝜕𝑡 𝜕𝑡
derivative.
 Convective Effects

Consider water going through a water heater under

steady state flow conditions.

𝜕𝑇
• The water temperature at any fixed location is fixed, i.e. =0
𝜕𝑡
• However, water temperature for a given flow of water will increase as it progresses through
the heater. The rate of change is
𝐷𝑇
𝐷𝑡
= 𝑅𝑎𝑡𝑒 𝑎𝑡 𝑤ℎ𝑖𝑐ℎ 𝑇 𝑐ℎ𝑎𝑛𝑔𝑒𝑠 𝑤𝑖𝑡ℎ 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 × 𝐻𝑜𝑤 𝑞𝑢𝑖𝑐𝑘𝑙𝑦 𝑤𝑎𝑡𝑒𝑟 𝑐ℎ𝑎𝑛𝑔𝑒𝑠 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛
𝐷𝑇 𝜕𝑇
= 𝑢
𝐷𝑡 𝜕𝑠 𝑠
 Convective Effects
• The convective part of the material derivative
𝐷( ) 𝜕( ) 𝜕( ) 𝜕( )
=𝑢 +𝑣 +𝑤
𝐷𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
represents changes in the flow properties associated with the movement of a particle
from one point in space to another.
 Control Volume and System Representation
• When describing a fluid, we can look at a region of space (Eulerian) or look at
what happens to specific pieces of the fluid (Lagrangian). When applying the
laws of motion, one can use either the system or control volume approach.
• A system is a collection of matter of fixed identity (always the same atoms or
fluid particles), which may move, flow, and interact with its surroundings. It
can change, shape or speed as forces act on it.
• A control volume, on the other hand, is a volume in space (a geometric entity,
independent of mass) through which fluid may flow.
 Control Volume and System Representation
• In dynamics, we want to keep track of given chunk of matter by isolating it and
drawing a free body diagram.
• Can be problematic in a fluid since harder to identify and keep of a particular
chunk of matter.
• Sometimes interested in the forces on a fan or automobile resulting from the air
flowing past (as opposed to what happens to air).
• A specific volume of space is identified (the control volume) and the flow
within, through or around that volume is investigated.
• In general, the control volume can be a moving volume.
 Control Volume
• The control surface is just the surface that encloses the control
volume.
• Fixed control volume

– The control volume consists of the inside of the pipe between (1) and
(2)
– Part of the control surface consists of the physical surface of the pipe.
Fluid can flow across the ends of the control surface.

• Deforming control volume

– The control volume consists of the interior surface of the collapsing
balloon. The balloon may even be moving.
 Control Volume
• Fixed or moving control volume
(The control volume shown is designed to surround
a jet engine.)
– Air is continually passing through the
engine. The system that was in the engine
at t = t1 is well past the engine at t = t2.
– The control volume is stationary if the jet
itself is stationary. If the jet is moving then
the control volume itself is moving.
– Laws of physics are framed in a systems
approach.
– To use control volume ideas, we need to
translate between systems and control
volume approaches, the Reynolds transport
theorem.
 System vs. CV and Langrangian vs. Eulerian
• The relationship between a system and a control volume is similar to the
relationship between the Lagrangian and Eulerian flow description.
• Lagrangian description, we follow the fluid and observe its behavior as it
moves about.
• In the control volume or Eulerian description we remain stationary and
observe the fluid’s behavior at a fixed location.
• If a moving control volume is used, it virtually never moves with the
system—the system flows through the control volume.
 System vs. CV and Langrangian vs. Eulerian
• All of the laws governing the motion of a fluid are stated in their basic
form in terms of a system approach.
• For example, “the mass of a system remains constant,” or “the time rate of
change of momentum of a system is equal to the sum of all the forces
acting on the system.”
• Note the word system, not control volume, in these statements.
• To use the governing equations in a control volume approach to problem
solving, we must rephrase the laws in an appropriate manner.
• To this end the Reynolds transport theorem is used.
 The Reynolds Transport Theorem
• All physical laws are stated in termed of various physical parameters. Velocity,
acceleration, mass, temperature, and momentum are but a few of the more
parameters.
• Let B represent any one of the system extensive properties ( mass, linear
momentum, angular momentum, energy, and entropy), the corresponding intensive
property(extensive property per unit mass) will be designated by b).

• The value of B is directly proportional to the amount of the mass being considered,
whereas the value of b is independent of the amount of mass.
• The amount of an extensive property that a system possesses at a given instant, can be
determined by adding up the amount associated with each fluid particle in the system.

(For infinitesimal fluid particles)

The Reynolds Transport Theorem

RTT
 The Reynolds Transport Theorem
• The Reynolds transport theorem
provides a way to relate what is
happening to the system and
what is happening in the control
volume.
• Consider a control volume
within a duct.
 The Reynolds Transport Theorem (cont’d.)
If B is an extensive parameter of the system. Then
At time = t
𝐵𝑠𝑦𝑠 𝑡 = 𝐵𝑐𝑣 (𝑡)

At time = t + Δt
𝐵𝑠𝑦𝑠 𝑡 + 𝛿𝑡
= 𝐵𝑐𝑣 𝑡 + 𝛿𝑡 − 𝐵𝐼 𝑡 + 𝛿𝑡 + BII 𝑡 + 𝛿𝑡

So, change in B with time δt will be

𝛿𝐵𝑠𝑦𝑠 𝐵𝑠𝑦𝑠 𝑡 + 𝛿𝑡 − 𝐵𝑠𝑦𝑠 𝑡
=
𝛿𝑡 𝛿𝑡
 The Reynolds Transport Theorem (cont’d.)
• Using 𝐵𝑠𝑦𝑠 𝑡 + 𝛿𝑡

𝛿𝐵𝑠𝑦𝑠 𝐵𝑐𝑣 𝑡 + 𝛿𝑡 − 𝐵𝐼 𝑡 + 𝛿𝑡 + BII 𝑡 + 𝛿𝑡 − 𝐵𝑠𝑦𝑠 𝑡

=
𝛿𝑡 𝛿𝑡

• Using at t; 𝐵𝑠𝑦𝑠 𝑡 = 𝐵𝑐𝑣 𝑡 and re-arranging terms

𝛿𝐵𝑠𝑦𝑠 𝐵𝑐𝑣 𝑡 + 𝛿𝑡 − 𝐵𝑐𝑣 𝑡 BII 𝑡 + 𝛿𝑡 𝐵𝐼 𝑡 + 𝛿𝑡

= + −
𝛿𝑡 𝛿𝑡 𝛿𝑡 𝛿𝑡

• Now for limit 𝛿𝑡 → 0

𝛿𝐵𝑠𝑦𝑠 𝐷𝐵𝑠𝑦𝑠
lim =
𝛿𝑡→0 𝛿𝑡 𝐷𝑡
 The Reynolds Transport Theorem (cont’d.)
• and
𝐵𝑐𝑣 𝑡 + 𝛿𝑡 − 𝐵𝑐𝑣 𝑡 𝜕𝐵𝑐𝑣 𝜕
lim = = න 𝜌𝑏𝑑𝕍
𝛿𝑡→0 𝛿𝑡 𝜕𝑡 𝜕𝑡 𝑐𝑣

BII 𝑡 + 𝛿𝑡 = (𝜌2 𝑏2 ) 𝛿𝕍𝐼𝐼 = 𝜌2 𝑏2 𝑉2 𝐴2 𝛿𝑡

BII 𝑡 + 𝛿𝑡
ሶ
𝐵𝑜𝑢𝑡 = lim = 𝜌2 𝑏2 𝑉2 𝐴2
𝛿𝑡→0 𝛿𝑡
Similarly
BI 𝑡 + 𝛿𝑡
ሶ = lim
𝐵𝑖𝑛 = 𝜌1 𝑏1 𝑉1 𝐴1
𝛿𝑡→0 𝛿𝑡
• Now Reynolds Theorem can be written as:
𝐷𝐵𝑠𝑦𝑠 𝜕𝐵𝑐𝑣
= ሶ − 𝐵𝑖𝑛
+ 𝐵𝑜𝑢𝑡 ሶ
𝐷𝑡 𝜕𝑡
Or
𝐷𝐵𝑠𝑦𝑠 𝜕𝐵𝑐𝑣
= ሶ
+ 𝐵𝑛𝑒𝑡
𝐷𝑡 𝜕𝑡
 The Reynolds Transport Theorem (cont’d.)
• The simplified Reynolds transport theorem can be easily
generalized.
The Reynolds Transport Theorem (cont’d.)
The Reynolds Transport Theorem (cont’d.)
 Physical Interpretation

• The left side of Eq. is the time rate of change of an arbitrary extensive parameter of a
system. This may represent the rate of change of mass, momentum, energy, or angular
momentum of the system, depending on the choice of the parameter B.

• Because the system is moving and the control volume is stationary, the time rate of
change of the amount of B within the control volume is not necessarily equal to that
of the system.

• The first term on the right side of Eq. represents the rate of change of B within the
control volume as the fluid flows through it.

• The last term in Eq. (an integral over the control surface) represents the net flowrate
of the parameter B across the entire control surface.
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 Relationship with Material Derivative

• Both the material derivative and the Reynolds transport

or theorem equations represent ways to transfer from the
Lagrangian viewpoint (follow a particle or follow a
system) to the Eulerian viewpoint (observe the fluid at a
given location in space or observe what happens in the
fixed control volume).

• The material derivative is essentially the infinitesimal (or

derivative) equivalent of the finite size (or integral)
Reynolds transport theorem

Convective effect:
Unsteady effect The effect associated with 38

the particle’s motion.

 Moving Control Volume

• Vcv is the velocity of control volume,

• V is the absolute velocity measured relative to inertial coordinate
system,
• W is the relative velocity measured relative to the moving control
volume – the fluid velocity seen by an observer riding along on the
control volume.

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Moving Control Volume

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 Moving Control Volume
• Control volume and system as seen by an observer moving with the control
volume.

Corresponding result for a moving control volume can be

obtained by simply replacing the absolute velocity, V, in that
equation by the relative velocity, W.
 Selection of a Control Volume
• To ensure that the points, associated with unknown parameters, are located on the control
surface, not buried within the control volume.
• The unknown will then appear in the convective term (the surface integral) of the Reynolds
transport theorem.
• If possible, the control surface should be normal to the fluid velocity.

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Summary