Chapter 3: Fluid Kinematics

Fluid kinematics deals with describing the motion of fluids

without necessarily considering the forces and moments that
cause the motion

Assumptions:
- Fluid is a continuum field
- u, p,  are functions of time and space
u = u(x,y,z,t)
p = p(x,y,z,t)
 = (x,y,z,t)
§ 1. Lagrangian and Eulerian flow descriptions

1.1. Lagrangian method:

The position vector of the fluid particle can be expressed as 𝑟(a,

Ԧ b, c, t)
x = x(a, b, c, t)
a, b, c, t : Lagrangian variables
y = y(a, b, c, t)
z = z(a, b, c, t)
dr 𝑑 2 𝑟Ԧ
Velocity: u= Acceleration: 𝑎Ԧ = 2
𝑑𝑡
dt
1.2. Eulerian method:
We define field variables which are functions of space and time.
Pressure field, P=P(x,y,z,t)
Velocity field, 𝑢 = 𝑢 𝑥, 𝑦, 𝑧, 𝑡 x, y, z, t : Eulerian variables
𝑢 = 𝑢𝑥 𝑥, 𝑦, 𝑧, 𝑡 𝑖Ԧ + 𝑢𝑦 𝑥, 𝑦, 𝑧, 𝑡 𝑗Ԧ + 𝑢𝑧 𝑥, 𝑦, 𝑧, 𝑡 𝑘
Acceleration field, a = a ( x, y , z , t )

𝑎Ԧ = 𝑎𝑥 𝑥, 𝑦, 𝑧, 𝑡 𝑖Ԧ + 𝑎𝑦 𝑥, 𝑦, 𝑧, 𝑡 𝑗Ԧ + 𝑎𝑧 𝑥, 𝑦, 𝑧, 𝑡 𝑘

These (and other) field variables define the flow field.

𝑑𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢
𝑎Ԧ = = + 𝑢𝑥 + 𝑢𝑦 + 𝑢𝑧
𝑑𝑡 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

■ The Eulerian description is often more convenient for fluid

mechanics applications.
 §2. Kinematic features of Fluid
2.1 Type of flow:
There are different patterns of fluid flow, usually characterized by time
and distance:

• Time: A flow is steady if the parameters describing it (e.g. flow rate,

velocity, pressure, etc.) do not change with time /t=0.
Otherwise a flow is unsteady /t  0.

• Distance: A flow is uniform if the parameters describing the flow do

not change with distance. In non-uniform flow, the parameters
change from point to point along the flow.
Open-channel flow: is classified as flow with the free surface (e.g., the
flow in river, canal, etc.).
Pipe flow: Flow without the free surface, the pipe is completely filled with
fluid.
2.2. Hydraulic quantities
 Cross-sectional flow area A (m2).
 Wetted perimeter: is the perimeter in contact with the fluid (i.e., the
length of the perimeter of the cross section in contact with the fluid) 𝜒
(m).
■ Hydraulic radius: Ratio of the cross-sectional flow area divided by the
𝐴
wetted perimeter 𝑅 = (m).
𝜒
Flow rate: The amount of Volume (or Mass) flowing through a cross
section per unit time.
𝑑𝑉
Volume flow rate: 𝑑𝑄 = = 𝑢𝑛 𝑑𝐴 ⇒ 𝑄 = ‫𝐴𝑑 𝑛𝑢 𝐴׬‬ (m3/s)
𝑑𝑡
𝑑𝑚 𝜌𝑑𝑉
Mass flow rate: 𝑑𝑄𝑚 = 𝑑𝑡
= 𝑑𝑡
= 𝜌𝑑𝑄 (kg/s)
or 𝑑𝐺 = 𝛾𝑑𝑄 ⇒ 𝐺 = ‫𝐴𝑑 𝑛𝑢𝛾 𝐴׬‬ (N/s)

We define the average velocity uavg (or 𝑢ത ) as the

average value of un across the entire cross section of
the pipe

𝑄 = ‫𝐴 𝑔𝑣𝑎𝑢 = 𝐴𝑑 𝑛𝑢 𝐴׬‬
𝑄
𝑜𝑟 𝑢𝑎𝑣𝑔 =
𝐴
 A mathematical concept commonly associated with vortex
motion is that of circulation. The circulation, Γ, is defined as the
line integral of the tangential component of the velocity taken
around a closed curve in the flow field.
𝛤 = ‫𝑺𝑑 ∙ 𝑠𝒖 𝑆ׯ‬

♦ Positive Г represents a counter-clockwise vortex, while

negative Г represents a clockwise vortex.
♦ Physical meaning of above equation: Γ is similar to the
calculating expression of the work of force F in
mechanics. The circulation, Γ, is as the work of velocity
u performed on the transitional distance S.
♦ Volume flow rate in this case: 𝑄 = ‫𝑺𝑑 ∙ 𝑛𝑢 𝑆ׯ‬
2.3. Streamlines and stream tubes

 A streamline is a curve that is everywhere tangent to the instantaneous

local velocity vector.

Consider an arc length

dr = dxi + dyj + dzk

dr must be parallel to the local
velocity vector

𝑢 = 𝑢𝑥Ԧ𝑖 + 𝑢𝑦 𝑗Ԧ + 𝑢𝑧 𝑘
Geometric arguments results in the
equation for a streamline
𝑑𝑥 𝑑𝑦 𝑑𝑧 U1
= = (3.1) U2
𝑢𝑥 𝑢𝑦 𝑢𝑧
U3
Un
Ui U..
.
 A streamtube is a tubular surface formed by streamlines along which the fluid
flows.
 Fluid flow inside streamtube is an elementary fluid flow.
 Fluid within a streamtube must remain there and cannot cross the boundary of
the streamtube.
 Both streamlines and streamtubes are instantaneous quantities, defined at a
particular instant in time according to the velocity field at that instant.
2.4. Stream function and velocity potential
2.4.1 Stream function
 The stream function is function of space and time such that its derivative with
respect to any direction gives the fluid velocity component at right angles to
this direction.
 Consider the simple case of steady, incompressible, two-dimensional flow in
the xy-plane:
𝜕𝜓 𝜕𝜓
𝜓 𝑥, 𝑦 ⟷ 𝑢𝑥 = ; 𝑢𝑦 = − (3.2)
𝜕𝑦 𝜕𝑥

𝑑𝑥 𝑑𝑦
 Substituting Eq. 3.2 into Eq. 3.1( = ) gives
𝑢𝑥 𝑢𝑦

𝑑𝑥 𝑑𝑦 𝜕𝜓 𝜕𝜓
𝜕𝜓 − 𝜕𝜓 = 0 ⟷ 𝜕𝑥
𝑑𝑥 +
𝜕𝑦
𝑑𝑦 = 0 ⟷ 𝑑𝜓 = 0 ⟷ 𝜓 = 𝑐𝑜𝑛𝑠𝑡
− 𝜕𝑥
𝜕𝑦
𝜓 is constant along the streamline.
2.4.2. The velocity potential
 For an irrotational flow, the velocity potential is a scalar function of
space and time such that its derivative with respect to any direction
gives the fluid velocity in that direction.
𝜕𝛷 𝜕𝛷 𝜕𝛷
𝛷 𝑥, 𝑦, 𝑧, 𝑡 ⟷ 𝑢𝑥 = ; 𝑢𝑦 = ; 𝑢𝑧 =
𝜕𝑥 𝜕𝑦 𝜕𝑧

 Consider the simple case of steady, two-dimensional flow in the xy-

plane.
 Equipotential line is one along which velocity potential is constant
𝑑𝛷 = 0
𝜕𝛷 𝜕𝛷
𝑑𝑥 + 𝑑𝑦 = 0 ⟷ 𝑢𝑥 𝑑𝑥 + 𝑢𝑦 𝑑𝑦 = 0
𝜕𝑥 𝜕𝑦
𝑑𝑦 𝑢
⟷ =− 𝑥 is slope of Equipotential line.
𝜕𝑥 𝑢𝑦
2.4.3. Cauchy-Riemann equations
𝜕𝜓 𝜕𝜓
 Stream function 𝜓 𝑥, 𝑦 ⟷ 𝑢𝑥 = ; 𝑢𝑦 = −
𝜕𝑦 𝜕𝑥
𝜕𝛷 𝜕𝛷
 Velocity potential 𝛷 𝑥, 𝑦 ⟷ 𝑢𝑥 = ; 𝑢𝑦 =
𝜕𝑥 𝜕𝑦
𝜕𝜓 𝜕𝛷 𝜕𝜓 𝜕𝛷
⇒ + =0
𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑦
Equipotential lines are perpendicular to streamlines.
 2.4.4. Physical Meanings of Stream functions and Velocity
Potential

■ Consider the simple case of

steady, incompressible, two-
dimensional flow in the xy-
plane.
♦ Volume flow rate:
𝑄𝐴𝐵 = 𝜓𝐵 − 𝜓𝐴
♦ The circulation:
𝛤𝐴𝐵 = 𝛷𝐵 − 𝛷𝐴
2.5. Votex

A vortex represents a flow in which the streamlines are concentric circles

Angular velocity (rate of rotation)

1 1 𝜕𝑢𝑧 𝜕𝑢𝑦
Ω𝑥 = rot 𝑥 u = −
2 2 𝜕𝑦 𝜕𝑧
1 1 1 𝜕𝑢𝑥 𝜕𝑢𝑧 (3.3)
Ω = rotu Ω𝑦 = rot 𝑦 u = −
2 2 2 𝜕𝑧 𝜕𝑥

1 1 𝜕𝑢𝑦 𝜕𝑢𝑥
Ω𝑧 = rot 𝑧 u = −
2 2 𝜕𝑥 𝜕𝑦
A vortex tube is a tubular surface formed by vortex lines
along which the fluid flows.
uz u y
− =0
* Irrotational flow (potential flow) y z
rotu=0 ux uz
− =0
z x
u y ux
− =0
+ Vortex intensity : x y

i =  rot n udω
ω

dx dy dz
+ Vortex equation:
= =
Ωx Ω y Ωz
 §3. The Continuity equation
3.1 General form
dm
Conservation of mass =0
dt

Applying the Law of Conservation of

Mass to a control volume, we see
d ( V )
=0 (3.4)
dt

V = dxdydz
 = (x,y,z,t)
From Eq 3.4 we have:

1 d 1 dV
+ = 0 (3.5)
 dt V dt

Considering x direction:

Velocity at control surface 1: ux

u x
Velocity at control surface 2 : u x + dx
x
The amount of flow volume entering through control surface 1
per unit time is uxdydzdt
The amount of flow volume leaving through control surface 2
𝜕𝑢𝑥
per unit time is (ux+ ⅆ𝑥)dydzdt
𝜕𝑥
Increasing volume in x direction can
be calculated:
ux ux
(u x + dx)dydzdt − u x dydzdt = dxdydzdt
x x

Increasing volume in x,y, z direction can be calculated:

ux u y uz
d V = ( + + )dxdydzdt (3.6)
x y z
V
Substitute eq 3.6 to eq 3.5, we have:

1 ⅆ𝜌 𝜕𝑢𝑥 𝜕𝑢𝑦 𝜕𝑢𝑧 1 d

+ + + =0 (or) + divu = 0 (3.7)
𝜌 ⅆt 𝜕𝑥 𝜕𝑦 𝜕𝑧  dt
(The continuity equation)
3.2. For fluid within pipe flow
In steady flow, the mass flow per unit time
passing through each section does not
change, even if the pipe diameter changes.
This is the law of conservation of mass A: cross-sectional area
v: mean velocity (Uavg)
1v1A1 = 2v2A2
 : density
Or vA = const
If the fluid is incompressible, e.g. water, with  being effectively constant,
then
vA = Q = const (3.8)
VA is called the volumetric flow rate (Q).
• Volumetric flow rate is constant for an incompressible pipe flow
• The flow velocity is inversely proportional to the cross-sectional area
of the pipe