Fluid Kinematics: Description of the motion of fluid without considering

the forces and moments that cause the motion

Fluid Kinematics How fluid particles move with time

CE2201 Fundamentals of Fluid Mechanics

Dr. Arunoda Basnayake

Department of Civil and Environmental Engineering
University of Ruhuna

E2022 Batch-24th- Year 2024

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Descriptions Flow visualization

Lagrangian Description (Joseph Louis Lagrange 1736-1813) • Visual examination of flow field features
- Follow the path of individual particle • Useful for physical experiments and for numerical solutions (Computational
Fluid Dynamics- CFD) as well
- Difficult to apply for fluids (cannot easily define or identify particles, fluid is
continuum, get deform as moves)

Eulerian Description (Leonhard Euler, 1707-1783)

- Finite volume or control volume is considered through which fluid flows in
and out
- Common method of describing fluid flow

Flow pattern

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 Definitions Definitions
Streamline: A continuous curve tangentially to the local instantaneous Pathline: Actual path travel by a fluid particle
velocity in the flow field.
- Can be different at each instant (for unsteady flows)
- Represents the direction of the flow at a given instant

Streamtube: A bundle of streamlines

Streakline: A streakline is the locus of fluid particles that have passed sequentially
through a prescribed point in the flow

If the flow is steady, streamlines, pathlines, and streaklines are identical

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Governing equations
Fundamental laws of physics Fundamental laws of fluid dynamics
Reynolds Transport Theorem
Conservation of matter
(RTT)
Matter can be neither created nor Control Volume
destroyed System Approach Approach
(Solid Mechanics) (Fluid Dynamics)
Conservation of momentum
A body in motion cannot gain or lose
momentum unless some external force is
? Osborne Reynolds (1842-1912)

applied

Conservation of energy
Energy may be neither created nor
destroyed. It can be transformed from one
state to another

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 Property: Any characteristic of a system Reynolds Transport Theorem (RTT)
Extensive properties (B) : Properties depend on size-or-extent-of the system T= t+dt
T= t Control volume (CV) at time t
Examples: Mass, Momentum, Energy

(I) (II) (III)

Intensive properties : Properties do not depend on the mass
Examples: Velocity, Temperature, Pressure, Density
System coincides with control volume Control volume (CV) at time t+dt System at time t+dt
Specific property (β) = Extensive property per unit mass
Examples: Specific volume (v=V/m), Specific energy (e=E/m)
B = extensive property (Mass, energy, momentum, etc.)
𝐵𝐶𝑉,𝑡 = 𝐵𝑆,𝑡 ……………………………(1)
Mass (M)
M/2 M/2 Extensive
Volume (V) Properties
V/2 V/2 𝐵𝐶𝑉,𝑡+𝑑𝑡 = 𝐵𝑆,𝑡+𝑑𝑡 + 𝐵𝐼,𝑡+𝑑𝑡 − 𝐵𝐼𝐼𝐼,𝑡+𝑑𝑡 ……(2)
Temperature (T)
T T
Pressure (P) P P Intensive (𝐵𝐶𝑉,𝑡+𝑑𝑡 −𝐵𝐶𝑉,𝑡 )/𝑑𝑡 = (𝐵𝑆,𝑡+𝑑𝑡 −𝐵𝑆,𝑡 )/ 𝑑𝑡 + (𝐵𝐼,𝑡+𝑑𝑡 )/𝑑𝑡 − (𝐵𝐼𝐼𝐼,𝑡+𝑑𝑡 )/𝑑𝑡
ρ ρ Properties 𝒅𝒕 → 𝟎
Density (ρ)
𝑑𝐵𝑠𝑦𝑠 𝜕𝐵𝑐𝑣
Criteria to differentiate intensive and extensive properties = + 𝐵ሶ 𝑜𝑢𝑡 − 𝐵ሶ 𝑖𝑛
𝑑𝑡 𝜕𝑡

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Reynolds Transport Theorem (RTT) Reynolds Transport Theorem (RTT)

For small element of 𝑑∀
𝑑𝐵𝑠𝑦𝑠 𝜕𝐵𝑐𝑣 𝑑𝐵 = 𝛽. 𝑑𝑚 = 𝛽. 𝜌. 𝑑∀ 𝒅𝑩𝒔𝒚𝒔 𝝏𝑩𝒄
= + 𝐵ሶ 𝑜𝑢𝑡 − 𝐵ሶ 𝑖𝑛 = + 𝑩ሶ 𝒐𝒖𝒕 − 𝑩ሶ 𝒊𝒏
𝑑𝑡 𝜕𝑡 𝒅𝒕 𝝏𝒕
𝑩 = න 𝜷. 𝝆. 𝒅∀
Mass flow rate: 𝑪𝑽
Rate of change of any Rate of change of B net flux of B through the
Volume of fluid passing the control surface Flow rate for any extensive property: extensive property B of a within the C.V. control surface
Consider an elemental area; system
Consider an elemental area;
Volume flow rate 𝐵 = න 𝛽. 𝜌. 𝑑∀
𝑑𝐵 = 𝛽. 𝑑𝑚
𝑑∀ 𝐶𝑉
𝑑𝑄 = = 𝑉. 𝑑𝐴 𝑑𝐵ሶ = 𝛽. 𝑑𝑚
ሶ
𝑑𝑡
𝑑𝐵ሶ = 𝛽 𝜌𝑉. 𝑑𝐴
𝐵ሶ 𝑜𝑢𝑡 − 𝐵ሶ 𝑖𝑛 = න 𝛽𝜌𝑉. 𝑑𝐴
Mass flow rate 𝐶𝑆
ሶ = 𝜌𝑉. 𝑑𝐴
𝑑𝑚 The flow rate of B across control surface

𝐵ሶ = න 𝛽𝜌𝑉. 𝑑𝐴
The mass flow rate across control surface 𝐶𝑆
𝑑𝐵𝑠𝑦𝑠 𝜕
= න 𝛽𝜌𝑑∀ + න 𝛽 𝜌𝑉. 𝑑𝐴
𝑚ሶ = න 𝜌𝑉. 𝑑𝐴 𝑩ሶ 𝒐𝒖𝒕 − 𝑩ሶ 𝒊𝒏 = න 𝜷𝝆𝑽. 𝒅𝑨 𝑑𝑡 𝜕𝑡 𝐶𝑉 𝐶𝑆
𝐶𝑆
𝑪𝑺
𝑉. 𝑑𝐴 +ve for outflow, -ve for inflow This theorem applies to any transportable property

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 Mass continuity equation Mass continuity equation
Control volume expression for the conservation of mass for a fixed and non-deforming CV
𝜕𝑚𝑐
Conservation of mass Extensive property B = mass
𝜕𝑡
= 𝑚ሶ 𝑖𝑛 − 𝑚ሶ 𝑜𝑢𝑡
systems 𝐵=𝑚
𝜕𝑚𝑐
𝑑𝑚𝑠𝑦𝑠 For steady flow =0
𝑑𝐵 𝜕𝑡
=0 𝛽= =1
𝑑𝑡 𝑑𝑚
𝑚ሶ 𝑖𝑛 − 𝑚ሶ 𝑜𝑢𝑡 = 0
For a stationary CV, RTT CV expression for mass continuity
For steady 1D flow
𝑑𝑚𝑠𝑦𝑠 𝜕 𝜌1 𝐴1 𝑉1 = 𝜌2 𝐴2 𝑉2
𝒅𝑩𝒔𝒚𝒔 𝝏𝑩𝒄 = ‫∀𝑑𝜌 ׬‬ + ‫𝑉𝜌 𝑆𝐶׬‬. 𝑑𝐴 = 0
= + 𝑩ሶ 𝒐𝒖𝒕 − 𝑩ሶ 𝒊𝒏 𝑑𝑡 𝜕𝑡 𝐶𝑉
𝒅𝒕 𝝏𝒕
For steady 1D incompressible flow
𝜕𝑚𝑐
𝑑𝐵𝑠𝑦𝑠 𝜕 = 𝑚ሶ 𝑖𝑛 − 𝑚ሶ 𝑜𝑢𝑡 𝐴1 𝑉1 = 𝐴2 𝑉2 ; 𝑄1 = 𝑄2
= න 𝛽𝜌𝑑∀ + න 𝛽 𝜌𝑉. 𝑑𝐴 𝜕𝑡
𝑑𝑡 𝜕𝑡 𝐶𝑉 𝐶𝑆
𝜕𝑚 For unsteady incompressible flow
𝑑𝐵 = 𝛽. 𝑑𝑚 = 𝛽. 𝜌. 𝑑∀ For steady flow 𝑐 = 0 𝜕𝑉𝑐
𝜕𝑡
𝑚ሶ 𝑖𝑛 − 𝑚ሶ 𝑜𝑢𝑡 = 0 = 𝑄𝑖𝑛 − 𝑄𝑜𝑢𝑡
𝜕𝑡
𝐵 = න 𝛽. 𝜌. 𝑑∀
𝐶𝑉

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Examples Examples
Steady 1D incompressible fluid
Velocity varies as given at two sections. Find 𝑄1 and 𝑈2 = 𝑓(𝑈1 )
Converging pipe Branching pipe 𝑉2 = 𝑉3
𝑑2 = 160 𝑚𝑚∅
0.16 𝑚

𝑉2 =? 𝑈1 𝑈2
𝑑2 = 200 𝑚𝑚∅
0.2 𝑚
𝑉1 = 1.2 𝑚/𝑠 𝑉3 =?
𝑑1 = 300 𝑚𝑚∅ 𝑑3 = 120 𝑚𝑚∅
0.12 𝑚 2
0.3 𝑚 𝑈
3 1
𝑟𝑜
𝑢 = 𝑈1 0 < 𝑟 <
2
2 𝑟0
𝑢 = 𝑈1 < 𝑟 < 𝑟0
3 2

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 Examples Linear momentum equation
Control volume expression for the conservation of momentum for a fixed and non-deforming CV
Velocity varies as given at two sections. 𝑈2 = 𝑓(𝑈1 )
Newton’s 2nd law: Conservation of linear Extensive property B = Momentum
𝑟2 momentum 𝐵 = 𝑀 = 𝑚𝑉
𝑢 = 𝑈2 1− 2
𝑟0
Systems 𝑑𝐵
𝑈1 𝑑𝑀𝑠𝑦𝑠 𝛽= =𝑉
𝑑𝑚
= ෍ 𝐹𝑠𝑦𝑠
𝑑𝑡
Rate of change of linear Sum of external forces CV expression for mass continuity
momentum acting on a system 𝑑𝑀𝑠𝑦𝑠 𝜕𝑀𝑐
= + 𝑀ሶ 𝑜𝑢𝑡 − 𝑀ሶ 𝑖𝑛 = ෍ 𝐹𝑠𝑦𝑠
𝑑𝑡 𝜕𝑡
𝑟𝑜 For a stationary CV, RTT
𝑢 = 𝑈1 ; 0 < 𝑟 <
2 𝒅𝑩𝒔𝒚𝒔 𝝏𝑩𝒄
= + 𝑩ሶ 𝒐𝒖𝒕 − 𝑩ሶ 𝒊𝒏 𝑑𝑀𝑠𝑦𝑠
4 𝑟2 𝑟0 𝒅𝒕 𝝏𝒕 =
𝜕
‫ ∀𝑑𝜌𝑉 ׬‬+ ‫𝑉𝜌𝑉 𝑆𝐶׬‬. 𝑑𝐴
𝜕𝑡 𝐶𝑉
= σ 𝐹𝑠𝑦𝑠
𝑢 = 𝑈1 1− 2 ; < 𝑟 < 𝑟0 𝑑𝑡
3 𝑟0 2 𝑑𝐵𝑠𝑦𝑠 𝜕
= න 𝛽𝜌𝑑∀ + න 𝛽 𝜌𝑉. 𝑑𝐴 For steady flow
𝑑𝑡 𝜕𝑡 𝐶𝑉 𝐶𝑆

𝑑𝐵 = 𝛽. 𝑑𝑚 = 𝛽. 𝜌. 𝑑∀ ෍ 𝐹𝑠𝑦𝑠 = 𝑀ሶ 𝑜𝑢𝑡 − 𝑀ሶ 𝑖𝑛

𝐵 = න 𝛽. 𝜌. 𝑑∀
𝐶𝑉

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Linear momentum equation Example

For steady flow Constant density oil 𝜌 = 685 𝑘𝑔/𝑚3 flow through a horizontal converging pipe. Q= 85 l/s
෍ 𝐹𝑠𝑦𝑠 = 𝑀ሶ 𝑜𝑢𝑡 − 𝑀ሶ 𝑖𝑛

𝑀 = 𝑚𝑉

𝑀ሶ = 𝑚𝑉
ሶ 𝑑2 = 0.2 m
𝑃2 = 8 𝑘𝑃𝑎
𝑑1 = 0.3 m
𝑀ሶ = 𝜌𝑄𝑉 𝑃1 = 10 𝑘𝑃𝑎

For steady 1D incompressible flow 𝜌, 𝑄, 𝑉2

𝜌, 𝑄, 𝑉1
෍ 𝐹𝑠𝑦𝑠 = 𝜌𝑄 𝑉2 − 𝑉1

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 Free jet striking a stationary deflector (vane)
Bernoulli’s Equation
Consider a horizontal free jet striking a stationary vane in a horizontal plane
Force momentum relation applied to steady, 1D, inviscid fluid flow • Assume frictionless flow
Consider a small stream tube having length ds • Jet is open to atmosphere
𝑑𝑠 𝑝 + 𝑑𝑝 𝐴 + 𝑑𝐴
For an inviscid flow, shear stresses are absent • Flow is horizontal, no change in elevation
• As there is no change in pressure and elevation, there is no change in velocity relative to vane.
𝑑𝑧 ෍ 𝐹𝑠𝑦𝑠 = 𝜌𝑄 𝑉2 − 𝑉1
𝜃 Apply linear force momentum equation

𝑝𝐴 − 𝑝 + 𝑑𝑝 𝐴 + 𝑑𝐴 + 𝑝𝐴 − 𝜌𝑔𝐴 𝑑𝑠 𝑆𝑖𝑛𝜃 = 𝜌𝑄 𝑉2 − 𝑉1 𝑉
𝜌𝑔𝐴 𝑑𝑠
−𝑑𝑝 𝐴 − 𝜌𝑔𝐴 𝑑𝑧 = 𝜌𝑄 𝑑𝑉
𝑅𝑥
−𝑑𝑝 𝐴 − 𝜌𝑔𝐴 𝑑𝑧 = 𝜌𝐴 𝑉 𝑑𝑉
𝑉 θ
Euler’s equation 𝑑𝑝 + 𝜌𝑔 𝑑𝑧 + 𝜌 𝑉 𝑑𝑉 = 0 𝑅𝑦
𝑑 𝑝/𝜌𝑔 + 𝑧 + 𝑉 2 /2𝑔 = 0 𝑥Ԧ ෍ 𝐹𝑥 = 𝑀ሶ 𝑜𝑢𝑡 − 𝑀ሶ 𝑖𝑛 𝑦 𝑑𝑖𝑟. ෍ 𝐹𝑦 = 𝑀ሶ 𝑜𝑢𝑡 − 𝑀ሶ 𝑖𝑛
For a constant density fluid 𝑑 𝑝 + 𝜌𝑔𝑧 + 𝜌𝑉 2 /2 = 0 or
−𝑅𝑥 = 𝑚𝑉𝐶𝑜𝑠𝜃
ሶ − 𝑚𝑉
ሶ
𝑅𝑦 = 𝑚𝑉𝑆𝑖𝑛𝜃
ሶ −0
𝑝 + 𝜌𝑔𝑧 + 𝜌𝑉 2 /2 = 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 Total pressure is constant along a streamline 𝑅𝑥 = 𝜌𝐴𝑉 2 (1 − 𝐶𝑜𝑠𝜃)
2 𝑅𝑦 = 𝜌𝐴𝑉 2 𝑆𝑖𝑛𝜃
𝑝/𝜌𝑔 + 𝑧 + 𝑉 /2𝑔 = 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 Total head is constant along a streamline

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𝑅= 𝑅𝑥 2 + 𝑅𝑦 2 𝑅𝑦 𝜌𝐴𝑉 2 𝑆𝑖𝑛𝜃 𝜃
𝑇𝑎𝑛𝛼 = = 𝑅 = 2𝜌𝐴𝑉 2 𝑆𝑖𝑛 𝜋 𝜃
𝑅𝑥 𝜌𝐴𝑉 2 (1 − 𝐶𝑜𝑠𝜃) 𝛼= −
𝑆𝑖𝑛𝜃
2 2 2
𝑅= (𝜌𝐴𝑉 2 (1 − 𝐶𝑜𝑠𝜃) )2 +(𝜌𝐴𝑉 2 𝑆𝑖𝑛𝜃 )2 =
(1 − 𝐶𝑜𝑠𝜃)

𝑅 = 𝜌𝐴𝑉 2 𝐶𝑜𝑠 2 𝜃 − 2𝐶𝑜𝑠𝜃 + 1 + 𝑆𝑖𝑛2 𝜃 𝜃 𝜃

2𝑆𝑖𝑛 2 𝐶𝑜𝑠 2
𝑇𝑎𝑛𝛼 = • R is maximum when 𝜃 = 180°
𝑅 = 𝜌𝐴𝑉 2 2 − 2𝐶𝑜𝑠𝜃 𝜃
(1 − 1 + 2𝑆𝑖𝑛2 2 ) 𝑅𝑚𝑎𝑥 = 2𝜌𝐴𝑉 2
𝜃
𝑅 = 𝜌𝐴𝑉 2 2 − 2 1 − 2𝑆𝑖𝑛2 𝜃 𝜋 𝜃
2 = 𝐶𝑜𝑡 = 𝑇𝑎𝑛 −
2 2 2
• For small 𝜃
𝜃 𝜃 𝜃 𝜋
𝑅 = 𝜌𝐴𝑉 2 4𝑆𝑖𝑛2 = 2𝜌𝐴𝑉 2 𝑆𝑖𝑛 𝜋 𝜃 𝑅 = 2𝜌𝐴𝑉 2 = 𝜌𝐴𝑉 2 𝜃; 𝛼 =
2 2 𝛼= − 2 2
2 2
Force on the vane is equal and opposite Force acts normal to vane
This is the principle of lifting (airfoil)
𝑅𝑥
𝛼

𝜃 𝜃 𝜃 𝑅𝑦
𝐶𝑜𝑠𝜃 = 1 − 2𝑆𝑖𝑛2 𝑆𝑖𝑛𝜃 = 2𝑆𝑖𝑛 𝐶𝑜𝑠
2 2 2

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 Example 1
A jet with variable velocity
A jet of air having 𝜌 = 1.2 𝑘𝑔/𝑚3 strikes stationary vertical
dA plate. Jet velocity varies parabolically
𝑟0 u 𝑟2
r 𝑢 = 20 1 − .After the strike, the air splatters off in all
𝑟02
U directions in the plane of the plate. Determine the force needed
𝑟2
𝑢 =𝑈 1− 2
𝑟0
to prevent the plate from moving horizontally due to the air
stream.

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Example 2 Free jet striking a moving deflector (vane)

A jet of fluid, area A uniform 𝑉1 strikes an inclined flat plate. Jet leaves with uniform velocity 𝑉1 =
𝑉2 = 𝑉3 . Neglect friction If the vane is moving in x direction with velocity 𝑉𝑐 , fluid enters 𝑉 − 𝑉𝑐 with relative to the vane.
Show that
𝐴1 𝑉1 For a stationary vane
𝑄2 = 1 + 𝐶𝑜𝑠𝜃 𝜃
2
𝐴1 𝑉1 𝑅 = 2𝜌𝐴𝑉 2 𝑆𝑖𝑛
𝑄3 = 1 − 𝐶𝑜𝑠𝜃 2
2 For a moving vane
And force on the plate acts normal to it 𝑅 = 𝜌𝐴1 𝑉12 𝑆𝑖𝑛𝜃 𝜃
𝑅 = 2𝜌𝐴 𝑉 − 𝑉𝑐 2 𝑆𝑖𝑛
𝑉2 2
𝑅𝑛
Work done per second = Force x Velocity
𝑅𝑡
𝜃
𝑉1 𝜃 Power (P) = 2𝜌𝐴 𝑉 − 𝑉𝑐 2 𝑆𝑖𝑛 x 𝑉𝑐
2

𝑑𝑃
Maximum power when =0
𝑑𝑉𝑐
𝑉3
𝑑(𝑉𝑐 𝑉 − 𝑉𝑐 2 ) 𝑑(𝑉𝑐 𝑉 2 − 2𝑉𝑉𝑐2 + 𝑉𝑐3 )
= =0
𝑑𝑉𝑐 𝑑𝑉𝑐
𝑉 − 𝑉𝑐 𝑉 − 3𝑉𝑐 = 0

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7
 Impeller
Buckets

Nozzle
Spear

Discharge
Deflector plate
Inlet

Frame of reference: moving bucket

𝐶ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑥 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 = 𝑘 𝑣 − 𝑢 𝑐𝑜𝑠𝜃 − 𝑣 − 𝑢
= − 𝑣 − 𝑢 (1 − 𝑘𝑐𝑜𝑠𝜃)
Momentum equation:
𝐹 = 𝜌𝑄(𝑣 − 𝑢)(1 − 𝑘𝑐𝑜𝑠𝜃)

𝑃 = 𝜌𝑄 𝑣 − 𝑢 𝑢(1 − 𝑘𝑐𝑜𝑠𝜃)

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