Prof. Jaime Alberto Escobar G.

Faculty of Engineering
 THE SUBSTANTIAL DERIVATIVE
• Infinitesimal small fluid element moving
with the flow.
• The vector velocity field is given by:
   
V  ui  vj  wk 1 
V1
u  ux, y,z,t 
Velocity components v  v x, y,z,t  𝑡1
w  wx, y,z,t  𝜌1

• The scalar density field is given by: 2


V2
𝜌 = 𝜌𝑥, 𝑦, 𝑧, 𝑡 𝑡2
𝜌2

• At point 1 the density of the fluid element is 𝜌1 = 𝜌 𝑥1 , 𝑦1 , 𝑧1 , 𝑡1

• At point 2 the density of the fluid element is 𝜌2 = 𝜌 𝑥2 , 𝑦2 , 𝑧2 , 𝑡2

Lecture 3 Page 2 of 18
 THE SUBSTANTIAL DERIVATIVE (Cont’d)
• Since 𝜌 = 𝜌 𝑥, 𝑦, 𝑧, 𝑡 we can expand this function in a Taylor series about point 1
as follows:
𝜕𝜌 𝜕𝜌 𝜕𝜌 𝜕𝜌
𝜌2 = 𝜌2 + 𝑥2 − 𝑥1 + 𝑦2 − 𝑦1 + 𝑧2 − 𝑧1 + 𝑡2 − 𝑡1
𝜕𝑥 1 𝜕𝑦 1 𝜕𝑧 1 𝜕𝑡 1
𝑥2 − 𝑥1 2 𝜕 2 𝜌 𝑦2 − 𝑦1 2 𝜕 2 𝜌 𝑧2 − 𝑧1 2 𝜕 2 𝜌 𝑡2 − 𝑡1 2 𝜕 2 𝜌
+ + + +
2! 𝜕𝑥 2 1 2! 𝜕𝑦 2 1 2! 𝜕𝑧 2 1 2! 𝜕𝑡 2 1
+ ⋯ higer order terms
• Taking the first five terms and dividing by t2-t1:
𝜌2 − 𝜌1 𝑥2 − 𝑥1 𝜕𝜌 𝑦2 − 𝑦1 𝜕𝜌 𝑧2 − 𝑧1 𝜕𝜌 𝜕𝜌
= + + +
𝑡2 − 𝑡1 𝑡2 − 𝑡1 𝜕𝑥 1 𝑡2 − 𝑡1 𝜕𝑦 1 𝑡2 − 𝑡1 𝜕𝑧 1 𝜕𝑡 1
∆𝜌 Average time rate of change in density of the fluid element as it moves
:
∆𝑡 from point 1 to point 2.
• As t2 approaches to t1: 𝜌2 − 𝜌1 𝐷𝜌
lim =
𝑡1 →𝑡2 𝑡2 − 𝑡1 𝐷𝑡
𝐷𝜌 Instantaneous time rate of change in density 𝐷𝜌 𝜕𝜌
: ≠
𝐷𝑡 of the element as it moves through point 1. 𝐷𝑡 𝜕𝑡
Lecture 3 Page 3 of 18
 THE SUBSTANTIAL DERIVATIVE (Cont’d)
• Also:
𝑥2 − 𝑥1 ∆𝑥 𝑦2 − 𝑦1 ∆𝑦 𝑧2 − 𝑧1 ∆𝑧
lim = ≡𝑢 lim = ≡𝑣 lim = ≡𝑤
𝑡1 →𝑡2 𝑡2 − 𝑡1 ∆𝑡 𝑡1 →𝑡2 𝑡2 − 𝑡1 ∆𝑡 𝑡1 →𝑡2 𝑡2 − 𝑡1 ∆𝑡
Therefore, 𝐷𝜌 𝜕𝜌 𝜕𝜌 𝜕𝜌 𝜕𝜌
= +𝑢 +𝑣 +𝑤
𝐷𝑡 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
A more general form:
𝐷 𝜕 𝜕 𝜕 𝜕
= +𝑢 +𝑣 +𝑤
𝐷𝑡 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
• In Cartesian coordinates the vector operator 𝛻 (Nabla – Hamilton) is defined as:
𝜕 𝜕 𝜕
𝛻≡ 𝑖Ԧ + 𝑗Ԧ + 𝑘
𝜕𝑥 𝜕𝑦 𝜕𝑧
• D can be written as:
𝐷 𝜕
Dt = + 𝑉∙𝛻
𝐷𝑡 𝜕𝑡
D 𝜕
: Substantial derivative. Local derivative. 𝑉 ∙ 𝛻 Convective derivative.
 Dt 𝜕𝑡
Lecture 3 Page 4 of 18
 THE GOVERNING EQUATIONS OF FLUID DYNAMICS

Physical principles:

a. Mass is conserved. c. Energy is conserved.

b. Momentum is conserved (Newton’s Second Law).

To obtain the basic equations of fluid motion it is recommended to follow the

following steps:

1. Choose the appropriate fundamental physical principles: a, b, and c.

2. Apply these physical principles to a suitable model of the flow.

3. Extract the mathematical equation which embody the physical principles

Lecture 3 Page 5 of 18
 THE GOVERNING EQUATIONS OF FLUID DYNAMICS (Cont’d)
Models used to analyze the flow:
Integral Form

Finite control volume moving with the fluid such

Finite control volume fixed in space with that the same fluid particles are always in the
moving through it. same control of volume
Partial Differential
Equation Form

Infinitesimal fluid element

 along a stream line
Infinitesimal fluid element fixed in space
with the velocity V equal to the local velocity
with the fluid moving through it.
at each point.
Conservation form Non-Conservation form Page 6 of 18
THE CONTINUITY EQUATION
Physical principle Mass is conserved.

Net mass flow out of control volume Time rate of decrease of mass inside
through S control volume

𝜕 Integral form
ඵ 𝜌𝑉 ∙ 𝑑𝑠Ԧ + ම 𝜌𝑑𝕍 = 0
𝜕𝑡 Conservation form
𝑠 𝕍

𝐷 Integral form
ම 𝜌𝑑𝕍 = 0
𝐷𝑡 Non-conservation form
𝕍

𝜕𝜌 Differential form
+ 𝛻 ∙ 𝜌𝑉 = 0
𝜕𝑡 Conservation form

𝐷𝜌 Differential form
+ 𝜌𝛻 ∙ 𝑉 = 0
𝐷𝑡 Non-conservation form
Lecture 3 Page 7 of 18
THE MOMENTUM EQUATION
 
Physical principle F  m  a Newton’s second law.

𝐷𝑢 𝜕𝑃 𝜕𝜏𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥

𝜌 =− + + + + 𝜌𝑓𝑥
𝐷𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝐷𝑣 𝜕𝑃 𝜕𝜏𝑥𝑦 𝜕𝜏𝑦𝑦 𝜕𝜏𝑧𝑦 Differential Form
𝜌 =− + + + + 𝜌𝑓𝑦
𝐷𝑡 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑧 Non-conservation form
𝐷𝑤 𝜕𝑃 𝜕𝜏𝑥𝑧 𝜕𝜏𝑦𝑧 𝜕𝜏𝑧𝑧
𝜌 =− + + + + 𝜌𝑓𝑧
𝐷𝑡 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

𝜕 𝜌𝑢 𝜕𝑃 𝜕𝜏𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥

+ 𝛻 ∙ 𝜌𝑢𝛻 = − + + + + 𝜌𝑓𝑥
𝜕𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕 𝜌𝑣 𝜕𝑃 𝜕𝜏𝑥𝑦 𝜕𝜏𝑦𝑦 𝜕𝜏𝑧𝑦 Differential Form
+ 𝛻 ∙ 𝜌𝑣𝛻 = − + + + + 𝜌𝑓𝑦
𝜕𝑡 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑧 Conservation form
𝜕 𝜌𝑤 𝜕𝑃 𝜕𝜏𝑥𝑧 𝜕𝜏𝑦𝑧 𝜕𝜏𝑧𝑧
+ 𝛻 ∙ 𝜌𝑤𝛻 = − + + + + 𝜌𝑓𝑧
𝜕𝑡 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

1/15/2018 Lecture 3 Page 8 of 18

THE MOMENTUM EQUATION (Cont’d)

For Newtonian fluids:

𝜕𝑢 𝜕𝑣 𝜕𝑢
𝜏𝑥𝑥 = 𝜆 𝛻 ∙ 𝑉 + 2𝜇 𝜏𝑥𝑦 = 𝜏𝑦𝑥 = 𝜇 +
𝜕𝑥 𝜕𝑥 𝜕𝑦
𝜕𝑣 𝜕𝑢 𝜕𝑤
𝜏𝑦𝑦 = 𝜆 𝛻 ∙ 𝑉 + 2𝜇 𝜏𝑥𝑧 = 𝜏𝑧𝑥 = 𝜇 +
𝜕𝑦 𝜕𝑧 𝜕𝑥
𝜕𝑤 𝜕𝑤 𝜕𝑣
𝜏𝑧𝑧 = 𝜆 𝛻 ∙ 𝑉 + 2𝜇 𝜏𝑦𝑧 = 𝜏𝑧𝑦 = 𝜇 +
𝜕𝑧 𝜕𝑦 𝜕𝑧

2
𝜆 = − 𝜇 Stokes
3

1/15/2018 Lecture 3 Page 9 of 18

THE ENERGY EQUATION
Physical principle Energy is conserved

Rate of change of Net Flux of Rate of work done on the

energy inside the fluid heat into the element: due to body
element. element. and surface forces.

𝐷𝑒 𝑉2 𝜕 𝜕𝑇 𝜕 𝜕𝑇 𝜕 𝜕𝑇 𝜕 𝑃𝑢 𝜕 𝑃𝑣
𝜌 𝑒+ = 𝑝𝑞ሶ + 𝐾 + 𝐾 + 𝐾 − −
𝐷𝑡 2 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑦 𝜕𝑧 𝜕𝑧 𝜕𝑥 𝜕𝑦
𝜕 𝑃𝑤 𝜕 𝑢𝜏𝑥𝑥 𝜕 𝑢𝜏𝑦𝑥 𝜕 𝑢𝜏𝑧𝑥 𝜕 𝑣𝜏𝑥𝑦 𝜕 𝑣𝜏𝑦𝑦 𝜕 𝑣𝜏𝑧𝑦
− + + + + + +
𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕 𝑤𝜏𝑥𝑧 𝜕 𝑤𝜏𝑦𝑧 𝜕 𝑤𝜏𝑧𝑧
+ + + + 𝜌𝑓Ԧ ∙ 𝑉
𝜕𝑥 𝜕𝑦 𝜕𝑧

Differential Form
Non-conservation form
1/15/2018 Lecture 3 Page 10 of 18
EQUATIONS OF FLUID MOTION - SUMMARY
Five equation and six variables:

Momentum Momentum Momentum

Continuity Energy
x component y component z component

𝜌, 𝑃, 𝑢, 𝑣, 𝑤, 𝑒
We introduce:
𝑃 = 𝜌𝑅𝑇
Seventh unknown

So we introduce a seventh equation:

e  eT , P 
For a calorically perfect gas this will be
Constant specific heat
e  CvT
1/15/2018 Lecture 3 Page 11 of 18
EULER EQUATIONS
Viscosity Mass diffusion Thermal conductivity

Neglected

𝜕𝜌
Non-conservation form + 𝛻 ∙ 𝜌𝑉 = 0
𝜕𝑡
Continuity
𝐷𝜌
Conservation form + 𝜌𝛻 ∙ 𝑉 = 0
𝐷𝑡

1/15/2018 Lecture 3 Page 12 of 18

EULER EQUATIONS (Cont’d)
𝐷𝑢 𝜕𝑃
𝜌 =− + 𝜌𝑓𝑥
𝐷𝑡 𝜕𝑥
𝐷𝑣 𝜕𝑃
Non-conservation form 𝜌 =− + 𝜌𝑓𝑦
𝐷𝑡 𝜕𝑦
𝐷𝑤 𝜕𝑃
𝜌 =− + 𝜌𝑓𝑧
𝐷𝑡 𝜕𝑧
Momentum

𝜕 𝜌𝑢 𝜕𝑃
+ 𝛻 ∙ 𝜌𝑢𝛻 = − + 𝜌𝑓𝑥
𝜕𝑡 𝜕𝑥
𝜕 𝜌𝑣 𝜕𝑃
Conservation form + 𝛻 ∙ 𝜌𝑣𝛻 = − + 𝜌𝑓𝑦
𝜕𝑡 𝜕𝑦
𝜕 𝜌𝑤 𝜕𝑃
+ 𝛻 ∙ 𝜌𝑤𝛻 = − + 𝜌𝑓𝑧
𝜕𝑡 𝜕𝑧

1/15/2018 Lecture 3 Page 13 of 18

EULER EQUATIONS (Cont’d)

Energy

Non-conservation form

𝐷𝑒 𝑉2 𝜕 𝑃𝑢 𝜕 𝑃𝑣 𝜕 𝑃𝑤
𝜌 𝑒+ = 𝑝𝑞ሶ − − − + 𝜌𝑓Ԧ ∙ 𝑉
𝐷𝑡 2 𝜕𝑥 𝜕𝑦 𝜕𝑧

Conservation form

𝜕 𝑉2 𝑉2 𝜕 𝑃𝑢 𝜕 𝑃𝑣 𝜕 𝑃𝑤
𝜌 𝑒+ +𝛻 𝜌 𝑒+ = 𝑝𝑞ሶ − − − + 𝜌𝑓Ԧ ∙ 𝑉
𝜕𝑡 2 2 𝜕𝑥 𝜕𝑦 𝜕𝑧

1/15/2018 Lecture 3 Page 14 of 18

BERNOULLI’S EQUATION
Steady flow Incompressible flow Inviscid flow

Bernoulli’s Equation
Du ¶P x-component of the momentum equation
r =-
Dt ¶x neglecting the body forces.
𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑃
D ¶
= + V×Ñ
Dt ¶t
( ) 𝜌
𝜕𝑡
+𝑢
𝜕𝑥
+𝑣
𝜕𝑦
+𝑤
𝜕𝑧
=−
𝜕𝑥
𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑃
𝜌 + 𝜌𝑢 + 𝜌𝑣 + 𝜌𝑤 + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥
𝜕𝑢 𝜕𝑢 𝜕𝑢 1 𝜕𝑃
𝑢 +𝑣 +𝑤 + =0
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥
𝜕𝑢 𝜕𝑢 𝜕𝑢 1 𝜕𝑃
Multiplying by dx: 𝑢 𝑑𝑥 + 𝑣 𝑑𝑥 + 𝑤 𝑑𝑥 + 𝑑𝑥 = 0
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥
Substituting v by u ¶y and w by u ¶z from the streamline equation (to be
discussed latter): ¶x ¶x
1/15/2018 Lecture 3 Page 15 of 18
BERNOULLI’S EQUATION (Cont’d)
𝜕𝑢 𝜕𝑢 𝜕𝑢 1 𝜕𝑃
𝑢 𝑑𝑥 + 𝑑𝑦 + 𝑑𝑧 + 𝑑𝑥 = 0
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥
1 𝜕𝑃
𝑢𝑑𝑢 + 𝑑𝑥 = 0
𝜌 𝜕𝑥
1 2 1 𝜕𝑃
𝑑𝑢 + 𝑑𝑥 = 0 x component
2 𝜌 𝜕𝑥
1 2 1 𝜕𝑃 1 1 𝜕𝑃 𝜕𝑃 𝜕𝑃
𝑑𝑣 + 𝑑𝑦 = 0 y component 𝑑 𝑢2 + 𝑣 2 + 𝑤 2 + 𝑑𝑥 + 𝑑𝑦 + 𝑑𝑧 = 0
2 𝜌 𝜕𝑦 2 𝜌 𝜕𝑥 𝜕𝑦 𝜕𝑧
1 1 𝜕𝑃
𝑑𝑤 2 + 𝑑𝑧 = 0 z component 1 2 1
2 𝜌 𝜕𝑧
𝑑𝑉 + 𝑑𝑃 = 0
2 𝜌
𝑉2 𝑃2
1
න 𝑉 ∙ 𝑑𝑉 + න 𝑑𝑃 = 0
𝑉1 𝑃1 𝜌
Constant
1 2 2
1
𝑉 − 𝑉1 + 𝑃2 − 𝑃1 = 0
2 2 𝜌
1 2 1
𝜌𝑉1 + 𝑃1 = 𝜌𝑉22 + 𝑃2
2 2
1/15/2018 Lecture 3 Page 16 of 18
PATHLINES 𝑡1 + ∆𝑡1
Path followed by a fluid
particle in a unsteady
flow:
𝑡1 + ∆𝑡1 + ∆𝑡2
 
V1  V x, y, z , t 
STREAMLINES
The curve whose tangent at any point is in the direction of the velocity vector at
that point.
• For unsteady flows, the stream
line pattern is different at
different times.

• The stream line is like a picture

of the motion of every fluid
element.

• For steady flows the pathlines and stream lines are identical.
1/15/2018 Lecture 3 Page 17 of 18
HOMEWORK

1. Read from the book: Anderson, Jr., J.D., Fundamentals of Aerodynamics, 3rd
Edition, Singapure, McGraw Hill, 2001, Sections: 2.12, 2.13, 2.14, 2.15, 2.16, and
3.7

Lecture 3 Page 18 of 18