Proc. Indian Acad. Sci. (Math. Sci.) Vol. 112, No. 3, August 2002, pp. 463–475.

© Printed in India

Stokes flow with slip and Kuwabara boundary conditions

SUNIL DATTA and SATYA DEO∗

Department of Mathematics and Astronomy, Lucknow University, Lucknow 226 007,
India
∗
Department of Mathematics, University of Allahabad, Allahabad 211 002, India
E-mail: satyadeo− [email protected]

MS received 15 November 2000; revised 1 March 2002

Abstract. The forces experienced by randomly and homogeneously distributed parallel

circular cylinder or spheres in uniform viscous flow are investigated with slip boundary
condition under Stokes approximation using particle-in-cell model technique and the
result compared with the no-slip case. The corresponding problem of streaming flow
past spheroidal particles departing but little in shape from a sphere is also investigated.
The explicit expression for the stream function is obtained to the first order in the small
parameter characterizing the deformation. As a particular case of this we considered an
oblate spheroid and evaluate the drag on it.

Keywords. Particle-in-cell models; Gegenbauer function; slip condtion; deformed

sphere; vorticity.

1. Introduction
The study of slow flow problems, in which the inertial effects are negligible in comparison
with the viscous effects was initiated by Stokes [6] who investigated the motion of pendu-
lums. In engineering problems it is usual to have a swarm of particles instead of a single
particle. But, it is sufficient to obtain a relatively simple analytical expression that takes
into account the effect of the neighboring particles by developing particle-in-cell models.
Kuwabara [3] proposed a cell model in which both particle and the outer envelope
are spherical. This formulation has the significant advantage that it leads to an axially
symmetric flow that has a simple analytical solution in closed form, and thus can be used
for drag calculations. Kuwabara assumes that the inner surface is stationary and that fluid
passes through a cell enveloping it. The following boundary conditions are imposed: (i)
no-slip and impenetrability at the inner surface, (ii) zero vorticity and uniform velocity
conditions at the outer envelope.
In the present work the solution to the Stokes flow problem involving cylinders/spheres
with Kuwabara boundary conditions is obtained, with slip boundary condition on the inner
solid surface, instead of the no-slip condition on it. Also this model is extended to the case
of a slightly deformed sphere; and as a particular case of it an oblate spheroid is considered
and the drag force evaluated on it. The dependence of drag force on the slip parameter for
spheres/cylinders are discussed analytically and graphically. The difference in our result
for drag force from that obtained by Palaniappan [4] is also discussed.

463
464 Sunil Datta and Satya Deo

2. The case of parallel circular cylinders

In the mathematical model, we assume that all the circular cylinders have the same radius
a and are randomly and homogeneously distributed parallel to each other.
Let us suppose that the uniform velocity U perpendicular to each stationary solid circular
cylinder is directed from left to right. We take the model to consist of a hypothetical circular
cylinder of radius b termed cell surface, enclosing and coaxial with the given solid circular
cylinder. On the inner solid circular cylinder slip boundary condition [2] apply, while on
the hypothetical outer circular cylinder Kuwabara boundary conditions [3] are assumed.
Under Stokes approximation the fundamental equation for the two-dimensional steady
motion lead to the biharmonic equation

∇ 4 ψ = 0, (2.1)

where ψ is the stream function in the cylindrical coordinates (r, θ ) with velocity compo-
nents (vr , vθ ) and vorticity ω expressible as

1 ∂ψ ∂ψ
vr = , vθ = − , (2.2)
r ∂θ ∂r
∂vθ vθ 1 ∂vr
ω= + − = −∇ 2 ψ. (2.3)
∂r r r ∂θ
Now, the boundary conditions of the model may be expressed as:

On the solid surface

(i) Normal component of velocity vanishes. This implies

ψ = 0, for r = a. (2.4)

(ii) Tangential stress tensor

 
1 ∂vr ∂  vθ 
τrθ = µ +r
r ∂θ ∂r r

is proportional to the tangential velocity vθ at the surface. This leads to

 
∂ψ ∂ ∂ψ
= λr r −1 , for r = a (2.5)
∂r ∂r ∂r

where λ is the ‘slip coefficient’ having the dimension of length.

On the cell surface, Kuwabara conditions

(iii) The continuity of normal component of velocity

∂ψ
= U b cos θ, for r = b. (2.6)
∂θ
 Stokes flow 465

(iv) Vanishing of vorticity

∇ 2 ψ = 0, for r = b. (2.7)

A suitable solution of (2.1) as in ([2], p. 394) is

 r  
1
ψ = A + Br + Cr ln + Dr sin θ,
3
(2.8)
r a

where A, B, C and D are arbitrary constants to be determined from the above boundary
conditions (2.4)–(2.7). Thus, we have
  
1 U a2 1
A= λl −2 + a 1 − l −2 , (2.9)
2 K 2
1 Ua
B=− [1 − l −2 ], (2.10)
2 K
U
C= [2λ + a], (2.11)
K
1 U
D=− [2λ + a], (2.12)
4 a2l2K
where
    
1 1 1
K = 2λ P + + l −4 + a P + l −2 − l −4 , (2.13)
2 4 4
3
P = ln l − , (2.14)
4
and l = ab is a dimensionless parameter. Here, note that if we consider the limiting case
λ = 0 which corresponds to the no-slip condition, these values of constants agree with the
corresponding Kuwabara’s [3] when a = 1. Further, the drag force X experienced by the
solid cylinder in a cell can be calculated by integrating stress components over the surface
and comes out as

X = 4πµC, (2.15)

where C is given by (2.11).

Now, the drag coefficient CD may be expressed as
X
CD =
ρU 2 · 2a
1
2
 −1
8π 1 λ1 c 1
= 1+ + (1 − λ1 ) − · c2 (1 − 2λ1 ) , (2.16)
RP 2P P 4P
where R = 2U a/ν is the Reynolds number, λ1 = 2λ/(a + 2λ) and
1 3
P =− ln c − , (2.17)
2 4
466 Sunil Datta and Satya Deo

c being the volume concentration defined as

πa 2
c= = l −2 .
πb2
It may be seen that λ1 = 0 (λ = 0) corresponds to no-slip at a rigid surface and the
value λ1 = 1 (λ → ∞) to pure slip at the surface.

3. The case of spheres

In the mathematical model, we again assume that all spheres have the same radius a and
distributed at random and homogeneously. We take a sphere of radius b concentric with
the solid sphere as the cell surface. Under Stokes approximation the fundamental equation
for the axisymmetric steady flow in terms of Stokes stream function ψ may be expressed
[2], in spherical polar coordinates (r, θ, ϕ) as

E 4 ψ = E 2 (E 2 ψ) = 0 (3.1)

where
 
∂2 sin θ ∂ 1 ∂
E = 2+ 2
2
. (3.2)
∂r r ∂θ sin θ ∂θ
Further, the non-vanishing velocity components vr , vθ and vorticity ω are given as
1 ∂ψ 1 ∂ψ
vr = − , vθ = , (3.3)
r 2 sin θ ∂θ r sin θ ∂r
∂vθ vθ 1 ∂vr
ω= + − . (3.4)
∂r r r ∂θ
The boundary conditions:

On the solid surface

(i) Vanishing of normal component of velocity

ψ = 0, for r = a. (3.5)

(ii) Slip condition

 
∂ψ ∂ −2 ∂ψ
= λr 2 r , for r = a. (3.6)
∂r ∂r ∂r

On the cell surface

(iii) The continuity of normal velocity

∂ψ
= −U b2 sin θ cos θ, for r = b. (3.7)
∂θ
 Stokes flow 467

(iv) Vanishing of vorticity

E 2 ψ = 0, for r = b. (3.8)

The general solution of (3.1), as in [2] is

X
∞

ψ(r, θ) = An r n + Bn r −n+1 + Cn r n+2 + Dn r −n+3 In (ζ ). (3.9)
n=2

Here, ζ = cos θ and In (ζ ) is the Gegenbauer function of order n and degree (−1/2) usually
−1/2
denoted [5] as Cn (ζ ), related to Legendre function Pn (ζ ) as
Pn−2 (ζ ) − Pn (ζ )
In (ζ ) = , n ≥ 2. (3.10)
(2n − 1)
Using the boundary conditions (3.5)–(3.8) and the identity
(n − 1)(n − 2)In−1 − n(n − 1)In+1
I2 In0 = , (3.11)
2(2n − 1)
where In0 is the derivative of In with respect to ζ , in the expression (3.9) we get the following
values of the non-vanishing coefficients

5U l 3
A2 = − [6λl 3 + a(2l 3 + 1)], (3.12)
γ2

U l3a3
B2 = − [6λ + a(5l 3 − 2)], (3.13)
γ2
3U
C2 = [2λ + a] l 3 , (3.14)
a 2 γ2
15aU
D2 = [2λ + a] l 6 , (3.15)
γ2
where

γ2 = 2[3λ(5l 6 − 6l 5 + 1) + a(5l 6 − 9l 5 + 5l 3 − 1)], (3.16)

and l = b/a is a dimensionless parameter. Here, note that if we consider the limiting case
λ = 0 which corresponds to the no-slip condition, the values of constants agree with the
corresponding Kuwabara’s [3]. (Also, see for correct values Dassios et al [1].)
Now, the drag X experienced by the sphere in a cell may be calculated using the formula
(p. 115, [2])
Z π  2 
3 ∂ E ψ
X = µπ ω̃ r dθ. (3.17)
0 ∂r ω̃2
D2
Since, ω̃ = r sin θ and E 2 9 = (5C2 r 2 − r ) sin θ,
2
inserting these in (3.17) and inte-
grating, we get

X = 4πµD2 , (3.18)
468 Sunil Datta and Satya Deo

where D2 is given by (3.15). Further, the drag coefficient CD is

X 8(3 − λ2 )L(c1/3 )
CD = = , (3.19)
1
2 ρU 2 · πa 2 R

where R is the Reynolds number, λ2 = 3λ/(a + 3λ) and

 −1
3 1
L(c1/3 ) = 1 − c1/3 (3 − λ2 ) + c(1 − λ2 ) − c2 (1 − 2λ2 ) , (3.20)
5 5
c being the volume concentration defined as

3 πa
4 3
c= = l −3 .
3 πb
4 3

Thus, rigid body (no-slip) corresponds to the value λ2 = 0 and bubble (perfect-slip)
corresponds to λ2 = 1 (λ → ∞).

4. Application to the problem of sedimentation

The terminal settling velocity of homogeneously distributed spheres may be found by
equating the gravitational force to the viscous force on one of them.
The gravitational force is
4 3
G= πa g(σ − ρ), (4.1)
3
where σ is the density of the particle, ρ the density of fluid and a the radius of the particle.
Thus equating X, where

X = 2πµU a(3 − λ2 )L(c1/3 ), (4.2)

and G as given by (4.1), we get the terminal velocity V = U as

V 1
= (4.3)
V0 L(c1/3 )
where
2(σ − ρ)ga 2
V0 = , (4.4)
3(3 − λ2 )µ
is the terminal velocity of a single particle in a viscous fluid.

5. The case of deformed sphere

In this case, we extend the preceding analysis to deformed sphere. It is assumed that the
surface of the deformed sphere is described by

r = a(1 + εm Im (ζ )), (5.1)

 Stokes flow 469

in which εm is so small that squares and higher powers of it may be neglected; correspond-
ingly outer cell will be taken as

r = b(1 + εm Im (ζ )). (5.2)

Let us now assume that the stream function for the deformed sphere is expressed as

ψ(r, θ) = ψ0 (r, θ) + εm ψ1 (r, θ) (5.3)

where

ψ0 (r, θ) = (A2 r 2 + B2 r −1 + C2 r 4 + D2 r)I2 (ζ ), (5.4)

X
∞
ψ1 (r, θ) = (A0n r n + Bn0 r −n+1 + Cn0 r n+2 + Dn0 r −n+3 )In (ζ ). (5.5)
n=2

The constants A2 , B2 , C2 and D2 are the values for a perfect sphere as obtained in (3.12)–
(3.15). Now, the boundary conditions lead to

On the solid surface

(i) Vanishing of the normal component of velocity providing,

∂ψ1
= [(2A2 a 2 − B2 a −1 + 4C2 a 4 + D2 a)(I2 Im0 + I1 Im )]sin θ,
∂θ
for r = a. (5.6)

(ii) The tangential component of stress tensor τnt is proportional to tangential velocity vt
at the surface. This yields
 
∂ψ1 2 ∂ −2 ∂ψ1
− λr r = [λ{2(−6B2 a −3 + 4C2 a 2 + D2 a −1 )
∂r ∂r ∂r

− m(m − 1)(2A2 − B2 a −3 + 4C2 a 2 + D2 a −1 )}

− 2a(A2 + B2 a −3 + 6C2 a 2 )]I2 Im , for r = a. (5.7)

On the cell surface

(iii) The continuity of normal velocity

∂ψ1
= [(2A2 b2 − B2 b−1 + 4C2 b4 + D2 b + 2U b2 )
∂θ
× (I2 Im0 + I1 Im )]sin θ, for r = b. (5.8)

(iv) Vanishing of vorticity

E 2 ψ1 = −(5bC2 + 2D2 b−2 )I2 Im , for r = b. (5.9)

470 Sunil Datta and Satya Deo

The above system (5.6)–(5.9) can be solved with the aid of the following identities:
[(m + 1)Im+1 + (m − 2)Im−1 ]
I1 Im = − , (5.10)
2m − 1
(m − 2)(m − 3) m(m − 1)
I 2 Im = − Im−2 + Im
2(2m − 1)(2m − 3) (2m + 1)(2m − 3)
(m + 1)(m + 2)
− Im+2 , (m ≥ 2) (5.11)
2(2m − 1)(2m + 1)
together with that given in (3.11).
Thus, using the boundary conditions (5.6)–(5.9), the non-vanishing constants A0n , Bn0 , Cn0
and Dn0 corresponding to n = m − 2, m, m + 2, may be determined but they are too lengthy
to be reported here. Instead, we give below these constants for the particular case of an
oblate spheroid only.

6. The case of an oblate spheroid

As a particular case of the deformed sphere, here we consider an oblate spheroid

x2 + y2 z2
+ =1 (6.1)
d2 d 2 (1 − ε)2
whose equatorial radius is d in which ε is so small that squares and higher powers of it
may be neglected. Then, its polar equation is written in the form

r = a(1 + 2εI2 (ζ )) (6.2)

where a = d(1−ε). Upon comparison with (5.1), we are led to the values m = 2, εm = 2ε.
Since A00 , B00 , C00 and D00 all become zero and hence, availing ourselves (6.2) we find from
(5.3) that the stream function around the oblate spheroid is

ψ(r, θ) =(A2 r 2 + B2 r −1 + C2 r 4 + D2 r)I2 (ζ )

+ 2ε(A02 r 2 + B20 r −1 + C20 r 4 + D20 r)I2 (ζ )

+ 2ε(A04 r 4 + B40 r −3 + C40 r 6 + D40 r −1 )I4 (ζ ), (6.3)

where
 
{s2 − (4λ + a)k2 − 2(3λ + a)a 2 p2 }(6b5 − 5a 2 b3 − a 5 )
+5a 2 {(q2 − k2 ) + p2 (b2 − a 2 )}(a 4 + 2ab3 + 6λb3 )
A02 = (6.4)
γ20

B20 = k2 − A02 a 3 − C20 a 5 − D20 a 5 (6.5)

" #
3a 4 {(q2 − k2 ) + p2 (b2 − a 2 )}(10λab3 + 5a 2 b3 − 6b5 − 10λa 4 )
−(b3 − a 3 )(6b5 − 5a 2 b3 − a 5 ){s2 − (4λ + a)k2 − 2(3λ + a)a 2 p2 }
C20 = , (6.6)
(6b5 − 5a 2 b3 − a 5 )γ20
 Stokes flow 471
 
15a 4 b3 (10λab3 − 6b5 + 5a 2 b3 − 10λa 4 {(q2 − k2 ) + p2 (b2 − a 2 )}
 
 −5b3 (b3 −a 3 )(6b5 −5a 2 b3 −a 5 ){s2 −(4λ+a)k2 }+2a 2 p2 (6b5 −5a 2 b3 −a 5 )
{3λ(6ab4 − 5a 3 b3 − a 6 ) + a(9ab5 − 10a 3 b3 + a 6 )}
D20 = ,
(6b4 − 5a 2 b3 − a 5 )γ20
(6.7)

γ20 = 2a 2 [3λ(5b6 − 6ab5 + a 6 ) + a(5b6 − 9ab5 + 5a 3 b3 − a 6 )], (6.8)

Also,
" #
{15(6λ + a)k4 − 5s4 + 2a 2 (7λ + a)p4 }(14b9 − 9a 2 b7 − 5a 9 )
−3a 2 {5(q4 − k4 ) + p4 (b2 − a 2 )}(42λb7 + 15a 8 + 6ab7 )
A04 = ,
γ40
(6.9)
1
B40 = [5k4 + a 2 p4 − 5A04 a 7 − a 2 C40 (5a 7 + 9b7 )], (6.10)
5
[5(q4 − k4 ) + p4 (b2 − a 2 ) − 5(b7 − a 7 )A04 ]
C40 = , (6.11)
(14b9 − 9a 2 b7 − 5a 9 )
1
D40 = [k4 − A04 a 7 − B40 − C40 a 9 ], (6.12)
a2
" #
0
7a 2 (2λ + a)(14b9 − 9a 2 b7 − 5a 9 ) − 3(b7 − a 7 )
γ4 = 5a 2
, (6.13)
(42λb7 + 15a 8 + 6ab7 )

with
2a 2
a 2 k2 = −k4 = − [2A2 a 3 − B2 + 4C2 a 5 + D2 a 2 ], (6.14)
5
4a 2
a 2 s2 = −s4 = [λ(2A2 a 3 + 5B2 ) + a(A2 a 3 + B2 + 6C2 a 5 )], (6.15)
5
2b2
b2 q2 = −q4 = − [2A2 b3 − B2 + 4C2 b5 + D2 a 2 + 2U b3 ], (6.16)
5
2b2
b2 p2 = −p4 = − [5C2 b3 + 2D2 ]. (6.17)
5

Drag on the spheroid

We now calculate the drag Fz on oblate spheroid in a cell using (3.17), inserting ψ from
(6.3) and integrating over the surface of the spheroid, we get

Fz = 4πµ(D2 + 2εD20 ), (6.18)

where D2 is given by (3.15) and D20 by (6.7).

472 Sunil Datta and Satya Deo

Further, we deduce the drag force for unbounded fluid, i.e. (b → ∞), under slip
condition. This is expressed in dimensionless parameter λ2 = 3λ/(a + 3λ) and since
a = d(1 − ε), we get
 
1
Fz = 2πµU d (3 − λ2 ) − (9 − 15λ2 + 4λ22 )ε . (6.19)
15
When λ2 = 0 (no-slip), we recover the Stokes resistance [2]
 
1
Fz = 6πµU d 1 − ε (6.20)
5
for a solid oblate spheroid and when λ2 = 1 (perfect-slip), (6.19) reduces the drag froce
on the gaseous oblate spheroid as
 
1
Fz = 4πµU d 1 + ε . (6.21)
15

Figure 1. Variation of RC D with respect to volume concentration (c) for circular

cylinders.
 Stokes flow 473

If we put ε = 0 in (6.20) and (6.21), then these results correspond to that obtained in [2]
for a sphere.
It may be remembered that Palaniappan [4] obtained instead of (6.19) the expression
 
1
Fz = 2πµU d (3 − λ2 ) − (3 − 5λ2 + 4λ2 )ε . 2
(6.22)
5

The reason for the differences is not difficult to comprehend. Palaniappan [4] has used
the impenetrability condition vr = 0 and taken the tangential stress as τrθ in the slip
boundary condition, while the correct conditions require vn = 0, and replacement of τrθ
with τnt (n and t being the normal and tangential directions). In the case of no-slip as
considered by Happel and Brenner [2], both are equivalent but when slipping is present
the difference between vr , vn and τrθ , τnt must be taken into account.
It may be noticed that while the expression (6.20) for the no-slip case agrees with the
corresponding result obtained by Palaniappan [4]. The expression (6.21) does not agree
with the corresponding result where 4πµU d(1 − 15 ε) obtained by him.

Figure 2. Variation of RCD with respect to volume concentration (c) for spheres.
474 Sunil Datta and Satya Deo

Figure 3. Variation of sedimentation velocity with respect to volume concentra-

tion (c).

7. Conclusion
In case of circular cylinders the relation between RCD and volume concentration (c) has
been numerically calculated which shows (figure 1) that as slip parameter λ1 increases,
RCD decreases. For the case of spheres, the same result is depicted in figure 2, whereas in
figure 3 the variation of (V /V0 ) with volume concentration c shows that as slip parameter
λ2 increases, terminal settling velocity (V /V0 ) also increases.

Acknowledgement
The second author acknowledges with thanks CSIR, New Delhi for the award of JRF No.
9/107(201)/98-EMR-I for undertaking this research work.

References
[1] Dassios G et al, Stokes flow in spheroidal particle-in-cell models with Happel and
Kuwabara boundary conditions, Int. J. Engg. Sci. 33(10), (1995) 1465–1490
 Stokes flow 475

[2] Happel J and Brenner H, Low Reynolds Number Hydrodynamics (NJ: Prentice Hall,
Englewood Cliff) (1965)
[3] Kuwabara S, The forces experienced by randomly distributed parallel circular cylinders
or spheres in a viscous flow at small Reynolds number, J. Phys. Soc. Jpn. 14 (1959)
527–532
[4] Palaniappan D, Creeping flow about a slightly deformed sphere, Zeit. angew. Math. Phys.
45 (1994) 832–838
[5] Rainville E D, Special Functions (New York: Chelsea) (1971)
[6] Stokes G G, On the effects of internal friction of fluids on pendulums, J. Trans. Camb.
Philos. Soc. 9 (1851) 8–106