ME 6135: Advanced Aerodynamics

Dr. A.B.M. Toufique Hasan

Professor
Department of Mechanical Engineering
Bangladesh University of Engineering & Technology (BUET), Dhaka

Lecture-04
17/12/2022

toufiquehasan.buet.ac.bd The picture can't be display ed.

[email protected]

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 1
 Fundamental principles in Aerodynamics (Fluid Mechanics):
1. Conservation of mass
2. Conservation of momentum
3. Conservation of energy (if compressible flows)

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 2
Conservation of Mass
Mass can neither be created nor destroyed.
Consider a small volume of space (control volume) through which a fluid is flowing. For simplicity, a 2D
flow is considered and the control volume is bounded by the surfaces ∆x and ∆y as shown in figure.
According to the law, the net outflow of mass through the surfaces surrounding the volume must be equal to
the decrease of mass within the volume.
The mass flow rate is equal to the product of density, velocity component normal to surface and the area of that
surface. In vector form;

m    V  n̂ dA
s
outflow (+ve)
A first-order Taylor series is used to evaluate the flow
properties at the faces of the element, since the properties (ρu, ρv)
are a function of position (continuum approach).
outflow (+ve)
The net outflow of mass per unit of time per unit depth is
inflow (-ve)
outflow (+ve) area outflow (+ve)

  ( u ) x    ( v) y 
 u  (  y  1)   v   (x  1)
x 2 
inflow (-ve)
   y 2 
  ( u ) x    ( v ) y 
  u   (  y  1)   v   ( x  1)
 x 2    y 2 
Taylor series
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inflow (-ve) inflow (-ve)

f ( x ) h 2  2 f ( x )
f ( x  h)  f ( x)  h   ... ... ...
x 2! x 2
© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 3
Conservation of Mass
 ( u )  ( v )
 xy  xy
x y
which must be equal the rate at which the mass contained within the element decreases

  x y 1     x y  ; ( ve due to decrease in mass)
t t mass= density × volume

Equating the above two expressions and dividing by ∆x∆y-

  ( u )  ( v)
  0
t x y

If z-dimension is considered, the differential form of the above expression comes as

  ( u )  ( v)  ( w)
   0
t x y z
     
    ( V )  0 ; where V  (u , v, w) and del operator,    , , 
t  x y z 
which is known as differential continuity equation (in vector form). The picture can't be display ed.

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 4
Conservation of Mass
In case of steady flows,

()  0
t

the continuity equation becomes as-

 ( u )  ( v)  ( w) u v w
  0   0
x y z x y z
 
   ( V )  0   V  0
 
 div ( V )  0  div V  0

Compressible flows Incompressible flows

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 5
Conservation of Momentum
Linear Momentum Equation
The net force acting on a fluid particle is equal to the time rate of change of the linear
momentum of the fluid particle.
As fluid element moves in space, its velocity, density, shape and volume may change, but its mass is
conserved. Conservation of momentum can be written as-

DV
F m ; V  (u , v, w) and F  ( Fx , Fy , Fz )
Dt
Du
x  direction : Fx  m
Dt
Dv
y  direction : Fy  m (1)
Dt
Dw
z  direction : Fz  m
Dt

The velocity of a fluid particle is, in general, an explicit function of time t as well as of its position (x,
y, z). Furthermore, the position coordinates x, y, z of the fluid particle are themselves a function of
time, t. The derivative in the above expression is frequently termed as particle, total or substantial The picture can't be display ed.

derivative (D/Dt) of velocity.

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 6
Conservation of Momentum
Since
u  u ( x, y , z , t )
v  v ( x, y , z , t )
w  w ( x, y , z , t )

Du u u x u y u z Similarly
   
Dt t x t y t z t Dv v v v v
Du u u u u x y z   u v  w
   u v  w ; u ,v  , w Dt t x y z
Dt t x y z t t t Dw w w w w
  u v w
total local convective Dt t x y z

A3 > A2
Area=A1 A2 < A1

Steady flow u
ax  u 0
x
( )
0 Convective acceleration
t Velocity increases Velocity decreases The picture can't be display ed.

(1) to (2) (2) to (3)

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 7
Conservation of Momentum
The principal forces with which we are concerned are those which act directly on the mass of the
fluid element, the body force, and those which act on its surface, the pressure forces and shear
forces. The stress system acting on an element of the surface is shown in figure:

There is a total of 6 shear stresses and 3 normal

stresses acting on a fluid element.
y-face
The properties of most fluids have no preferred
direction in space; that is, fluids are isotropic. As a
shear
result-
normal
 xy   yx
 yz   zy shear
x-face
 zx   xz
z-face

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 8
Conservation of Momentum
In general, the various stresses change from point to point (continuum approach). Thus, they
produce net forces on the fluid particle, which cause it to accelerate. To simplify the illustration of the
force balance on the fluid particle, consider a 2D flow, as indicated in figure.
The resultant force in x-direction (for a unit depth in the z-direction) is

f x xy 

x y
 
 xx xy    yx xy

where fx is the body force per unit mass in x-

direction.
Including flow in the z-direction, the resultant force in
the x-direction-

Fx  f x xyz 

x
 
 xx xyz    yx xyz    zx xyz
y z

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 9
Conservation of Momentum
Use this expression in eqn. (1) for x-direction:

Fx  f x xyz 
x y z
 
 xx xyz    yx xyz    zx xyz  xyz  Du
Dt


Du
Dt

 f x   xx  
x

y

 
 yx   zx 
z

Similarly, for y- and z-directions


Dv
dt
 f y 

x
 xy 

y
  
 
 yy   zy
z
 

Dw
dt

 f z   xz  
x

y

 
 yz   zz 
z

These are the basic form of Navier-Stokes equations (NS equations).

NS equations are the most famous equations for advanced analysis in fluid dynamics.
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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 10
Conservation of Momentum
Now, we need to relate the stresses to the motion of fluid. The normal stress is in the form of a
pressure (hydrostatic). For ideal fluid flow (inviscid), the shear stress vanishes and can be set to
zero. Thus
 xx   yy   zz   p (normal stress)
 xy   zy   zx  0 (Shear stress)

Thus the equations of motion for inviscid, incompressible fluid flow comes as-

Du p
  f x 
Dt x
Dv p
  f y 
Dt y
DV 1
Dw p  f  p
  f z  Dt 
Dt z Vector form

These equations are known as Euler Equations.

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 11
Streamline of a flow
A streamline is an imaginary curve whose tangent at any point is in the direction of the velocity
vector at that point. Across the streamline, there is no flow.
Let ds be a directed element of the streamline, such
as shown at point 2 in Fig. 2.29. The velocity at point
2 is V, and by definition of a streamline, V is parallel
to ds. From the vector definition-
ds  V  0
iˆ ˆj kˆ
 dx dy dz  0
u v w

 iˆ ( wdy  vdz )  ˆj (udz  wdx)  kˆ (vdx  udy )  0

Thus
dy v
w dy  v dz  0  
dz w
dz w
u dz  w dx  0  
dx u
dy v
v dx  u dy  0  
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dx u Differential equation for a streamline

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 12
Bernoulli’s Equation
Bernoulli’s equation is probably the most famous and useful equation in fluid dynamics. It related the
pressure and velocity in an inviscid, incompressible flow.
Consider x-component of the momentum equation for inviscid flow with no body forces-
Du p

Dt x
u u u u p
  u  v  w 
t x y z x
u u u 1 p
 u v w 
x y z  x
u u u 1 p
 u dx  v dx  w dx   dx ; multiplying by dx (a)
x y z  x
Consider the flow along a streamline, the differential equations are
u dz  w dx  0
v dx  u dy  0
then use these above expressions into equation (a)
 u u u  1 p
 u  dx  dy  dz    dx (b) The picture can't be display ed.

 x y z   x

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 13
Bernoulli’s Equation

Since for steady flow u  u ( x, y , z ) v  v ( x, y , z ) w  w ( x, y , z )

u u u
 du  dx  dy  dz ( total derivative)
x y z

This is exactly the term in parentheses in the last expression of x-momentum equation (b), then
1 p
u du   dx
 x
1 1 p
 d (u 2 )   dx ...... ... .... ... ... ... ...(1)
2  x

In a similar fashion, the y- and z-momentum equations will take the following forms
1 1 p
d (v 2 )   dy ...... ... .... ... ... ... (2)
2  y
1 1 p
d (w 2 )   dz ...... ... .... ... ... ... (3)
2  z
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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 14
Bernoulli’s Equation
Adding the equations (1), (2) and (3)
1 1  p p p 
d (u 2  v 2  w2 )    dx  dy  dz 
2   x y z 
1 dp p p p
 d (V 2 )   ; since dp  dx  dy  dz ( total derivative)
2  x y z

 dp    VdV ; V  (u , v, w)  V 2  u 2  v 2  w2

It applies to an inviscid flow with no body force, and it relates the change in velocity along a streamline,
dV to the change in pressure, dp along the same streamline.

On integrating the above Euler’s Equation along a streamline

p2 V2
 p1
dp    
V1
V dV ; for incompressible flow ρ  constant

1 1
 p1  V12  p 2  V2 2
2 2
This is the famous Bernoulli’s Equation. The picture can't be display ed.

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 15
Bernoulli’s Equation
Thus it can be written as-
1
p V 2  Constant along a streamline
2

In deriving the above Bernoulli’s equation, no stipulation has been made as to whether the flow is
rotational or irrotational (circulation= 0). For a general, rotational flow, the value of constant in the above
equation will change from one streamline to the next.
However, if the flow is irrotational (circulation= 0), then Bernoulli’s equation holds between any two
points in the flow, not necessarily just on the same streamline. Thus for irrotational flow-

1
p V 2  Constant through out the flow
2

The physical significance of Bernoulli’s equation is:

when the velocity increases, the pressure decreases and when the velocity decreases, the pressure
increases along a streamline in a fluid flow.

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 16
Bernoulli’s Equation

The strategy for solving most problems in steady, inviscid, incompressible flow is as follows:

1. Obtain the velocity field from the governing equations.

2. Once the velocity field is known, obtain the corresponding pressure field from
Bernoulli’s equation.

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 17
 Continuity equations:
u v w 
  0 (div V  0)
x y z

Basic form of Navier-Stokes equations:

Du  xx  yx  zx
x-momentum equation:   f x   
Dt x y z
Dv   
y-momentum equation:   f y  xy  yy  zy XX
Dt x y z
Dw    face direction
z-momentum equation:   f z  xz  yz  zz
Dt x y z 3 normal stresses and 6 shear stress
components

1
Bernoulli’s equation: p  V 2  Constant ( throughout the flow)
2
The physical significance of Bernoulli’s equation is:
when the velocity increases, the pressure decreases and when the velocity decreases, the pressure increases along a The picture can't be display ed.

streamline in a fluid flow.

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 18
Angular velocity and Vorticity
Kinematics of fluid flow:

Consider an infinitesimal fluid element moving in a flow field. As it translates along a streamline, it may
rotate and in addition its shape may become distorted as shown in figure.
The amount of rotation and distortion depends on the velocity field.

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 19
Angular velocity and Vorticity
Consider a 2D flow in the xy plane. Also, consider an infinitesimal fluid element in this flow. Assume that at
time t, the shape of this fluid element is rectangular, as shown left of the figure. Assume that the fluid
element is moving upward and to the right; its position and shape at time t+∆t are shown at the right
in the figure.

Note that during the time increment ∆t, the sides AB and
AC have rotated through the angular displacement -∆θ1
and +∆θ2, respectively.

Now, consider only the line AC:

It has rotated because during the time increment ∆t, point
C has moved differently from point A. Consider, the
velocity in y-direction:
at point A at time t, this velocity is v
(Anticlockwise +ve)
 v 
while the velocity at C is given by v    dx
 x 
from continuum approach

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 20
Angular velocity and Vorticity
Then during time increment ∆t -

Distance in y direction that A moves  vt

 v 
Distance in y direction that C moves   v  dx  t
 x 
 v 
Net displacement in y direction of C relative to A   v  dx  t  vt
 x 
 v 
  dx  t
 x 

The net displacement is shown at the right of the figure :

tan  2 
v / x  dxt 
v
t
(Anticlockwise +ve)

dx x

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© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 21
Angular velocity and Vorticity
since  2 is a small angle, tan  2   2 : hence
v
 2 
t
x
 v
 lim 2 
t 0 t x
d 2 v
  angular velocity of line AC
dt x

Similarly, considering line AB during time increment ∆t -

The net displacement is shown at the right of the figure :

tan  1  
u / y  dy t  u t
dy y
since 1 is a small angle, tan  1   1 : hence
u (Anticlockwise +ve)
1   t
y
 u
 lim 1  
t 0 t y
d1 u
 
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angular velocity of line AB

dt y

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 22
Angular velocity and Vorticity

By definition, the angular velocity of the fluid element as seen

in the xy plane is the average of angular velocities of lines
AB and AC:
1  d d 
z   1  2 
2  dt dt 

1  v u 
  z     (xy plane)
2  x y 

Angular velocity based on velocity field (u, v).

Similarly other angular velocities are:

1  w v  (Anticlockwise +ve)
 x     ( yz plane )
2  y z 

1  u w 
y     ( xz plane)
2  z x  The picture can't be display ed.

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 23
Angular velocity and Vorticity
The fluid element is generally moving in three-dimensional space, and its angular velocity is a vector ω that
is oriented in some general direction as shown in figure. The x and y components of ω can be obtained in a
similar fashion. The resulting angular velocity of the fluid element in 3D space is-

   xi   y j   z k
 1  w v   u w   v u  ˆ 
    iˆ     ˆj    k 
2  y z   z x   x y  

The angular velocity of a fluid element plays an important role in

theoretical aerodynamics. However, the expression 2ω appears
frequently, and therefore, a new quantity-Vorticity is defined as-
 
  2
  w v   u w   v u 
     iˆ     ˆj    kˆ
 y z   z x   x y   ˆ  ˆ  ˆ
 i j k
 x y z
    V 
V  uiˆ  vˆj  wkˆ
The picture can't be display ed.

In a flow field, the curl of the velocity field gives the vorticity field.

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 24
Angular velocity and Vorticity
Two important definitions:
1. If   V  0 (  0) at every point in a flow, the flow is called rotational .
This implies that the fluid elements have a finite angular velocity.
2. If   V  0 (  0) at every point in a flow, the flow is called irrotation al .
This implies that the fluid elements have no angular velocity; rather, their motion
through space is a pure translati on.

The picture can't be display ed.

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 25
Angular velocity and Vorticity

If the flow is two-dimensional (xy plane), then from the definition of vorticity-
  v u  ˆ
 z     k
 x y 
Also, if the flow is irrotational,   0, then 
v u
 0
x y
u v
 
y x
This is the condition of irrotationality for two-
dimensional flow (u, v).

In addition to the above condition, the condition of divergence free flow field (continuity equation)
govern the theoretical treatment of fundamental aerodynamics.

u v u v
 0 
x y x y The picture can't be display ed.

© Dr. A.B.M. Toufique Hasan (BUET) M.Sc. Eng. (Oct. 2022) ME 6135: Advanced Aerodynamics 26