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Modern Fluid Dynamics
Second Edition
Modern Fluid Dynamics
Second Edition

By
Clement Kleinstreuer
MATLAB® and Simulink® are trademarks of the MathWorks, Inc. and are used with ­permission. The MathWorks
does not warrant the accuracy of the text or exercises in this book. This book’s use or discussion of MATLAB®
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of a particular pedagogical approach or particular use of the MATLAB® and Simulink® software.

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 To my family,

Christin, Joshua, Nicole, and Andrew

Contents

Preface............................................................................................................................................ xiii
Author..............................................................................................................................................xv

Part A Fluid Dynamics Fundamentals with Applications

1 Review of Basic Concepts...................................................................................................... 3

1.1 The Continuum Mechanics Hypothesis.....................................................................3
1.2 Definitions, Fluid Properties, and Constitutive Equations...................................... 5
1.2.1 Definitions......................................................................................................... 5
1.2.2 Thermodynamic Properties............................................................................8
1.2.3 Constitutive Equations.....................................................................................8
1.2.4 Stress Tensors and Stress Vectors................................................................. 10
1.2.5 Flux Vectors..................................................................................................... 13
1.3 Derivation and Modeling Approaches..................................................................... 14
1.3.1 Approaches to Problem Solving................................................................... 15
1.3.2 Derivation Techniques .................................................................................. 17
1.3.3 Basic Flow Assumptions and their Mathematical Statements ................ 17
1.3.4 Closed versus Open Systems and Associated Flow Descriptions .......... 18
1.3.5 Material (or Stokes) Derivative...................................................................... 20
1.4 Scale Analysis and Dimensionless Groups..............................................................22
1.4.1 Examples of Scaling........................................................................................22
1.4.1.1 A Note on the Reynolds Number................................................. 23
1.4.2 Non-Dimensionalization of Equations........................................................ 23
1.5 Homework Assignments............................................................................................ 24
1.5.1 Physical Insight .............................................................................................. 24
1.5.2 Engineering Problems.................................................................................... 26

2 Conservation Laws with Illustrative Examples.............................................................. 29

2.1 The Reynolds Transport Theorem............................................................................. 31
2.1.1 Extended Cases............................................................................................... 33
2.1.2 Setting up the Reynolds Transport Theorem.............................................34
2.2 Fluid-Mass Conservation: The Continuity Equation.............................................. 35
2.2.1 Fluid-Mass Conservation in Integral Form................................................. 35
2.2.2 Continuity in Differential Form................................................................... 39
2.2.2.1 Differential Mass Balance.............................................................. 40
2.3 Momentum Conservation Equations: Linear Momentum
Transfer and Vorticity Transport...............................................................................43
2.3.1 The Momentum Equation in Integral Form...............................................43
2.3.2 Momentum Conservation in Differential Form......................................... 45
2.3.2.1 The Equation of Motion.................................................................. 45
2.3.2.2 Force Balance Derivation............................................................... 47

vii
viii Contents

2.3.3 Special Cases of the Equation of Motion..................................................... 48

2.3.3.1 The Navier–Stokes Equation......................................................... 49
2.3.3.2 Prandtl’s Boundary-Layer Equations........................................... 49
2.3.3.3 Stokes Equation............................................................................... 50
2.3.3.4 Euler Equation................................................................................. 50
2.3.3.5 Bernoulli Equation.......................................................................... 51
2.3.4 Basic Examples of Linear Momentum Transfer......................................... 56
2.3.5 Vorticity Dynamics......................................................................................... 61
2.3.5.1 Vorticity Vector and Fluid Circulation......................................... 61
2.3.5.2 Vorticity Transport Equation......................................................... 62
2.3.5.3 Vortex-Line Straining.....................................................................63
2.3.5.4 Vorticity Diffusion..........................................................................64
2.3.5.5 Helicity..............................................................................................65
2.4 Scalar Transport Equations: Energy and Species-Mass Conservation................ 66
2.4.1 Macro-Scale Energy Balance......................................................................... 66
2.4.2 The Convection-Diffusion Equation for Heat Transfer............................. 68
2.4.3 The Species Convection-Diffusion Equation.............................................. 72
2.5 Homework Assignments ........................................................................................... 74
2.5.1 Physical Insight............................................................................................... 74
2.5.2 Engineering Problems.................................................................................... 76

3 Incompressible Viscous Fluid Flow Applications.......................................................... 79

3.1 Internal Laminar Flows.............................................................................................. 79
3.1.1 Steady Fully‑Developed Flows.....................................................................80
3.1.2 Near-Parallel Flows........................................................................................ 90
3.1.3 Forced Convection Heat Transfer................................................................. 92
3.1.3.1 Convection Heat Transfer Coefficient.......................................... 93
3.1.3.2 The Nusselt Number....................................................................... 94
3.1.3.3 The Reynolds-Colburn Analogy................................................... 95
3.1.4 Transient One-Dimensional Flows............................................................... 99
3.1.4.1 Stokes’ First Problem: Thin Shear-Layer Development........... 100
3.1.4.2 Transient Pipe Flow...................................................................... 102
3.2 External Laminar Flows............................................................................................ 107
3.2.1 Momentum Boundary-Layer Flow............................................................. 108
3.2.1.1 Solution Methods for Flat-Plate Boundary-Layer Flows......... 108
3.2.2 Thermal Boundary-Layer Flow.................................................................. 113
3.2.2.1 Thick Thermal Boundary Layers................................................ 115
3.2.2.2 Thin Thermal Boundary Layers................................................. 115
3.2.2.3 Nusselt Number Correlations..................................................... 116
3.2.3 Drag and Lift Computations....................................................................... 119
3.2.4 Steady Planar and Round Jets..................................................................... 123
3.2.4.1 Exact Solution................................................................................ 128
3.3 Turbulent Flows.......................................................................................................... 129
3.3.1 External Flows............................................................................................... 132
3.3.1.1 Boundary-Layer Velocity Profiles............................................... 132
3.3.1.2 Summary of Modeling Results................................................... 136
3.3.2 Internal Flows................................................................................................ 137
3.3.2.1 Turbulent Convection Heat Transfer.......................................... 141
Contents ix

3.4 Homework Assignments.......................................................................................... 148

3.4.1 Physical Insight............................................................................................. 149
3.4.2 Engineering Problems.................................................................................. 151

Part B Modern Fluid Dynamics Topics

4 Mixture Flows...................................................................................................................... 157

4.1 Porous Medium Flow................................................................................................ 159
4.1.1 Saturated Porous Medium Flow................................................................. 159
4.1.2 Modeling of Flow through Saturated Porous Media............................... 162
4.2 Pseudo Two-Phase Flows.......................................................................................... 168
4.2.1 Quasi-Homogeneous Mixture Flows......................................................... 168
4.2.2 Non-Newtonian Fluid Flow........................................................................ 175
4.2.2.1 Internal Flow of Power-Law Fluids............................................ 176
4.2.3 Internal Flow of Bingham Plastics............................................................. 180
4.3 Fluid-Particle Dynamics........................................................................................... 183
4.3.1 Micron-Particle Transport and Deposition............................................... 183
4.3.2 Nanoparticle Transport................................................................................ 189
4.4 Homework Assignments.......................................................................................... 192
4.4.1 Physical Insight............................................................................................. 192
4.4.2 Engineering Problems.................................................................................. 193

5 Basic Lubrication Systems................................................................................................. 197

5.1 Lubrication Approximations.................................................................................... 198
5.1.1 Slot-Flow Analysis........................................................................................ 199
5.1.2 Squeeze-Film Lubrication............................................................................ 200
5.1.3 Planar Lubrication........................................................................................ 203
5.2 The Reynolds Lubrication Equation........................................................................ 206
5.3 Lubricants with Nanoparticles................................................................................ 212
5.4 Homework Assignments.......................................................................................... 213
5.4.1 Physical Insight............................................................................................. 214
5.4.2 Engineering Problems.................................................................................. 214

6 Fluid Spreading, Film Drawing, and Surface Coating................................................ 217

6.1 Introduction................................................................................................................ 217
6.2 Fluid-Interface Mechanics........................................................................................ 217
6.3 Drawing and Coating Processes.............................................................................. 224
6.4 Spray-Coating............................................................................................................. 232
6.5 Homework Assignments.......................................................................................... 233
6.5.1 Physical Insight............................................................................................. 233
6.5.2 Engineering Problems..................................................................................234

7 Microscale Fluid Dynamics............................................................................................... 237

7.1 Introduction................................................................................................................ 237
7.2 Microscale Flow Systems.......................................................................................... 239
7.3 Fluid Flow in Microconduits.................................................................................... 241
7.3.1 Scale Analysis................................................................................................ 241
7.3.2 Fluid Properties and Flow Conditions...................................................... 246
x Contents

7.3.3 Wall Slip Velocity and Temperature Jump................................................ 249

7.3.3.1 Velocity-Slip Models..................................................................... 250
7.3.3.2 Temperature-Jump Model............................................................ 251
7.3.4 Electro-Osmotic Flow................................................................................... 253
7.3.4.1 Summary........................................................................................ 261
7.4 Homework Assignments.......................................................................................... 262
7.4.1 Physical Insight............................................................................................. 262
7.4.2 Engineering Problems.................................................................................. 263

8 Fluid–Structure Interaction............................................................................................... 267

8.1 Introduction................................................................................................................ 267
8.2 Solid Mechanics Review........................................................................................... 268
8.2.1 Stresses in Solid Structures......................................................................... 268
8.2.2 Equilibrium Conditions............................................................................... 272
8.2.3 Stress–Strain Relationships......................................................................... 274
8.2.3.1 Deformation Analysis................................................................... 274
8.2.3.2 Simplifications............................................................................... 277
8.2.3.3 Plane Stress Analysis.................................................................... 278
8.3 Slender-Body Dynamics........................................................................................... 279
8.3.1 Flow-Induced Slender-Body Oscillations.................................................. 280
8.3.2 Flow-Induced Concentrated-Mass Oscillations....................................... 282
8.4 Flow-Induced Vibration............................................................................................284
8.4.1 Harmonic Response to Free Vibration....................................................... 287
8.4.1.1 Undamped Vibration Case.......................................................... 287
8.4.1.2 Damped Vibration Case............................................................... 288
8.4.2 Harmonic Response to Forced Vibration.................................................. 293
8.5 Homework Assignments ......................................................................................... 295

9 Computational Fluid Dynamics Modeling and Simulation...................................... 297

9.1 Introduction................................................................................................................ 297
9.2 Modeling Objectives and Numerical Tools............................................................ 299
9.2.1 Problem Recognition and Modeling Scale................................................ 299
9.2.2 Mathematical Modeling and Data Needs................................................. 301
9.2.3 Computational Fluid Dynamics................................................................. 301
9.2.3.1 Simulation Accuracy..................................................................... 302
9.2.3.2 Equation Discretization................................................................ 303
9.2.3.3 Boundary Conditions...................................................................304
9.2.4 Result Interpretation and Data Management Plan..................................304
9.2.4.1 Data Management Plan................................................................305
9.2.5 Computational Design Aspects..................................................................306
9.2.5.1 Computer Simulations..................................................................306
9.2.5.2 Computer-Aided Design.............................................................. 306
9.3 Computer Simulation Examples..............................................................................308
9.3.1 Computer Model Validations......................................................................308
9.3.2 Sample Case Studies..................................................................................... 311
9.3.2.1 Steady Laminar Newtonian versus Non-Newtonian
Fluid Flows in a Constricted Tube.............................................. 311
9.3.2.2 Transient Laminar Flow Past a Tall Obstacle............................ 319
Contents xi

10 Course Projects..................................................................................................................... 331

10.1 Introduction................................................................................................................ 331
10.2 Guidelines for Project Report Writing.................................................................... 331
10.3 Course Project Suggestions...................................................................................... 332
10.3.1 Tutorial Project with Analytic Solutions...................................................334
10.3.2 Computer Simulation and Design Projects Using Open-Source
Software......................................................................................................... 335
Appendix 1: Comparison of Poiseuille, Annular, and Slit Flow Phenomena.............. 335
A1.1 Introduction................................................................................................................ 335
A1.2 Poiseuille Flow in a Pipe........................................................................................... 336
A1.2.1 Assumptions.................................................................................................. 336
A1.3 Pressure-Driven Flow in a Narrow Slit.................................................................. 338
A1.3.1 Assumptions.................................................................................................. 338
A1.4 Pressure-Driven Flow in an Annulus.....................................................................340
A1.4.1 Assumptions..................................................................................................340
A1.5 Friction Factor.............................................................................................................342
A1.6 Conclusions and Limitations....................................................................................344
Appendix 2: A Circular Cylinder in Laminar Cross Flow..............................................345
A2.1 Introduction................................................................................................................345
A2.2 Mathematical Model..................................................................................................346
A2.2.1 System Sketch................................................................................................346
A2.2.2 Assumptions and Postulates....................................................................... 347
A2.2.3 Boundary Conditions................................................................................... 347
A2.2.4 Describing Equations................................................................................... 347
A2.3 Case Setup: Cylinder in Cross Flow........................................................................348
A2.3.1 Mesh................................................................................................................348
A2.3.2 Mesh-Independence Test............................................................................. 349
A2.3.3 Boundary Conditions................................................................................... 349
A2.3.3 Control Dictionary........................................................................................ 350
A2.3.4 Numerical Schemes...................................................................................... 350
A2.3.5 Solution and Algorithm Control................................................................. 350
A2.4 Post-Processing: Results and Discussion................................................................ 351
A2.4.1 Comparison between Re = 20 and Re = 200................................................ 351
A2.4.2 Velocity Contours.......................................................................................... 351
A2.4.3 Streamlines.................................................................................................... 351
A2.4.4 Plot of Lift and Drag Coefficients............................................................... 351
Appendix 3: Enhancement of microfluidic mixing through optimization of
microchannel geometry and inlet flow conditions............................................... 359
A3.1 Introduction................................................................................................................ 360
A3.2 Mathematical model.................................................................................................. 361
A3.2.1 System sketch................................................................................................ 361
A3.2.2 Assumptions.................................................................................................. 362
A3.2.3 Postulates....................................................................................................... 362
A3.2.4 Governing Equations................................................................................... 362
A3.2.4.1 Continuity Equation..................................................................... 363
A3.2.4.2 Momentum Equation.................................................................... 363
A3.2.4.3 Species-Mass Transfer Equation................................................. 363
xii Contents

A3.3 Case-Study Setup....................................................................................................... 363

A3.3.1 Mesh................................................................................................................ 363
A3.3.2 Material Properties.......................................................................................364
A3.3.3 Boundary Conditions................................................................................... 366
A3.3.4 Numerical Schemes...................................................................................... 367
A3.3.5 Solution and Algorithm Control................................................................. 367
A3.3.6 Quasi-Stationary State.................................................................................. 368
A3.4 Results and Discussion............................................................................................. 368
A3.4.1 Comparison between Diffusion and Dispersion..................................... 368
A3.4.2 Modification of Geometry........................................................................... 370
A3.4.3 Modification of Inlet Flow Conditions...................................................... 372
A3.5 Conclusions................................................................................................................. 379
References.................................................................................................................................... 381
Appendix I.................................................................................................................................... 389
Appendix II..................................................................................................................................425
Index.............................................................................................................................................. 437
Preface

The second edition of Modern Fluid Dynamics  (the first edition was published by Springer) has
been thoroughly revised and updated based on multi-year feedback from graduate students
as well as suggestions from colleagues. Specifically, the previous three book parts have been
reduced to a new, two-part, streamlined and reorganized version with a now even stronger
emphasis on the fundamentals, illustrative examples, and computer applications. As it is a
text for first-year graduate students and advanced seniors, the sections on compressible flow
and compartmental modeling have been deleted to provide extra space for more appropri-
ate topics, such as scale analysis, non-Newtonian fluid flow, surface coating, convection heat
transfer, fluid-particle dynamics, microfluidics, and microfluidics, and computational fluid
dynamics applications. Thus, the first part of the new edition, that is, Chapters 1 through 3, is
now easier to read, leading with the sample problem solutions and associated discussions to
an enhanced understanding of the principles of fluid dynamics. With the new knowledge base
gained and skill level acquired from studying Part A in conjunction with Appendix I, modern
fluid dynamics applications are discussed in Chapters 4 through 8 of the new Part B. After
basic introductions to real-world topics, such as mixture flows, lubrication systems, surface
coating, microfluidics, and fluid–structure interactions, representative sample applications are
discussed. Part B concludes with Chapter 9 on mathematical modeling and computer simula-
tion with examples, while Chapter 10 deals with the development and execution of course proj-
ects  . Specifically, guidelines are provided for project report writing, followed by lists of tutorial
and numerical projects, both categories being illustrated with insightful project reports. The
necessary background material in engineering math is reviewed in Appendix I, that is, tensor
analysis, integration/differentiation, special integrals, ordinary differential equations, and all
conservation laws. Appendix I now also contains OpenFOAM commands, some of which have
been used in course-project solutions given in Chapters 9 and 10. Appendix II contains conver-
sion factors and fluid properties as well as the Moody chart and drag coefficients for spheres
and cylinders. While traditionally, fluid mechanics books present the material in progressive
order, that is, employing an inductive  approach from the simple to the more difficult, the pres-
ent text adopts more of a deductive  approach. Indeed, understanding the derivation of the basic
equations and then formulating the system-specific equations with suitable boundary condi-
tions are two key steps for proper problem solutions. Understanding of the fundamentals and
independent application skills are the main learning objectives.  For students to gain confidence and
independence, an instructor may want to be less of a “sage on the stage” and more of a “guide
on the side.” Specifically, engaging students in “white-board performances,” that is, interest-
ing problem solutions, tutorial presentations of specific topics of Part B, and selected journal
articles is highly recommended. Requiring an in-depth course project and its associated report
(see Chapter 10) may be a crowning assignment or may even replace the final exam. The need
for the proposed text evolved primarily out of industrial demands and post-graduate expectations.  
Clearly, industry and government recognized that undergraduate fluid mechanics edu-
cation had to change measurably due to the availability of powerful software that runs
on workstations and because of the shift toward more complicated and interdisciplinary
tasks that tomorrow’ s engineers are facing (see NAS “ The Engineers of 2020” at http://
national-academics.org). Also, an increasing number of engineering firms recruit only MS-
and PhD-holders, wondering whether BS-degree engineers are able to follow technical
directions, let alone build mathematical models and consequently analyze and improve/

xiii
xiv Preface

design devices related to fluid dynamics. In the academic environment, a fine knowledge
base and solid skill levels in modern fluid dynamics are important for success in more
advanced thermal sciences courses, in emerging departmental programs, and for new the-
sis/dissertation requirements responding to future educational needs. Building on intro-
ductory courses in thermodynamics, fluid mechanics, heat transfer, and solid mechanics
as prerequisites as well as on a junior-level math background, a differential approach is
most insightful to teach the fundamentals in fluid mechanics and convection heat trans-
fer. Pedagogical elements include a 50:50 physics-mathematics approach when introducing
new material, illustrating concepts, showing flow visualizations, and solving problems.
The problem solution format strictly follows the sequence System Sketch, Assumptions,
and Method — before   starting the solution phase, which consists of symbolic math model
development (see Appendix I), numerical solution, graphs, and comments on “ physical
insight.” After some illustrative examples, most solved text examples have the same level
of difficulty as suggested assignments and/or exam problems. The ultimate goals are that
the more serious student will be able to solve basic fluid dynamics problems independently  ,
provide physical insight  , and suggest, via a course project, system design improvements  . All
figures appearing in this book will be hosted on the CRC Press website: www.crcpress.
com/9781138198104. In addition, an updated and expanded solutions manual, previously
authored by post-doc Dr. Jie Li and now redeveloped by Curtis Promislow and Sriram
Chari, will be available later on for instructors adopting the textbook.
The new edition could not have been completed without the superb assistance provided
by Curtis Promislow in terms of text and equation typing, finalizing figures and tables,
and manuscript formatting. Also, the fine project contributions from Dr. Zelin (Luke) Xu
and Sriram Chari, as well as the professional help from editor Jonathan Plant and his team,
are gratefully acknowledged.
For technical correspondence, please contact the author via e-mail ([email protected]).
Clement Kleinstreuer
North Carolina State University
Raleigh, NC

MATLAB® is a registered trademark of The MathWorks, Inc. For product information,

please contact:

The MathWorks, Inc.

3 Apple Hill Drive
Natick, MA 01760-2098 USA
Tel: 508 647 7000
Fax: 508-647-7001
E-mail: [email protected]
Web: www.mathworks.com
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