Computational Fluid Dynamics

MPE 447
Elective course III
Lecture 3: Governing Equations II
Dr. Mohamed El-Ghandour

2024-2025
 Last Lecture Contents
• Basic Concepts and Definitions
• The total derivative
• Acceleration
• The differential form of the conservation laws
• Introduction
• The continuity equation
 Contents
• Physical meaning of the divergence of the
velocity
• The differential form of the linear momentum
equation
• The Euler equation
3-1 Physical meaning of the divergence of the velocity
• Consider an infinitesimal fluid element of the surface
ds moving at local velocity V, as shown in Fig. 1.

Fig. 1: Moving control volume used for the definition of

the divergence of the velocity
The change in the volume of the control volume, ∆𝑉 due to the
movement of the surface element dS over a time increment ∆t
∆𝑉 = 𝑽 ∆𝑡. 𝒏 𝑑𝑆 = 𝑽 ∆𝑡. 𝒅𝑺
Where 𝒏, is the unit normal vector, 𝒅𝑺 = 𝑛 𝑑𝑆 is the area vector
that is normal to the surface, and the magnitude of the
projection area to the normal direction of the local velocity
vector.
The total change in volume of the whole CV over the time
increment = the summation of 𝑽 ∆𝑡. 𝒅𝑺 over the total surface
In the limit dS ➔ 0, the summation becomes surface integral

ඵ 𝑽 ∆𝑡. 𝒅𝑺
𝑆
Divide this integral by ∆𝑡, the result is the time rate of
𝐷𝑉
change of the control volume, denoted by
𝐷𝑡
1
= ‫׭‬ 𝑽 ∆𝑡. 𝒅𝑺 =‫𝑽 𝑆׭‬. 𝒅𝑺
∆𝑡 𝑆

From the divergence theorem

‫𝑽 𝑆׭‬. 𝒅𝑺 = ‫∇( 𝑉׮‬. 𝑽) 𝑑𝑉

For the infinitesimal moving element 𝛿𝑉

𝐷 𝛿𝑉
= ම ∇. 𝑽 𝑑𝑉
𝐷𝑡
𝛿𝑉
For very small element 𝛿𝑉

‫∇ 𝑉𝛿׮‬. 𝑽 𝑑𝑉 = ∇. 𝑽 𝑑𝑉
𝐷 𝛿𝑉
hence, = ∇. 𝑽 𝑑𝑉
𝐷𝑡

1 𝐷 𝛿𝑉
Or ∇. 𝑽 =
𝛿𝑉 𝐷𝑡

The divergence of the velocity is the time rate of change

of the volume of a moving element per unit volume.
3-2 The Differential form of the linear Momentum equation
The linear momentum equation is a special form of Newton’s 2nd law.
Newton’s 2nd law relates the rate of change of linear momentum to the summation of
external forces that affect the fluid in the CV.
3-2-1 The Navier-Stokes equation
• Assumption: general three-dimensional,
viscous, and unsteady flow
• Fluid model: An infinitesimal control volume of
dimensions dx, dy, and dz that moves with the fluid
as shown in Fig. 2.
• Physical principle: Newton’s 2nd law, which states
that the net external force affecting a CV in a certain
direction equals the rate of change of momentum

Fig. 2: An infinitesimal control volume

of dimensions dx, dy, and dz that
moves with the flow.
Let’s apply newton’s 2nd law to the flow model of infinitesimal CV
moving with the flow
∑𝑑𝐹𝑒𝑥𝑡,𝑥 = 𝑑𝑚𝑎𝑥 (1)
Where ∑𝑑𝐹𝑒𝑥𝑡,𝑥 is the summation of external forces that affect
the fluid in the control volume. These forces are categorized as
shown in Fig. 3.
The mass of the fluid in the CV, dm = 𝜌𝑑𝑉 = 𝜌𝑑𝑥𝑑𝑦𝑑𝑧,
∑𝑑𝐹𝑒𝑥𝑡,𝑥 = 𝑑𝐹𝑔 + 𝑑𝐹𝑝 + 𝑑𝐹𝑛𝑣 + 𝑑𝐹𝑠𝑣 𝑦𝑥 + 𝑑𝐹𝑠𝑣 𝑧𝑥 (2)
, ,
Let’s evaluate first the external forces in the x-direction, and other directions
will be treated the same.

The forces on the CV in the x-direction, shown in Fig. 4, are of two sources:
1- Body forces, dFg : gravitational, electric, and magnetic forces.
These forces act at a distance i .e, the source of the force should not come
into contact with the element
It depends on the mass of the element, not on the surface
Its effect is located at the mass center.
Only gravitational forces are considered here.
𝑑𝐹𝑔 = 𝑑𝑚 𝑔𝑥 = 𝜌𝑑𝑉 𝑔𝑥 = 𝜌𝑔𝑥 𝑑𝑥𝑑𝑦𝑑𝑧 (3)
Where 𝑔𝑥 is the component of gravitational acceleration in x direction

2- Surface forces: pressure, and shear forces

These forces act directly on the surface of the element
 External forces affecting on a fluid in a CV

Body Forces Surface Forces

Gravity Electric Magnetic Pressure Viscous

Normal viscous Shear 1 Shear 2

Fig. 3: The external forces that affect the fluid in the CV.
 They are of two types:
a- Pressure forces, 𝑑𝐹𝑝 due to pressure distribution acting of the surface imposed by
the fluid just outside the element.
Its value = the surface area of the element times the mean pressure outside the
surface
Its compression (tends to compress the element i. e. reduce its size) normally
affects the surface and is directed from the outside to the surface.
The surface area affected by this stress in x direction is 𝑑𝑦𝑑𝑧
Its value of this force on the lift side = 𝑝𝑑𝑦𝑑𝑧
𝜕𝑝
The value of this force on the right side = −(𝑝 + 𝜕𝑥 𝑑𝑥)𝑑𝑦𝑑𝑧
𝜕𝑝
Hence, the net pressure force in x direction, 𝑑𝐹𝑝 = 𝑝𝑑𝑦𝑑𝑧 −(𝑝 + 𝜕𝑥 𝑑𝑥)𝑑𝑦𝑑𝑧
𝜕𝑝
= − 𝜕𝑥 𝑑𝑥𝑑𝑦𝑑𝑧 (4)
b- Viscous forces acting on the surface imposed by the fluid just outside the element.
It value = the surface area of the element times the viscous stress outside the
surface
It is of two types: normal (tensile) 𝑑𝐹𝑛𝑣 and shear forces, 𝑑𝐹𝑠𝑣 𝑦𝑥 , 𝑎𝑛𝑑 𝑑𝐹𝑠𝑣 𝑧𝑥 .
, ,
i- tensile force, 𝑑𝐹𝑛𝑣 (tends to stretch the element) affect normally on the surface
and directed from the surface to outside.
acting on the area normal to the x-direction, 𝑑𝑦𝑑𝑧
Its value on the lift side = −𝜏𝑥𝑥 𝑑𝑦𝑑𝑧
The repeated index xx implies normal viscous stress, pointed to direction x and
affects area normal to direction x
𝜕𝜏𝑥𝑥
Its value on the right side = (𝜏𝑥𝑥 + 𝑑𝑥)𝑑𝑦𝑑𝑧
𝜕𝑥
Hence, the net normal viscous force in x direction,
𝜕𝜏𝑥𝑥 𝜕𝜏𝑥𝑥
𝑑𝐹𝑛𝑣 = −𝜏𝑥𝑥 𝑑𝑦𝑑𝑧 + 𝜏𝑥𝑥 + 𝑑𝑥 𝑑𝑦𝑑𝑧 = 𝑑𝑥𝑑𝑦𝑑𝑧 (5)
𝜕𝑥 𝜕𝑥
ii- Shear forces (tend to distort the element or to rotate the element) affect
parallel to the surface.

𝑑𝐹𝑠𝑣 𝑦𝑥 , 𝑎𝑓𝑓𝑒𝑐𝑡𝑖𝑛𝑔 𝑜𝑛 𝑎𝑟𝑒𝑎 𝑛𝑜𝑟𝑚𝑎𝑙 𝑡𝑜 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑦 Area 𝑑𝑥𝑑𝑧

,
Its value on the bottom side = −𝜏𝑦𝑥 𝑑𝑥𝑑𝑧
The index yx implies shear viscous stress, pointed to direction x and affects area
normal to direction y
𝜕𝜏𝑦𝑥
Its value on the upper side = (𝜏𝑦𝑥 + 𝑑𝑦)𝑑𝑥𝑑𝑧
𝜕𝑦
Hence, the shear viscous force affecting on area normal to y-axis and pointed in x
𝜕𝜏𝑦𝑥 𝜕𝜏𝑦𝑥
direction, 𝑑𝐹𝑠𝑣 𝑦𝑥 = −𝜏𝑦𝑥 𝑑𝑥𝑑𝑧 +(𝜏𝑦𝑥 + 𝜕𝑦
𝑑𝑦)𝑑𝑥𝑑𝑧 = 𝜕𝑦
𝑑𝑦𝑑𝑥𝑑𝑧 (6)
,
 𝑑𝐹𝑠𝑣 𝑧𝑥 , 𝑎𝑓𝑓𝑒𝑐𝑡𝑖𝑛𝑔 𝑜𝑛 𝑎𝑟𝑒𝑎 𝑛𝑜𝑟𝑚𝑎𝑙 𝑡𝑜 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑧
,
Area 𝑑𝑥𝑑𝑦
Its value on the far side = −𝜏𝑧𝑥 𝑑𝑥𝑑𝑦
The index zx implies that this shear viscous stress, pointed to direction x and affects
area normal to direction z
𝜕𝜏𝑧𝑥
Its value on the near side = (𝜏𝑧𝑥 + 𝑑𝑧)𝑑𝑥𝑑𝑦
𝜕𝑧
Hence, the shear viscous force affecting on area normal to z-axis and pointed in x
𝜕𝜏𝑧𝑥 𝜕𝜏𝑧𝑥
direction, 𝑑𝐹𝑠𝑣 𝑧𝑥 = −𝜏𝑧𝑥 𝑑𝑥𝑑𝑦 +(𝜏𝑧𝑥 + 𝑑𝑧)𝑑𝑥𝑑𝑦 = 𝑑𝑧𝑑𝑥𝑑𝑦 (7)
, 𝜕𝑧 𝜕𝑧

By substituting from 3 to 7 into 2 to obtain the net external force working in x-direction
on the fluid in the CV
𝜕𝑝 𝜕𝜏𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥
∑𝑑𝐹𝑒𝑥𝑡,𝑥 = 𝜌𝑔𝑥 𝑑𝑥𝑑𝑦𝑑𝑧 − 𝜕𝑥 𝑑𝑥𝑑𝑦𝑑𝑧 + 𝜕𝑥
𝑑𝑥𝑑𝑦𝑑𝑧 + 𝜕𝑦
𝑑𝑦𝑑𝑥𝑑𝑧 + 𝜕𝑧
𝑑𝑧𝑑𝑥𝑑𝑦
𝜕𝑝 𝜕𝜏𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥
= [𝜌𝑔𝑥 − 𝜕𝑥 + 𝜕𝑥
+ 𝜕𝑦
+ 𝜕𝑧
] 𝑑𝑥𝑑𝑦𝑑𝑧 (8)
 𝑑𝑢
The lift hand side of eq. 1 = 𝜌𝑑𝑥𝑑𝑦𝑑𝑧 (9)
𝑑𝑡

By substituting from 8 & 9 into 1

𝜕𝑝 𝜕𝜏𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥 𝑑𝑢

[𝜌𝑔𝑥 − + + + ] 𝑑𝑥𝑑𝑦𝑑𝑧 = 𝜌𝑑𝑥𝑑𝑦𝑑𝑧 (10)
𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝑑𝑡

By dividing eq. 10 by element volume, 𝑑𝑥𝑑𝑦𝑑𝑧

𝜕𝑝 𝜕𝜏𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥 𝑑𝑢
𝜌𝑔𝑥 − + + + =𝜌 (11)
𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝑑𝑡
𝑑𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢
This is the momentum eq. in x-direction. Note that = +𝑢 +𝑣
𝑑𝑡 𝜕𝑡 𝜕𝑥 𝜕𝑦
𝜕𝑢
+𝑤
𝜕𝑧
Hence, eq. 11 can be written as
𝜕𝑝 𝜕𝜏𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥 𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢
𝜌𝑔𝑥 − 𝜕𝑥 + + + = 𝜌[ 𝜕𝑡 + 𝑢 𝜕𝑥 + 𝑣 𝜕𝑦 + 𝑤 𝜕𝑧 ]
𝜕𝑥 𝜕𝑦 𝜕𝑧
Similarly, the other two equations in y, and z directions can be written as: (12)
𝜕𝑝 𝜕𝜏𝑥𝑦 𝜕𝜏𝑦𝑦 𝜕𝜏𝑧𝑦 𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑣
𝜌𝑔𝑦 − 𝜕𝑦 + + + = 𝜌[ 𝜕𝑡 + 𝑢 𝜕𝑥 + 𝑣 𝜕𝑦 + 𝑤 𝜕𝑧 ]
𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝑝 𝜕𝜏𝑥𝑧 𝜕𝜏𝑦𝑧 𝜕𝜏𝑧𝑧 𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑤
𝜌𝑔𝑧 − 𝜕𝑧 + 𝜕𝑥
+ 𝜕𝑦
+ 𝜕𝑧
= 𝜌[ 𝜕𝑡 + 𝑢 𝜕𝑥 + 𝑣 𝜕𝑦 + 𝑤 𝜕𝑧 ]

These three eqns. (12) can be written in a vector form as:

𝑑𝑽
𝜌𝒈 − ∇𝑃 + ∇. 𝝉𝑖𝑗 = 𝜌 𝑑𝑡 (13)
Where 𝝉𝑖𝑗 is the viscous stress tensor acting on the element
𝜏𝑥𝑥 𝜏𝑦𝑥 𝜏𝑧𝑥
𝝉𝑖𝑗 = 𝜏𝑥𝑦 𝜏𝑦𝑦 𝜏𝑧𝑦 (14)
𝜏𝑥𝑧 𝜏𝑦𝑧 𝜏𝑧𝑧
This is the momentum equation in its full differential and nonconservative
form. As it’s been estimated for an infinitesimal fluid element moving with the
flow. It is valid for any fluid in any general motion. Note that the last three
Fig. 4: An infinitesimal moving fluid element. Only forces in x-direction are shown.
 For Newtonian fluids
For Newtonian fluid, which is the case with most fluid flow, the viscous terms are evaluated
using:
𝜕𝑢
𝜏𝑥𝑥 = 𝜆 ∇. 𝑽 + 2𝜇
𝜕𝑥
𝜕𝑣
𝜏𝑦𝑦 = 𝜆 ∇. 𝑽 + 2𝜇
𝜕𝑦
𝜕𝑤
𝜏𝑧𝑧 = 𝜆 ∇. 𝑽 + 2𝜇
𝜕𝑧
𝜕𝑣 𝜕𝑢
𝜏𝑥𝑦 = 𝜏𝑦𝑥 = 𝜇[ + ]
𝜕𝑥 𝜕𝑦
𝜕𝑤 𝜕𝑢
𝜏𝑥𝑧 = 𝜏𝑧𝑥 = 𝜇[ + ]
𝜕𝑥 𝜕𝑧
𝜕𝑤 𝜕𝑣
𝜏𝑦𝑧 = 𝜏𝑧𝑦 = 𝜇[ + ]
𝜕𝑦 𝜕𝑧
Where 𝜇 is the molecular viscosity coefficient and 𝜆 is the second viscosity coefficient =
2
− 3𝜇
For incompressible flow ∇. 𝑽 = 0
Then for incompressible and Newtonian fluids, the viscous terms are estimated using:
𝜕𝑢
𝜏𝑥𝑥 = 2𝜇
𝜕𝑥
𝜕𝑣
𝜏𝑦𝑦 = 2𝜇
𝜕𝑦
𝜕𝑤
𝜏𝑧𝑧 = 2𝜇
𝜕𝑧
𝜕𝑣 𝜕𝑢
𝜏𝑥𝑦 = 𝜏𝑦𝑥 = 𝜇[ + ]
𝜕𝑥 𝜕𝑦
𝜕𝑤 𝜕𝑢
𝜏𝑥𝑧 = 𝜏𝑧𝑥 = 𝜇[ + ]
𝜕𝑥 𝜕𝑧
𝜕𝑤 𝜕𝑣
𝜏𝑦𝑧 = 𝜏𝑧𝑦 = 𝜇[ + ]
𝜕𝑦 𝜕𝑧
By substituting these values in eq. 13
Just consider x-direction
𝜕𝑝 𝜕 𝜕𝑢 𝜕 𝜕𝑣 𝜕𝑢 𝜕 𝜕𝑤 𝜕𝑢 𝑑𝑢
𝜌𝑔𝑥 − 𝜕𝑥 + 𝜕𝑥 (2𝜇 𝜕𝑥 ) + 𝜕𝑦
(𝜇[ 𝜕𝑥
+ 𝜕𝑦]) + 𝜕𝑧 (𝜇 𝜕𝑥
+ 𝜕𝑧 ) = 𝜌 𝑑𝑡
By differentiation
𝜕𝑝 𝜕2 𝑢 𝜕2 𝑣 𝜕2 𝑢 𝜕2 𝑤 𝜕2 𝑢 𝑑𝑢
𝜌𝑔𝑥 − 𝜕𝑥
+ 𝜇{ 2 𝜕𝑥 2 + 𝜕𝑦𝜕𝑥
+ 𝜕𝑦2 + 𝜕𝑧𝜕𝑥
+ 𝜕𝑧 2 } = 𝜌 𝑑𝑡
By rearrangement
𝜕𝑝 𝜕2 𝑢 𝜕2 𝑢 𝜕2 𝑢 𝜕2 𝑢 𝜕2 𝑣 𝜕2 𝑤 𝑑𝑢
𝜌𝑔𝑥 − 𝜕𝑥 + 𝜇{ 𝜕𝑥 2
+ 𝜕𝑦2 + 𝜕𝑧 2 + (𝜕𝑥 2 + 𝜕𝑦𝜕𝑥 + 𝜕𝑧𝜕𝑥)} = 𝜌 𝑑𝑡
𝜕2 𝑢 𝜕2 𝑣 𝜕2 𝑤
The term (𝜕𝑥 2 + 𝜕𝑦𝜕𝑥 + 𝜕𝑧𝜕𝑥) = 0 𝑓𝑜𝑟 𝑎𝑛 𝑖𝑛𝑐𝑜𝑚𝑝𝑟𝑒𝑠𝑠𝑖𝑏𝑙𝑒 𝑓𝑙𝑜𝑤 (𝑝𝑙𝑒𝑎𝑠𝑒 𝑝𝑟𝑜𝑣𝑒)
𝜕𝑝 𝜕2 𝑢 𝜕2 𝑢 𝜕2 𝑢 𝑑𝑢
𝜌𝑔𝑥 − +𝜇 + + =𝜌
𝜕𝑥 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 𝑑𝑡
Which is the Navier-Stokes equation for x-direction for 3d, incompressible, and
Newtonian flow.
𝑑𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢
Note that = +𝑢 +𝑣 +𝑤
𝑑𝑡 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
Hence, eq. 12 can be written as
𝜕𝑝 𝜕2 𝑢 𝜕2 𝑢 𝜕2 𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢 𝜕𝑢
𝜌𝑔𝑥 − +𝜇 + + = 𝜌[ +𝑢 +𝑣 +𝑤 ]
𝜕𝑥 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
Similarly, the other two equations in y, and z directions can be written as:
𝜕𝑝 𝜕2 𝑣 𝜕2 𝑣 𝜕2 𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑣
𝜌𝑔𝑦 − +𝜇 + + = 𝜌[ +𝑢 +𝑣 +𝑤 ]
𝜕𝑦 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 (14)
𝜕𝑝 𝜕2 𝑤 𝜕2 𝑤 𝜕2 𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜕𝑤
𝜌𝑔𝑧 − +𝜇 + + = 𝜌[ +𝑢 +𝑣 +𝑤 ]
𝜕𝑧 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

These three eqns. (14) can be written in a vector form as:

𝑑𝑽
𝜌𝒈 − ∇𝑃 + ∇2 𝑽 = 𝜌 (15)
𝑑𝑡
These are the Navier-Stokes equations, named after C.
L. M. H. Navier (1785–1836)
and Sir George G. Stokes (1819–1903), who are
credited with their derivation.
They are second-order nonlinear partial differential
equations and are quite formidable, but surprisingly
many solutions have been found to a variety of
interesting viscous-flow problems, some of which are
discussed in next chapters.
.