ME 131B Fluid Mechanics

Solutions to Week Eight Problem Session:

Angular Momentum Principle (3/2/98)
1. In control volume analysis, all governing principles share the same common structure:
storage = in ow out ow + production
The main dierence between dierent physical principles is in the production term, P .
For the following principles, what is this production term equal to?
(a) conservation of mass
 Mass can neither be created nor destroyed.
Pmass = 0
(b) conservation of linear momentum
 According to Newton's law of motion, we can change the momentum of a
system by apply an external force on it.
X
Plin:mom: = F~

 There are two main types of forces:

{ Surface force
 It is present along the control surfaces of your selected control volume.
 The best way to identify the surface forces is to trace along the entire

control surface and ask yourself the question \What force does my
control volume experience along this surface?"
 Some examples of surface force are pressure force (normal direction)
and friction (tangential direction).
{ Body force
 It is present due to the contents inside the selected control volume under
the in uence of the surrounding force eld.
 Some examples of body force are gravitational force and electrostatic
force.

(c) conservation of angular momentum

 If we draw the analogy between linear momentum in translational motion and
angular momentum in rotational motion, external force will be analogous to
external torque. Hence,
X
Pang:mom: = ~
1

 Since the angular momentum equation is derived from the linear momentum

equation, all the external forces, F~ , (both surface and body) in the linear
momentum equation are capable of generating torque, ~r  F~ , on the same
control volume as long as the line of action of the force does not pass through
the center of rotation.

(d) conservation of energy

 We can change the total energy of a system by adding heat (Q) or doing work
(W ) on the system
Penergy = Qin + Win
2. The Reynolds Transport Theorem is the core basis in control volume analysis. It serves
as a bridge between the control mass and the control volume approach. We can state
it as:
!
Z
Z


dN
@
 ( dV ) +
  V~
dA~
=

dt

@t

system

CV

CS

 Most physical laws are Lagrangian in nature, i.e. they are derived for a system

with a xed amount of substance (control mass approach).

 However, this approach is not easy to follow for a uid system simply because a
uid can be deformed continuously as it moves around in space.
 The Reynolds Transport Theorem relates the rate of change of an extensive property N of a control mass system

dN
dt

system

with the rate of change of the same property in a control volume

@
|@t

 ( dV ) +

CV {z

storage

Z
|


~
dA~ 


V
CS
{z

out ow - in ow

 There are two major components in the above equation:

{ The rst one is the storage term which accounts for the rate of increase in
property N within the control volume.
{ The second one is the net out ow term which accounts for the loss of property
N due to the uid motion in and out of the control volume.
 Only with the Reynolds Transport Theorem, we can then relate the physical laws
to what we measure in a xed region in space (control volume approach).
2

For the following principles, what are the quantities N and ?

 The quantity N is an extensive property of the system whereas the quantity  is
its intensive counterpart.
(a) conservation of mass

=1

N = M (total mass of system),

(b) conservation of linear momentum

~ (total linear momentum of system),

N=M

 = V~

(c) conservation of angular momentum

N = A~ (total angular momentum of system),

 = ~r  V~

(d) conservation of energy

~2
 = u + jV2j + g z

N = E (total energy of system),

Remarks: With the results of Question 1 and 2, we can summarize all the conservation
laws in the following form:

@
@t

CV

 ( dV ) +


~
dA~  = P


V
CS

3. What is the main criterion in choosing a suitable control volume in problem solving?
 We should put the control surfaces at places where
{ we know how the ow behaves, for example, (V~ ; P )
{ we want to know something about, for example, frictional shear, exit pressure.
4. From what physical principle is the angular momentum equation derived?
 The angular momentum equation is derived by taking the cross product between
the position vector, ~r, and the linear momentum equation.
 Hence, its main physics comes from Newton's law of motion.
 The main dierence is that the linear momentum equation governs the translational motion while the the angular momentum equation governs the rotational
motion of the system.
3

5. Choose the best answer in the following question:

Pressure is always directed into the control volume of interest.
 Pressure is a compressive force. Hence, it is always directed into the system of
interest.
6. The angular momentum principle can be expressed in the following two forms:
 Form 1:
Z
~
~r  Fs +
(~r  ~g) ( dV ) + T~shaft

 Form 2:

@
= @t

CV

CV
@ Z

CV


~r  V~ ( dV ) +

~r  F~s +

CV

CS



~r  V~  V~
dA~

(~r  ~g) ( dV ) + T~shaft

h
i
~r  2~!  V~ + !~  (~!  ~r) + ~!_  ~r ( dV )



~r  V~ ( dV ) +



~r  V~  V~
dA~
= @t
CV
CS
(a) What is the main dierence between the above two forms?
 Form 1 is derived in an inertial frame.
 Form 2 is derived in a rotating (non-inertial) frame.
 We need to make sure that the velocity vector, V~ , is consistent with the corresponding choice of reference frame when we invoke the angular momentum
principle.
 As long as we use the two forms in a consistent manner, they should give
identical results.
(b) Give a verbal description to each term in the equations.
 ~rR  F~s is the torque generated by surface force, F~s.
 CVR (~r  ~g)( dV ) is the torque generated by gravitational force.
 RCV ~r  (2~!  V~ ) ( dV ) is the torque generated by Coriolis force.
 RCV ~r  [~!  (~!  ~r)] ( dV ) is the torque generated by centripetal force.
 CV ~r  (~!_  ~r) ( dV ) is the \ctitious" torque due to angular acceleration
of the
rotating reference frame.
R
@
 @t CV (~r  V~ ) ( dV ) is the rate of increase in angular momentum within the
control
volume.
R
 CS (~r  V~ ) ( V~
dA~ ) is the net out ow of angular momentum caused by uid
motion in and out of the control volume.
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7. A total water discharge of 200 cm3 is issued from a sprinkler as shown in the following
gure:
Aj = 0.1 cm

10 cm

10 cm

Wj

10 cm

Wj

Wj
40 o

40 o

A
Wj

Wj

Wj

10 cm

10 cm

10 cm

Assume that the jet speed is the same from all the holes.

 We rst choose a control volume to include the entire sprinkler arm as indicated
above.
 Let us solve this angular momentum problem using an inertial reference frame
and see how the analysis works. The corresponding angular momentum equation
is
Z 
Z 



X
@
~
~ = @t
~r  V ( dV ) +
~r  V~  V~
dA~
CV

CS

 We then examine every individual term in the above equation:

{ The sources of external torque in this problem come from
 shaft torque, ~shaft
 frictional torque, ~f
{ The storage term is zero because we are dealing with a steady problem.
{ The net angular momentum out ow term can be evaluated by rst considering
the jet out of one hole only:

Wj

ri

ri

For this single jet case,



~r  V~




 V~
dA~ = (r Vt) ( Wj Aj ) ~ek = (r Vt)  Q6 ~ek



where Vt is the tangential velocity component measured in an inertial frame.

{ Consider the relative motion equation V~ = U~ + W~ , we can resolve it in the

tangential direction as

Vt = Ut + Wt
= ri ! + Wj sin 
r Vt = ri2 ! + ri Wj sin 
= ri2 ! + ri Q sin 
6A

{ Hence, the angular momentum out ow from this hole is equal to

ri 6QA sin 
j

ri2 !

!


Q
 ~e

6 k
{ The total angular momentum out ow can be obtained by summing the contribution from all six holes together
Z

CS

~r  V~



 V~
dA~ = 2

3 "
X

i=1

ri 6QA sin 
j

ri2 !

!


Q
 6 ~ek

where r1 = 10 cm, r2 = 20 cm, r3 = 30 cm.

 The entire angular momentum equation can then be simplied to

shaft

"


+ f =  Q3 6QA (r1 + r2 + r3) sin 
j

r12

r22

r32

#

 This general equation of motion forms the common basis for the following special
cases of interests.

(a) Static Case: Determine the torque that must be applied to the sprinkler arms to
hold them from rotating.
 In this static case, we have
{!=0
{ f = 0
 The restraining torque is

shaft

2
Q
(r + r + r ) sin 
= 
18 Aj 1 2 3

(b) Frictionless Case: Determine the angular speed if the arms are free to rotate and
there is no friction.
 In this frictionless case, we have
6

{ shaft = 0
{ f = 0

 The angular speed of the sprinkler arm is

+ r2 + r3 sin 
! = 6QA rr21 +
r22 + r32
j 1

(c) Frictional Case: Determine the angular speed if there is a constant frictional
torque of 1 N-m resisting rotation of the arms.
 In this frictional case, we have
{ shaft = 0
 The angular speed of the sprinkler arm is
"
#
Q
3

1
f
! = r2 + r2 + r2 6 A (r1 + r2 + r3 ) sin   Q
j
1
2
3
which reduces to the results in Part (b) for f = 0.
(d) Relative Motion: Determine the absolute velocity of the uid leaving Hole A in
Part (b) and (c).
 In both cases, we can apply the relative motion equation V~ = U~ + W~ to
analyze the velocity components.
{ Radial component:
Vr = Ur + Wr
= 0 + Wj cos 
= Q cos 
6 Aj
{ Tangential component:
Vt = Ut + Wt
= r3 ! + Wj sin 
= 6QA sin  r3 !
j

 The absolute velocity of the uid is given by

V =

Vt2 + Vr2
v
!2
!2
u
u
Q
Q
t
=
6 Aj sin  r3 ! + 6 Aj cos 
v
!2
u
u
Q
Q r ! sin 
2
t
=
+
(
r
3 !)
6 Aj
3 Aj 3
7

(e) Sketch the corresponding velocity vector diagrams for Part (d).
W=

Q
6 Aj

Vr = Wr

Vt = U Wt

U = r3

8. Refer to the schematic below, a \wye" joint splits a pipe ow into two equal amounts,
Q=2, which exit at a distance R0 from the x-axis. The system rotates about the x axis
at a rate
.
Q/2

R0 >> Dpipe

R0

Q/2

(a) Inertial Frame Analysis: Apply the angular momentum principle in an inertial
frame to
i. determine the torque required to turn the pipe (constant speed).
ii. determine the additional torque which is required to generate an angular
acceleration
_ on the existing system (constant acceleration).
 The angular momentum equation in an inertial frame is
X

~ = @t@

CV


~r  V~ ( dV ) +

CS



~r  V~  V~
dA~

 Let us rst consider a control volume which includes the upper tube only:
8

Q/2

CV1

dr

@@@
@@@

@@@

R0

x
z

 According to the coordinates system chosen, we can express the position

and velocity vectors as


~r = r cos ~i + sin  ~j



V~ = 2QA cos ~i + sin  ~j + r
sin  ~k

 We can then perform the cross product evaluation as follows:



~r  V~ = r cos ~i + sin  ~j




 2QA cos ~i + sin  ~j + r
sin  ~k

Q r sin  cos  ~i  ~j  + r2

sin  cos  ~i  ~k
2A




Q
+ r sin  cos  ~j  ~i + r2
sin2  ~j  ~k
2A 

2
= r
sin  sin ~i cos  ~j

 The total angular momentum stored in the upper tube can be obtained
by integrating the above expression along the entire upper tube length
Z

CV1


~r  V~ ( dV ) =

Z R0 = sin  h

2
sin  sin  ~i
r
0
 A R03
sin ~i cos  ~j 
3 sin2 

cos  ~j

i

( A dr)

 The storage term can then be obtained by take the time derivative of the

above expression. (Notice that only the angular speed is a function of

time.)
@ Z ~r  V~  ( dV ) =  A R03
_ sin ~i cos  ~j 
@t CV1
3 sin2 
 The angular momentum out ow term can be obtained by evaluating the
~r  V~ expression at r = R0 = sin 
" 2 
Z
 #  Q



R

0
~
~
~
~
~
~r  V  V
dA = sin  sin  i cos  j  2
CS1
9

 These procedures conclude the analysis of the upper tube. We can then
proceed to analyze the lower tube by following the same procedures.
y

,
Q

@@@
@@@
@@@

R0

dr

Q/2
CV2

 The main dierences will be in the expressions of position and velocity

vectors

~r = r cos ~i sin  ~j



V~ = 2QA cos ~i sin  ~j

r
sin  ~k

 After algebraic manipulations, we obtain

@ Z ~r  V~  ( dV ) =  A R03
_ sin ~i + cos  ~j 
@t CV
3 sin2 
and

~r  V~



 V~
dA~ =

"

R02
sin ~i + cos  ~j 
sin 

#


Q


2
 To obtain the global conservation equation for the entire system, we need
to sum up the results from the upper and the lower tubes.
CS2

@ Z ~r  V~  ( dV ) + Z ~r  V~   V~
dA~ 

@t CV
CS
3 !
2

A
R
0
2
=  Q R0
+ 3 sin 
_ ~i

 From the angular momentum equation in an inertial frame, we deduce

that the applied torque is

A R03
_ ~i
~ =
+ 23sin

 The rst term corresponds to the torque required to turn the pipe at
constant speed,
, while the second term corresponds to the additional
_ on the existing
torque required to produce an angular acceleration,
,
system. Hence,
~
=  Q R02
~i
3
_
2

A
R
0
~
_ = 3 sin  ~i
 Q R02

10

(b) Rotating Frame Analysis: Repeat the analysis in Part (a) in a rotating frame.
 The angular momentum equation in a rotating frame is

~

CV
@ Z

h
i
~r  2~!  V~ + ~!  (~!  ~r) + ~!_  ~r ( dV )



~r  V~ ( dV ) +



~r  V~  V~
dA~
= @t
CS
CV
 Let us rst consider a control volume which includes the upper tube only:
Q/2

CV1

dr

@@@
@@@

@@@

R0

x
z

 According to the coordinates system chosen, we can express the position,

velocity and angular velocity vectors as


~r = r cos ~i + sin  ~j



V~ = 2QA cos ~i + sin  ~j
~! =
~i
 Since ~r is collinear to V~ , their cross product is equal to zero
~r  V~ = ~0
Hence, the storage term and the net out ow term both equal zero and do not
contribute to the angular momentum balance in the rotating frame.
 Let us evaluate each cross product term in the \ctitious" torque carefully:


2 ~!  V~ = 2
~i  2QA cos ~i + sin  ~j


= Q
sin  ~i  ~j
=
!~  ~r =
=
=

A
Q
sin  ~k
A h 
i

~i  r cos ~i + sin  ~j



r
sin  ~i  ~j
r
sin  ~k

11



!~  (~!  ~r) =
~i  r
sin
 ~k 

= r
2 sin  ~i  ~k
= r
2h sin  ~j
i
!~_  ~r =
_ ~i  r cos ~i + sin  ~j


= r
_ sin  ~i  ~j
= r
_ sin  ~k

 These combine to give



Q

_
_
~
2 ~!  V + ~!  (~!  ~r) + ~!  ~r = sin  A + r
~k

and

r
2 sin  ~j



h
i
~r  2 ~!  V~ + ~!  (~!  ~r) + ~!_  ~r = r sin2  QA
+ r
_ ~i


Q

_
r sin  cos  A + r
~j r2
2 sin  cos  ~k

 The combined \ctitious" torque can be obtained by integrating the above

expression along the entire upper tube length
Z

h
i
~r  2 ~!  V~ + ~!  (!~  ~r) + ~!_  ~r ( dV )

CV1
Z R0 = sin  
0

= ( A)

"




Q

_
_
~
~
r
A + r
i i r sin  cos  A + r
j
r2
2 sin  cos  ~k ( A dr)

sin2 

Q
+ R0
_ ~i
2 A 3 sin

#
3
2
R0
cos  ~k
3 sin2 

R02

R02 cos  Q
+ R0
_ ~j
sin 
2 A 3 sin 

 These procedures conclude the analysis of the upper tube. We can then
proceed to analyze the lower tube by following the same procedures.

12

,
Q

@@@
@@@
@@@

R0

dr

Q/2
CV2

 The main dierences will be in the expressions of position

and velocity vectors

~r = r cos ~i sin  ~j


V~ = 2QA cos ~i sin  ~j

 After algebraic
manipulations, we obtain
Z
h
i
~
r

2 ~!  V~ + ~!  (~!  ~r) + ~!_  ~r ( dV )
CV
2

"

Q
+ R0
_ ~i + R02 cos  Q
+ R0
_ ~j
= ( A)
2 A 3 sin

sin 
2 A 3 sin 
#
3 2
 ~k
+ R0
cos
2
3 sin 
R02

 To obtain the global conservation equation for the entire system, we need to
sum up the results from the upper and the lower tubes.
Z
h
i
~r  2 ~!  V~ + ~!  (!~  ~r) + ~!_  ~r ( dV )
CV

= ( A)

"

2 R02

Q
+ R0
_
2 A 3 sin 

!#

~i

 From the angular momentum equation in a rotating frame, we deduce that

the applied torque is
Z
h
i
~ =
~r  2 ~!  V~ + ~!  (!~  ~r) + !~_  ~r ( dV )
CV

= ( A)

"

2 R02

Q
+ R0
_
2 A 3 sin 

!#

~i

 The rst term corresponds to the torque required to turn the pipe at constant

speed,
, while the second term corresponds to the additional torque required
_ on the existing system. Hence,
to produce an angular acceleration,
,
~
=  Q R02
~i
3 _
~
_ = 2 3 AsinR0
~i
13

 This example demonstrates that we can obtain the same results by choosing

either the inertial or rotating reference frame to analyze angular momentum

problems as long as the velocity vector is consistent with the corresponding
chosen reference frame.
 In this problem,
{ the production, the storage and the net out ow terms are all active in the
inertial frame analysis;
{ the production term and the \ctitious" torque are both active but the
storage and the net out ow terms are both zero in the rotating frame
analysis.

14