Derivation of the Continuity Equation
1. Principle of Mass Conservation The continuity equation
expresses the principle of conservation of mass. For any fixed control volume V with
boundary surface S, the rate of increase of mass inside the volume equals the net mass
flux entering through the surface. Mathematically, this is written as:
d/dt ∫ V ρ dV + ∫ S ρ v · n dS = 0
2. Applying the Divergence Theorem Using the divergence theorem to convert the
surface integral to a volume integral: ∫ S ρ v · n dS = ∫ V ∇·(ρv) dV
3. Combine Terms Under a Single Integral Substitute into the
conservation equation:
∫ V [ ∂ρ/∂t + ∇·(ρv) ] dV = 0
4. Differential (Local) Form Since this must hold for any arbitrary control volume,
the integrand itself must be zero everywhere:
∂ρ/∂t + ∇·(ρv) = 0
This is the continuity equation in its differential or Eulerian form.
4. Alternative (Material) Form Expanding the divergence term gives:
∇·(ρv) = v·∇ρ + ρ ∇·v Substitute into the main equation:
∂ρ/∂t + v·∇ρ + ρ ∇·v = 0 or, using the material derivative
D/Dt = ∂/∂t + v·∇: Dρ/Dt + ρ ∇·v = 0
5. Incompressible Flow Case For incompressible flow (ρ = constant), Dρ/Dt = 0, so
the continuity equation reduces to: ∇·v = 0
6. Physical Meaning - ∂ρ/∂t represents the local change of density with time.
- ∇·(ρv) represents the net rate of mass outflow from a small volume. n is a unit
vector (meaning its magnitude is 1). Their sum being zero indicates that any local
increase in density must result from a net inflow of mass, and vice versa.
Derivation of the Momentum Equation (Euler’s Equation)
1. Newton’s Second Law for a Control Volume For a fixed control volume V with
surface S, Newton’s second law states that the rate of
change of momentum equals the sum of external forces: d/dt ∫ V ρv dV + ∫ S ρv(v·n)
dS = ΣF.
For an inviscid (non-viscous) fluid, the external forces are: Pressure forces: −∫S p n dS
Body forces (e.g., gravity):
∫ V ρf dV Thus, d/dt ∫ V ρv dV + ∫ S ρ(v·n)v dS = −∫S p n dS + ∫ V ρf dV.
2. Convert to Volume Integrals (Divergence Theorem) Using the divergence theorem:
∫ S ρ(v·n)v dS = ∫ V ∇·(ρv⊗v) dV, ∫ p n dS = ∫ V ∇p dV.
So the equation becomes: ∫ V [ ∂(ρv)/∂t + ∇·(ρv⊗v) + ∇p − ρf ] dV = 0. Because S
this must hold for any arbitrary volume, the local (differential) form is: ∂(ρv)/∂t +
∇·(ρv⊗v) = −∇p + ρf
3. Material (Non-Conservative) Form — Euler’s Equation Expanding and using the
continuity equation (∂ρ/∂t + ∇·(ρv) = 0): ρ(∂v/∂t + (v·∇)v) = −∇p + ρf. In terms of
the material derivative D/Dt = ∂/∂t + v·∇,
we get: ρ Dv/Dt = −∇p + ρf
4. Simplified Forms Incompressible Flow (ρ = const): ρ(∂v/∂t + v·∇v) = −∇p + ρf
Steady Flow: ∂v/∂t = 0 Including viscosity (Navier–Stokes):
ρ Dv/Dt = −∇p + µ∇²v + ρf
5. Component Form ρ(∂u i /∂t + uj ∂u i /∂x j ) = −∂p/∂xi + ρf i
6. Relation to Bernoulli’s Equation For steady, inviscid, incompressible flow with
conservative body forces (f = −∇Φ), Euler’s equation leads to Bernoulli’s relation
along a streamline: (1/2)ρv² + p + ρΦ = constant.
7. Physical Meaning Euler’s equation expresses Newton’s second law applied to a
fluid element: the sum of forces (pressure and body forces) equals the mass times
acceleration of that element.