Curvilinear Coordinates

Outline:
1. Orthogonal curvilinear coordinate systems
2. Differential operators in orthogonal curvilinear coordinate systems
3. Derivatives of the unit vectors in orthogonal curvilinear coordinate systems
4. Incompressible N-S equations in orthogonal curvilinear coordinate systems
5. Example: Incompressible N-S equations in cylindrical polar systems

The governing equations were derived using the most basic coordinate system, i.e,
Cartesian coordinates:
x = xˆi + yˆj + zkˆ
∂f ∂f ∂f
grad f = ∇f = ˆi + ˆj + kˆ
∂x ∂y ∂z
∂F ∂F ∂F
div F = ∇ ⋅ F = 1 + 2 + 3
∂x ∂y ∂z
ˆi ˆj kˆ
∂ ∂ ∂
curl f = ∇ × F =
∂x ∂y ∂z
F1 F2 F3
∂2 f ∂2 f ∂2 f
Laplacian = ∇ f = 2 + 2 + 2
2

∂x ∂y ∂z

Example: incompressible flow equations

∇⋅V = 0
DV
ρ = −∇ ( p + γ z ) + µ∇ 2 V
Dt
⎛ ∂V ⎞
ρ⎜ + V ⋅∇V ⎟ = −∇ ( p + γ z ) + µ∇ 2 V
⎝ ∂t ⎠
⎡ ∂V 1 ⎤
ρ⎢ + ∇ ( V ⋅ V ) − V × ω ⎥ = −∇ ( p + γ z ) + µ ⎡⎣∇ ( ∇ ⋅ V ) − ∇ × ω ⎤⎦
⎣ ∂t 2 ⎦
ω = ∇×V
∇ ( ∇ ⋅ V ) = 0 in the above equation, but retained to keep the complete vector identity
for ∇ 2 V in equation.

However, once the equations are expressed in vector invariant form (as above) they can
be transformed into any convenient coordinate system through the use of appropriate definitions
for the ∇ , ∇ ⋅ , ∇ × , and ∇ 2 . Frequently, alternative coordinate systems are desirable which either
exploit certain features of the flow at hand or facilitate numerical procedures. The most general
coordinate system for fluid flow problems are nonorthogonal curvilinear coordinates. A special
case of these are orthogonal curvilinear coordinates. Here we shall derive the appropriate
relations for the latter using vector technique. It should be recognized that the derivation can
also be accomplished using tensor analysis

1. Orthogonal curvilinear coordinate systems

Suppose that the Cartesian coordinates ( x, y, z ) are expressed in terms of the new
coordinates ( x1 , x2 , x3 ) by the equations
x = x ( x1 , x2 , x3 )
y = y ( x1 , x2 , x3 )
z = z ( x1 , x2 , x3 )
where it is assumed that the correspondence is unique and that the inverse mapping exists.

For example, circular cylindrical coordinates

x = r cos θ
y = r sin θ
z=z
i.e., at any point P , x1 curve is a straight line, x2 curve is a circle, and the x3 curve is a
straight line.

The position vector of a point P in space is

R = xˆi + yˆj + zkˆ
R = ( r cos θ ) ˆi + ( r sin θ ) ˆj + ( z ) kˆ for cylindrical coordinates

By definition a vector tangent to the x1 curve is given by:

R x = xx ˆi + yx ˆj + z x kˆ (Subscript denotes partial differentiation)
1 1 1 1

So that the unit vectors tangent to the xi curve are

R x1 R x2 R x3
eˆ1 = , eˆ 2 = , eˆ 3 =
h1 h2 h3
Where hi = R x are called the metric coefficients or scale factors
1

hr = 1 , hθ = r , hz = 1 for cylindrical coordinates

The arc length along a curve in any direction is given by

ds 2 = dR ⋅ dR = h12 dx12 + h22 dx22 + h32 dx32
 Since dR = R xi dxi = hi dxi eˆ i and R xi = hi eˆ i
⎧0, i≠ j
and since the xi are orthogonal: eˆ i ⋅ eˆ j = ⎨
⎩1, i= j

An element of volume is given by the triple product

d ∀ = ( h1dx1eˆ1 × h2 dx2eˆ 2 ) ⋅ h3 dx3eˆ 3 = h1h2 h3 dx1dx2 dx3
Where since the xi are orthogonal eˆ1 × eˆ 2 = eˆ 3

Finally, on the surface x1 = constant, the vector element of surface area is given by
ds1 = h2 dx2eˆ 2 × h3 dx3eˆ 3 = eˆ1h2 h3 dx2 dx3
With similar results for x2 and x3 = constant
ds 2 = eˆ 2 h3 h1dx3 dx1
ds3 = eˆ 3 h1h2 dx1dx2

2. Differential operators in orthogonal curvilinear coordinate systems

With the above in hand, we now proceed to obtain the desired vector operators

1 ∂f 1 ∂f 1 ∂f
2.1 Gradient ∇f = eˆ1 + eˆ 2 + eˆ 3
h1 ∂x1 h2 ∂x2 h3 ∂x3
By definition: df = ∇f ⋅ dR = f xi dxi
If we temporarily write ∇f = λ1eˆ1 + λ2eˆ 2 + λ3eˆ 3
Then by comparison
df = f xi dxi = λi hi dxi
1 ∂f
λi =
hi ∂xi
1 ∂ 1 ∂ 1 ∂
∇= eˆ1 + eˆ 2 + eˆ 3
h1 ∂x1 h2 ∂x2 h3 ∂x3
∂ 1 ∂ ∂
∇ = eˆ r + eˆθ + eˆ z for cylindrical coordinates
∂r r ∂θ ∂z

eˆ i
Note ∇xi =
hi
1 ∂f
λi =
hi ∂xi
So that by definition ( curl ( grad f ) = 0 )
 eˆ i
∇ × ∇xi = ∇ × =0
hi

eˆ1 eˆ eˆ
Also = 2 × 3 = ∇x2 × ∇x3
h2 h3 h2 h3
So that by definition ( ∇ ⋅ ( ∇f × ∇g ) = 0 )
⎛ eˆ ⎞ ⎛ eˆ ⎞ ⎛ eˆ ⎞
∇ ⋅⎜ 1 ⎟ = ∇ ⋅⎜ 2 ⎟ = ∇ ⋅⎜ 3 ⎟ = 0
⎝ h2 h3 ⎠ ⎝ h3 h1 ⎠ ⎝ h1h2 ⎠

1 ⎡ ∂ ∂ ∂ ⎤
2.2 Divergence ∇ ⋅ F = ⎢ ( h2 h3 F1 ) + ( h3h1 F2 ) + ( h1h2 F3 ) ⎥
h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦

∇ ⋅ F = ∇ ⋅ ( F1eˆ1 ) + ∇ ⋅ ( F2eˆ 2 ) + ∇ ⋅ ( F3eˆ 3 )

⎡ ⎛ eˆ ⎞ ⎤
∇ ⋅ ( F1eˆ1 ) = ∇ ⋅ ⎢ h2 h3 F1 ⎜ 1 ⎟ ⎥ using ∇ ⋅ (ϕ u ) = ϕ∇ ⋅ u + u ⋅∇ϕ
⎣ ⎝ h2 h3 ⎠ ⎦
eˆ ⎛ eˆ ⎞ ⎛ eˆ ⎞ ⎛ eˆ ⎞
= 1 ⋅∇ ( h2 h3 F1 ) using ∇ ⋅ ⎜ 1 ⎟ = ∇ ⋅ ⎜ 2 ⎟ = ∇ ⋅ ⎜ 3 ⎟ = 0
h2 h3 ⎝ h2 h3 ⎠ ⎝ h3 h1 ⎠ ⎝ h1h2 ⎠
1 ∂
= ( h2 h3 F1 )
h1h2 h3 ∂x1

Treating the other terms in a similar manner results in

1 ⎡ ∂ ∂ ∂ ⎤
∇⋅F = ⎢ ( h2 h3 F1 ) + ( h3h1 F2 ) + ( h1h2 F3 ) ⎥
h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦
1⎡ ∂ ∂ ∂
∇ ⋅ F = ⎢ ( rF1 ) + ( F2 ) + ( rF3 )⎤⎥
r ⎣ ∂r ∂θ ∂z ⎦
1 ∂ 1 ∂ ∂
= ( rF1 ) + ( F2 ) + ( F3 ) for cylindrical coordinates
r ∂r r ∂θ ∂z

h1eˆ1 h2eˆ 2 h3eˆ 3

1 ∂ ∂ ∂
2.3 Curl ∇ × F =
h1h2 h3 ∂x1 ∂x2 ∂x3
h1 F1 h2 F2 h3 F3
∇ × F = ∇ × ( F1eˆ1 ) + ∇ × ( F2eˆ 2 ) + ∇ × ( F3eˆ 3 )
⎡ ⎛ eˆ ⎞ ⎤
∇ × ( F1eˆ1 ) = ∇ × ⎢( h1 F1 ) ⎜ 1 ⎟ ⎥
⎣ ⎝ h1 ⎠ ⎦
 eˆ1 eˆ
=− × ∇ ( h1 F1 ) using ∇ × (ϕ u ) = ϕ∇ × u + ∇ϕ × u and ∇ × i = 0
h1 hi
eˆ1 ⎡ 1 ∂ ( h1 F1 ) 1 ∂ ( h1 F1 ) 1 ∂ ( h1 F1 ) ⎤
=− ×⎢ eˆ1 + eˆ 2 + eˆ 3 ⎥
h1 ⎣ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎦
eˆ 3 ∂ eˆ 2 ∂
=− ( h1F1 ) + ( h1F1 )
h1h2 ∂x2 h3 h1 ∂x3
1 ⎡ ∂ ∂ ⎤
= ⎢ h2eˆ 2 − h3eˆ 3 ⎥ ( h1 F1 )
h1h2 h3 ⎣ ∂x3 ∂x2 ⎦
h1eˆ1 h2eˆ 2 h3eˆ 3
1 ∂ ∂ ∂
∇×F =
h1h2 h3 ∂x1 ∂x2 ∂x3
h1 F1 h2 F2 h3 F3
eˆ r reˆθ eˆ z
1 ∂ ∂ ∂
∇×F = for cylindrical coordinates
r ∂r ∂θ ∂z
F1 rF2 F3

1 ⎡ ∂ ⎛ h2 h3 ∂ ⎞ ∂ ⎛ h3 h1 ∂ ⎞ ∂ ⎛ h1h2 ∂ ⎞ ⎤
2.4 Laplacian acting on a scalar ∇ 2 f = ⎢ ⎜ ⎟+ ⎜ ⎟+ ⎜ ⎟⎥
h1h2 h3 ⎣ ∂x1 ⎝ h1 ∂x1 ⎠ ∂x2 ⎝ h2 ∂x2 ⎠ ∂x3 ⎝ h3 ∂x3 ⎠ ⎦
∇ 2 = ∇ ⋅∇
1 ⎡ ∂ ⎛ h2 h3 ∂ ⎞ ∂ ⎛ h3 h1 ∂ ⎞ ∂ ⎛ h1h2 ∂ ⎞ ⎤
= ⎢ ⎜ ⎟+ ⎜ ⎟+ ⎜ ⎟⎥
⎣ ∂
h1h2 h3x1 ⎝ h1 ∂x 1 ⎠ ∂x2 ⎝ h2 ∂x2 ⎠ ∂x3 ⎝ h3 ∂x3 ⎠ ⎦
1 ⎡ ∂ ⎛ ∂ ⎞ ∂ ⎛ 1 ∂ ⎞ ∂ ⎛ ∂ ⎞⎤
∇2 = ⎢ ⎜ r ⎟ + ⎜ ⎟+ ⎜r ⎟
r ⎣ ∂r ⎝ ∂r ⎠ ∂θ ⎝ r ∂θ ⎠ ∂z ⎝ ∂z ⎠ ⎥⎦
1 ∂ ⎛ ∂ ⎞ 1 ∂ ⎛1 ∂ ⎞ 1 ∂ ⎛ ∂ ⎞
= ⎜r ⎟+ ⎜ ⎟+ ⎜r ⎟
r ∂r ⎝ ∂r ⎠ r ∂θ ⎝ r ∂θ ⎠ r ∂z ⎝ ∂z ⎠

2.5 Laplacian acting on a vector ∇ 2F = ∇ ( ∇ ⋅ F ) − ∇ × ( ∇ × F )

1 ∂f 1 ∂f 1 ∂f
Using ∇f = eˆ1 + eˆ 2 + eˆ 3
h1 ∂x1 h2 ∂x2 h3 ∂x3
1 ⎡ ∂ ∂ ∂ ⎤
and ∇ ⋅ F = ⎢ ( h2 h3 F1 ) + ( h3h1 F2 ) + ( h1h2 F3 ) ⎥
h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦
∇ (∇ ⋅ F ) =
 1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 )⎥ ⎥ eˆ1
h1 ∂x1 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ ⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 )⎥ ⎥ eˆ 2
h2 ∂x2 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ ⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 ) ⎥ ⎥ eˆ 3
h3 ∂x3 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦

h1eˆ1 h2eˆ 2 h3eˆ 3

1 ∂ ∂ ∂
Using ∇ × F =
h1h2 h3 ∂x1 ∂x2 ∂x3
h1 F1 h2 F2 h3 F3
∇ × (∇ × F ) =
1 ⎡ ∂ ⎛ h3 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
= ⎢ ⎜⎜ ⎢ ( h2 F2 ) − ( h1 F1 ) ⎥ ⎟⎟ − ⎜⎜ 2 ⎢ ( h1F1 ) − ( h3 F3 ) ⎥ ⎟⎟ ⎥ eˆ1
h2 h3 ⎣⎢ ∂x2 ⎝ h1h2 ⎣ ∂x1 ∂x2 ⎦ ⎠ ∂x3 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ⎦⎥
1 ⎡ ∂ ⎛ h1 ⎡ ∂ ∂ ⎤ ⎞ ∂ ⎛ h3 ⎡ ∂ ∂ ⎤ ⎞⎤
+ ⎢ ⎜⎜ ⎢ ( h F ) − ( h )
2 2 ⎥⎟
F ⎟ − ⎜
⎜ ⎢ ( h F ) − ( h )
1 1 ⎥⎟
F ⎟ ⎥ e2
ˆ
⎢⎣ ∂x3 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ∂x1 ⎝ h1h2 ⎣ ∂x1 ∂x2
3 3 2 2
h1h3 ⎦ ⎠ ⎥⎦
1 ⎡ ∂ ⎛ h2 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
+ ⎢ ⎜⎜ ⎢ ( h1F1 ) − ( h3 F3 )⎥ ⎟⎟ − ⎜⎜ 1 ⎢ ( h3 F3 ) − ( h2 F2 )⎥ ⎟⎟ ⎥ eˆ 3
h1h2 ⎣⎢ ∂x1 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ∂x2 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ⎦⎥

Combining those two terms gives

∇ 2F = ∇ ( ∇ ⋅ F ) − ∇ × ( ∇ × F ) =
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
= ⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 ) ⎥ ⎥ eˆ1
h1 ∂x1 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h3 ⎡ ∂ ∂ ⎤ ⎞ ∂ ⎛ h2 ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h F ) − ( h )
1 1 ⎥⎟
F ⎟ − ⎜
⎜ ⎢ ( h F ) − ( h )
3 3 ⎥⎟
F ⎟ ⎥ e1
ˆ
h2 h3 ⎣⎢ ∂x2 ⎝ h1h2 ⎣ ∂x1 ∂x2 ⎦ ⎠ ∂x3 ⎝ h1h3 ⎣ ∂x3 ∂x1
2 2 1 1
⎦ ⎠ ⎦⎥
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ ⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 )⎥ ⎥ eˆ 2
h2 ∂x2 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h1 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h3 F3 ) − ( h2 F2 )⎥ ⎟⎟ − ⎜⎜ 3 ⎢ ( h2 F2 ) − ( h1F1 ) ⎥ ⎟⎟ ⎥ eˆ 2
h1h3 ⎢⎣ ∂x3 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ∂x1 ⎝ h1h2 ⎣ ∂x1 ∂x2 ⎦ ⎠ ⎥⎦
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ ⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 ) ⎥ ⎥ eˆ 3
h3 ∂x3 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h2 ⎡ ∂ ∂ ⎤ ⎞ ∂ ⎛ h1 ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h F ) − ( h )
3 3 ⎥⎟
F ⎟ − ⎜
⎜ ⎢ ( h F ) − ( h )
2 2 ⎥⎟
F ⎟ ⎥ e3
ˆ
h1h2 ⎣⎢ ∂x1 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ∂x2 ⎝ h2 h3 ⎣ ∂x2 ∂x3
1 1 3 3
⎦ ⎠ ⎦⎥
 For cylindrical coordinates ( r , θ , z ) , h1 = hr = 1, h2 = hθ = r , h3 = hz = 1 , and use the definition
of Laplacian operator acting on a scalar ∇ 2 f
1 ⎡ ∂ ⎛ ∂ ⎞ ∂ ⎛ 1 ∂ ⎞ ∂ ⎛ ∂ ⎞⎤
∇2 f = ⎢ ⎜ r ⎟ + ⎜ ⎟+ ⎜r ⎟
r ⎣ ∂r ⎝ ∂r ⎠ ∂θ ⎝ r ∂θ ⎠ ∂z ⎝ ∂z ⎠ ⎥⎦
1 ∂ ⎛ ∂ ⎞ 1 ∂2 ∂2
= ⎜ r ⎟ + +
r ∂r ⎝ ∂r ⎠ r 2 ∂θ 2 ∂z 2
1 ∂ ∂2 1 ∂2 ∂2
= + 2+ 2 +
r ∂r ∂r r ∂θ 2 ∂z 2
⎛ 2 ∂F ⎞ ⎛ 2 ∂F ⎞
∇ 2 F = aeˆ r + beˆθ + ceˆ z = ⎜ ∇ 2 F1 − 2 F1 − 2 2 ⎟ eˆ r + ⎜ ∇ 2 F2 − 22 + 2 1 ⎟ eˆθ + ( ∇ 2 F3 ) eˆ z
1 F
⎝ r r ∂θ ⎠ ⎝ r r ∂θ ⎠
a=
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
= ⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 )⎥ ⎥
h1 ∂x1 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1⎡ ∂ ⎛ h3 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h2 F2 ) − ( h1F1 )⎥ ⎟⎟ − ⎜⎜ 2 ⎢ ( h1F1 ) − ( h3 F3 ) ⎥ ⎟⎟ ⎥
⎢⎣ ∂x2 ⎝ h1h2 ⎣ ∂x1
h2 h3 ∂x2 ⎦ ⎠ ∂x3 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ⎥⎦
∂ ⎡1 ⎡ ∂ ∂ ∂ ⎤
= ⎢ ⎢ ( rF1 ) + ( F2 ) + ( rF3 )⎤⎥ ⎥
∂r ⎣ r ⎣ ∂r ∂θ ∂z ⎦⎦
1⎡ ∂ ⎛1⎡ ∂ ∂ ⎞ ∂ ⎛ ∂ ∂ ⎞⎤
− ⎢ ⎜ ⎢ ( rF2 ) − ( F1 ) ⎥⎤ ⎟ − ⎜ r ⎢⎡ ( F1 ) − ( F3 )⎥⎤ ⎟ ⎥
r ⎣ ∂θ ⎝ r ⎣ ∂r ∂θ ⎦ ⎠ ∂z ⎝ ⎣ ∂z ∂r ⎦ ⎠⎦
∂ ⎡1 ⎡ ∂F ∂F ∂F ⎤ ⎤
= ⎢ ⎢ F1 + r 1 + 2 + r 3 ⎥ ⎥
∂r ⎣ r ⎣ ∂r ∂θ ∂z ⎦ ⎦
1⎡ ∂ ⎛1⎡ ∂F ∂F ⎤ ⎞ ∂ ⎛ ∂F ∂F ⎞ ⎤
− ⎢ ⎜ ⎢ F2 + r 2 − 1 ⎥ ⎟ − ⎜ r 1 − r 3 ⎟ ⎥
r ⎣ ∂θ ⎝ r ⎣ ∂r ∂θ ⎦ ⎠ ∂z ⎝ ∂z ∂r ⎠ ⎦
∂ ⎡1 ∂F 1 ∂F2 ∂F3 ⎤
= ⎢ F1 + 1 + +
∂r ⎣ r ∂r r ∂θ ∂z ⎥⎦
1⎡ ∂ ⎛1 ∂F 1 ∂F1 ⎞ ∂ 2 F1 ∂ 2 F3 ⎤
− ⎢ ⎜ F2 + 2 − ⎟ − r + r ⎥
r ⎣ ∂θ ⎝ r ∂r r ∂θ ⎠ ∂z 2 ∂z∂r ⎦
⎛ −1 ⎞ 1 ∂F1 ∂ F1 ⎛ −1 ∂F2 ⎞ 1 ∂ F2 ∂ F3
2 2 2
= ⎜ 2 F1 ⎟ + + 2 +⎜ 2 ⎟ + +
⎝r ⎠ r ∂r ∂r ⎝ r ∂θ ⎠ r ∂r ∂θ ∂r ∂z
1 ⎡ 1 ∂F2 ∂ 2 F2 1 ∂ 2 F1 ∂ 2 F1 ∂ 2 F3 ⎤
− ⎢ + − − r + r ⎥
r ⎣ r ∂θ ∂θ∂r r ∂θ 2 ∂z 2 ∂z∂r ⎦

−1 1 ∂F1 ∂ 2 F1 1 ∂F2 1 ∂ 2 F2 ∂ 2 F3
= F + + − + +
r ∂r ∂r 2 r 2 ∂θ r ∂r ∂θ ∂r ∂z
1
r2
 ⎡ 1 ∂F 1 ∂ 2 F 1 ∂ 2 F1 ∂ 2 F1 ∂ 2 F3 ⎤
+ ⎢− 2 2 − 2
+ 2 + 2 − ⎥
⎢⎣ r ∂θ r ∂θ∂r r ∂θ ∂z ∂z∂r ⎥
2
⎦
−1 1 ∂F1 ∂ F1 2 ∂F2 ⎡ 1 ∂ F1 ∂ F1 ⎤
2 2 2
= 2 F1 + + − +⎢ + ⎥
r r ∂r ∂r 2 r 2 ∂θ ⎣ r 2 ∂θ 2 ∂z 2 ⎦
⎛ 1 ∂F1 ∂ 2 F1 1 ∂ 2 F1 ∂ 2 F1 ⎞ 1 2 ∂F
=⎜ + 2 + 2 + 2 ⎟ − 2 F1 − 2 2
⎝ r ∂r ∂r r ∂θ 2
∂z ⎠ r r ∂θ
⎛ 1 ∂ ⎛ ∂F1 ⎞ 1 ∂ 2 F1 ∂ 2 F1 ⎞ 1 2 ∂F
=⎜ ⎜ ⎟+ 2 + 2 ⎟ − 2 F1 − 2 2
⎝ r ∂r ⎝ ∂r ⎠ r ∂θ ∂z ⎠ r r ∂θ
2

1 2 ∂F
= ∇ 2 F1 − F− 2 2
r 2 1
r ∂θ

b=
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
= ⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 )⎥ ⎥
h2 ∂x2 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h1 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h3 F3 ) − ( h2 F2 ) ⎥ ⎟⎟ − ⎜⎜ 3 ⎢ ( h2 F2 ) − ( h1F1 )⎥ ⎟⎟ ⎥
h1h3 ⎢⎣ ∂x3 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ∂x1 ⎝ h1h2 ⎣ ∂x1 ∂x2 ⎦ ⎠ ⎥⎦
1 ∂ ⎡1 ⎡ ∂ ∂ ∂ ⎤
= ⎢ ⎢ ( rF1 ) + ( F2 ) + ( rF3 )⎤⎥ ⎥
r ∂θ ⎣ r ⎣ ∂r ∂θ ∂z ⎦⎦
⎡ ∂ ⎛1⎡ ∂ ∂ ⎤⎞ ∂ ⎛ 1 ⎡ ∂ ∂ ⎞⎤
− ⎢ ⎜ ⎢ ( F3 ) − ( rF2 ) ⎥ ⎟ − ⎜ ⎢ ( rF2 ) − ( F1 )⎤⎥ ⎟ ⎥
⎣ ∂z ⎝ r ⎣ ∂θ ∂z ⎦ ⎠ ∂r ⎝ r ⎣ ∂r ∂θ ⎦ ⎠⎦
1 ∂ ⎡1 ⎡ ∂F ∂F ∂F ⎤ ⎤
= ⎢ ⎢ F1 + r 1 + 2 + r 3 ⎥ ⎥
r ∂θ ⎣ r ⎣ ∂r ∂θ ∂z ⎦ ⎦
⎡ ∂ ⎛ 1 ∂F3 ∂F2 ⎞ ∂ ⎛ 1 ⎡ ∂F2 ∂F1 ⎤ ⎞ ⎤
−⎢ ⎜ − ⎟ − ⎜ ⎢ F2 + r − ⎟⎥
⎣ ∂z ⎝ r ∂θ ∂z ⎠ ∂r ⎝ r ⎣ ∂r ∂θ ⎥⎦ ⎠ ⎦
1 ∂ ⎡1 ∂F 1 ∂F2 ∂F3 ⎤
= ⎢ F1 + 1 + +
r ∂θ ⎣ r ∂r r ∂θ ∂z ⎥⎦
⎡ 1 ∂ 2 F3 ∂ 2 F2 ∂ ⎛ 1 ∂F 1 ∂F1 ⎞ ⎤
−⎢ − 2 − ⎜ F2 + 2 − ⎟⎥
⎣ r ∂z∂θ ∂z ∂r ⎝ r ∂r r ∂θ ⎠ ⎦
1 ⎡ 1 ∂F1 ∂ 2 F1 1 ∂ 2 F2 ∂ 2 F3 ⎤
= ⎢ + + + ⎥
r ⎣ r ∂θ ∂θ∂r r ∂θ 2 ∂θ∂z ⎦
⎡ 1 ∂ 2 F3 ∂ 2 F2 ⎛ − F2 1 ∂F2 ∂ 2 F2 −1 ∂F1 1 ∂ 2 F1 ⎞ ⎤
−⎢ − 2 −⎜ 2 + + 2 − 2 − ⎟⎥
⎣ r ∂z∂θ ∂z ⎝ r r ∂r ∂r r ∂θ r ∂r ∂θ ⎠ ⎦
1 ∂F1 1 ∂ 2 F1 1 ∂ 2 F2 1 ∂ 2 F3
= + + +
r 2 ∂θ r ∂θ∂r r 2 ∂θ 2 r ∂θ∂z
 ⎡ 1 ∂ 2 F3 ∂ 2 F2 F2 1 ∂F2 ∂ 2 F2 1 ∂F1 1 ∂ 2 F1 ⎤
+ ⎢− + 2 − 2+ + 2 + 2 − ⎥
⎣⎢ r ∂z∂θ ∂z r r ∂r ∂r r ∂θ r ∂r ∂θ ⎥⎦
⎛ 1 ∂F2 ∂ 2 F2 1 ∂ 2 F2 ∂ 2 F2 ⎞ F2 2 ∂F1
=⎜ + 2 + 2 + 2 ⎟− 2 + 2
⎝ r ∂r ∂r r ∂θ 2 ∂z ⎠ r r ∂θ
⎛ 1 ∂ ⎛ ∂F2 ⎞ 1 ∂ 2 F2 ∂ 2 F2 ⎞ F2 2 ∂F1
=⎜ ⎜r ⎟+ 2 + 2 ⎟− 2 + 2
⎝ r ∂r ⎝ ∂r ⎠ r ∂θ ∂z ⎠ r r ∂θ
2

F 2 ∂F
= ∇ 2 F2 − 22 + 2 1
r r ∂θ

c=
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
= ⎢ ⎢ ( h2 h3 F1 ) + ( h3h1F2 ) + ( h1h2 F3 )⎥ ⎥
h3 ∂x3 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h2 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h1F1 ) − ( h3 F3 )⎥ ⎟⎟ − ⎜⎜ 1 ⎢ ( h3 F3 ) − ( h2 F2 )⎥ ⎟⎟ ⎥
h1h2 ⎣⎢ ∂x1 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ∂x2 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ⎦⎥
∂ ⎡1 ⎡ ∂ ∂ ∂ ⎤
= ⎢ ⎢ ( rF1 ) + ( F2 ) + ( rF3 )⎤⎥ ⎥
∂z ⎣ r ⎣ ∂r ∂θ ∂z ⎦⎦
1⎡ ∂ ⎛ ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ 1 ⎡ ∂ ∂ ⎞⎤
− ⎢ ⎜ r ⎢ ( F1 ) − ( F3 ) ⎥ ⎟ − ⎜ ⎢ ( F3 ) − ( rF2 )⎤⎥ ⎟ ⎥
r ⎣ ∂r ⎝ ⎣ ∂z ∂r ⎦ ⎠ ∂θ ⎝ r ⎣ ∂θ ∂z ⎦ ⎠⎦
∂ ⎡1 ⎡ ∂F ∂F ∂F ⎤ ⎤
= ⎢ ⎢ F1 + r 1 + 2 + r 3 ⎥ ⎥
∂z ⎣ r ⎣ ∂r ∂θ ∂z ⎦ ⎦
1 ⎡ ∂ ⎛ ∂F ∂F ⎞ ∂ ⎛ 1 ∂F3 ∂F2 ⎞ ⎤
− ⎢ ⎜r 1 −r 3 ⎟− −
r ⎣ ∂r ⎝ ∂z ∂r ⎠ ∂θ ⎝⎜ r ∂θ ∂z ⎠⎟ ⎦⎥
∂ ⎡ F ∂F 1 ∂F2 ∂F3 ⎤
= ⎢ 1+ 1+ +
∂z ⎣ r ∂r r ∂θ ∂z ⎥⎦
1 ⎡⎛ ∂F ∂ 2 F1 ∂F3 ∂ 2 F ⎞ ⎛ 1 ∂ 2 F3 ∂ 2 F2 ⎞ ⎤
− ⎢⎜ 1 + r − − r 23 ⎟ − ⎜ − ⎟⎥
r ⎣⎝ ∂z ∂r ∂z ∂r ∂r ⎠ ⎝ r ∂θ 2 ∂θ∂z ⎠ ⎦
1 ∂F1 ∂ 2 F1 1 ∂ 2 F2 ∂ 2 F3
= + + + 2
r ∂z ∂z∂r r ∂z∂θ ∂z
⎡ 1 ∂F1 ∂ 2 F1 1 ∂F3 ∂ 2 F3 1 ∂ 2 F3 1 ∂ 2 F2 ⎤
+ ⎢− − + + 2 + 2 − ⎥
⎢⎣ r ∂z ∂r∂z r ∂r ∂r r ∂θ 2 r ∂θ∂z ⎥⎦
1 ∂F3 ∂ 2 F3 1 ∂ 2 F3 ∂ 2 F3
= + 2 + 2 + 2
r ∂r ∂r r ∂θ 2 ∂z
1 ∂ ⎛ ∂F3 ⎞ ∂ F3 1 ∂ 2 F3 ∂ 2 F3
2
= ⎜r ⎟+ + + 2
r ∂r ⎝ ∂r ⎠ ∂r 2 r 2 ∂θ 2 ∂z
= ∇ F3
2
3. Derivatives of the unit vectors in orthogonal curvilinear coordinate systems
The last topic to be discussed concerning curvilinear coordinates is the procedure to obtain the
∂
derivatives of the unit vectors, i.e. eˆ i = eˆ ij
∂x j
Such quantities are required, for example, in obtaining the rate-of-strain and rotation tensor
eij = ∇V
1
ε ij =
2
( eij + eijT ) = ( ∇V + V∇ )
1
2
ωij = ( eij − eijT ) = ( ∇V − V∇ )
1 1
2 2
To simplify the notation we define:
R xi = ri , R xi = hi eˆ i = ri
∂ ∂
R xi = rij and hi = hij
∂x j ∂x j
Note that rij is symmetric, i.e. rij = r ji

r1 = h1eˆ1
r2 = h2eˆ 2
r3 = h3eˆ 3
r11 = aeˆ1 + beˆ 2 + ceˆ 3 = h11eˆ1 + h1eˆ11
r12 = h12eˆ1 + h1eˆ12
r13 = h13eˆ1 + h1eˆ13

h12 h
3.1 Derivation of eˆ11 = − eˆ 2 − 13 eˆ 3
h2 h3
r1 ⋅ r1 = h12
r1 ⋅ r11 = h1h11
r1 ⋅ r12 = h1h12
r1 ⋅ r13 = h1h13

r1 ⋅ r2 = 0
∂ ( r1 ⋅ r2 )
→ =0
∂x1
→ r11 ⋅ r2 + r1 ⋅ r21 = 0
→ r11 ⋅ r2 = −r1 ⋅ r12
 → r11 ⋅ r2 = −h1h12

r1 ⋅ r3 = 0
∂ ( r1 ⋅ r3 )
→ =0
∂x1
→ r11 ⋅ r3 + r1 ⋅ r31 = 0
→ r11 ⋅ r3 = −r1 ⋅ r13
→ r11 ⋅ r3 = − h1h13

h1h12 hh
r11 = h11eˆ1 − eˆ 2 − 1 13 eˆ 3 = h11eˆ1 + h1eˆ11
h2 h3
h h
→ eˆ11 = − 12 eˆ 2 − 13 eˆ 3
h2 h3

h21 h
3.2 Derivation of eˆ 22 = − eˆ1 − 23 eˆ 3
h1 h3
r2 ⋅ r2 = h22
r2 ⋅ r22 = h2 h22
r2 ⋅ r21 = h2 h21
r2 ⋅ r23 = h2 h23

r1 ⋅ r2 = 0
∂ ( r1 ⋅ r2 )
→ =0
∂x2
→ r12 ⋅ r2 + r1 ⋅ r22 = 0
→ r22 ⋅ r1 = −r2 ⋅ r21
→ r22 ⋅ r1 = − h2 h21

r2 ⋅ r3 = 0
∂ ( r2 ⋅ r3 )
→ =0
∂x2
→ r22 ⋅ r3 + r2 ⋅ r32 = 0
→ r22 ⋅ r3 = −r2 ⋅ r23
→ r22 ⋅ r3 = − h2 h23

h2 h21 hh
r22 = − eˆ1 + h22eˆ 2 − 2 23 eˆ 3 = h22eˆ 2 + h2eˆ 22
h1 h3
 h21 h
→ eˆ 22 = − eˆ1 − 23 eˆ 3
h1 h3

h31 h
3.3 Derivation of eˆ 33 = − eˆ1 − 32 eˆ 2
h1 h2
r3 ⋅ r3 = h32
r3 ⋅ r31 = h3 h31
r3 ⋅ r32 = h3 h32
r3 ⋅ r33 = h3 h33

r1 ⋅ r3 = 0
∂ ( r1 ⋅ r3 )
→ =0
∂x3
→ r13 ⋅ r3 + r1 ⋅ r33 = 0
→ r33 ⋅ r1 = −r3 ⋅ r31
→ r33 ⋅ r1 = −h3 h31

r2 ⋅ r3 = 0
∂ ( r2 ⋅ r3 )
→ =0
∂x3
→ r23 ⋅ r3 + r2 ⋅ r33 = 0
→ r33 ⋅ r2 = −r3 ⋅ r32
→ r33 ⋅ r2 = − h3 h32

h3h31 hh
r33 = − eˆ1 − 3 32 eˆ 2 + h33eˆ 3 = h33eˆ 3 + h3eˆ 33
h1 h2
h h
→ eˆ 33 = − 31 eˆ1 − 32 eˆ 2
h1 h2

h23 h
3.4 Derivation of eˆ 32 = eˆ 2 , eˆ 23 = 32 eˆ 3
h3 h2
∂
r1 ⋅ r2 = 0 → ( r1 ⋅ r2 ) = r13 ⋅ r2 + r1 ⋅ r23 = 0 (1)
∂x3
∂
r2 ⋅ r3 = 0 → ( r2 ⋅ r3 ) = r21 ⋅ r3 + r2 ⋅ r31 = 0 ( 2)
∂x1
∂
r3 ⋅ r1 = 0 → ( r3 ⋅ r1 ) = r32 ⋅ r1 + r3 ⋅ r12 = 0 ( 3)
∂x2
 ( 3) − ( 2 ) = 0
→ r32 ⋅ r1 − r2 ⋅ r31 = 0
→ r32 ⋅ r1 = r2 ⋅ r31
→ r32 ⋅ r1 = −r1 ⋅ r23
→ r32 ⋅ r1 = 0

r32 = aeˆ1 + beˆ 2 + ceˆ 3 = h32eˆ 3 + h3eˆ 32

r32 = aeˆ1 + beˆ 2 + ceˆ 3 = h23eˆ 2 + h32eˆ 3
h
eˆ 32 = 23 eˆ 2
h3

r23 = h23eˆ 2 + h2eˆ 23

r23 = r32 = aeˆ1 + beˆ 2 + ceˆ 3 = h23eˆ 2 + h32eˆ 3
h
eˆ 23 = 32 eˆ 3
h2

h h
3.5 Derivation of eˆ 21 = 12 eˆ1 , eˆ12 = 21 eˆ 2
h2 h1
( 2 ) − (1) = 0
→ r21 ⋅ r3 − r1 ⋅ r23 = 0
→ r21 ⋅ r3 = r1 ⋅ r23
→ r21 ⋅ r3 = r3 ⋅ r12
→ r21 ⋅ r3 = 0

r21 = h21eˆ 2 + h2eˆ 21

r21 = h12eˆ1 + h21eˆ 2
h
eˆ 21 = 12 eˆ1
h2

r12 = h12eˆ1 + h1eˆ12

r12 = r21 = h12eˆ1 + h21eˆ 2
h
eˆ12 = 21 eˆ 2
h1

h31 h
3.6 Derivation of eˆ13 = eˆ 3 , eˆ 31 = 13 eˆ1
h1 h3
( 3) − (1) = 0
 → r3 ⋅ r12 − r13 ⋅ r2 = 0
→ r2 ⋅ r13 = r3 ⋅ r12
→ r2 ⋅ r13 = −r2 ⋅ r31
→ r2 ⋅ r13 = 0

r13 = h13eˆ1 + h1eˆ13

r13 = h13eˆ1 + h31eˆ 3
h
eˆ13 = 31 eˆ 3
h1

r31 = h31eˆ 3 + h3eˆ 31

r31 = r13 = h13eˆ1 + h31eˆ 3
h
eˆ 31 = 13 eˆ1
h3

4. Incompressible N-S equations in orthogonal curvilinear coordinate systems

4.1 Continuity equation ∇ ⋅ V = 0
1 ⎡ ∂ ∂ ∂ ⎤
Since ∇ ⋅ F = ⎢ ( h2 h3 F1 ) + ( h3h1 F2 ) + ( h1h2 F3 ) ⎥
h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦
and V = v1eˆ1 + v2eˆ 2 + v3eˆ 3
1 ⎡ ∂ ∂ ∂ ⎤
∇⋅V = ⎢ ( h2 h3v1 ) + ( h3h1v2 ) + ( h1h2v3 ) ⎥ = 0
h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦

∂V 1
4.2 Momentum equation + ( V ⋅∇ ) V = − ∇p + ν∇ 2 V , (where p piezometric pressure)
∂t ρ
Since V = v1eˆ1 + v2eˆ 2 + v3eˆ 3 , we can expand the momentum equation term by term

∂V ∂v1 ∂v ∂v
Local derivative = eˆ1 + 2 eˆ 2 + 3 eˆ 3
∂t ∂t ∂t ∂t

Convective derivative ( V ⋅∇ ) V
v1 ∂ v2 ∂ v3 ∂
Since V = v1eˆ1 + v2eˆ 2 + v3eˆ 3 and V ⋅∇ = + +
h1 ∂x1 h2 ∂x2 h3 ∂x3
( V ⋅∇ ) V = ( V ⋅∇ )( v1eˆ1 ) + ( V ⋅∇ )( v2eˆ 2 ) + ( V ⋅∇ )( v3eˆ 3 )
( V ⋅∇ )( v1eˆ1 ) =
 v1 ∂ ( v1eˆ1 ) v2 ∂ ( v1eˆ1 ) v3 ∂ ( v1eˆ1 )
= + +
h1 ∂x1 h2 ∂x2 h3 ∂x3
v ∂v v v ∂eˆ v ∂v v v ∂eˆ v ∂v v v ∂eˆ
= 1 1 eˆ1 + 1 1 1 + 2 1 eˆ1 + 2 1 1 + 3 1 eˆ1 + 3 1 1
h1 ∂x1 h1 ∂x1 h2 ∂x2 h2 ∂x2 h3 ∂x3 h3 ∂x3
⎛v ∂v1 v2 ∂v1 v3 ∂v1 ⎞ ⎛ v1v1 vv vv ⎞
=⎜ 1 + + ⎟ eˆ1 + ⎜ eˆ11 + 2 1 eˆ12 + 3 1 eˆ13 ⎟
⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠ ⎝ h1 h2 h3 ⎠
⎛v ∂v1 v2 ∂v1 v3 ∂v1 ⎞ v1v1 ⎛ h12 h13 ⎞
=⎜ 1 + + ⎟ eˆ1 + ⎜ − eˆ 2 − eˆ 3 ⎟
⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠ h1 ⎝ h2 h3 ⎠
v2 v1 ⎛ h21 ⎞ v3v1 ⎛ h31 ⎞
+ ⎜ eˆ 2 ⎟ + ⎜ eˆ 3 ⎟
h2 ⎝ h1 ⎠ h3 ⎝ h1 ⎠
⎛ v ∂v v ∂v v ∂v ⎞ ⎛v vh vvh ⎞ ⎛v vh vvh ⎞
= ⎜ 1 1 + 2 1 + 3 1 ⎟ eˆ1 + ⎜ 2 1 21 − 1 1 12 ⎟ eˆ 2 + ⎜ 3 1 31 − 1 1 13 ⎟ eˆ 3
⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠ ⎝ h1h2 h1h2 ⎠ ⎝ h3 h1 h3 h1 ⎠

( V ⋅∇ )( v2eˆ 2 ) =
v ∂ ( v2eˆ 2 ) v2 ∂ ( v2eˆ 2 ) v3 ∂ ( v2eˆ 2 )
= 1 + +
h1 ∂x1 h2 ∂x2 h3 ∂x3
v ∂v v v ∂eˆ v ∂v v v ∂eˆ v ∂v v v ∂eˆ
= 1 2 eˆ 2 + 1 2 2 + 2 2 eˆ 2 + 2 2 2 + 3 2 eˆ 2 + 3 2 2
h1 ∂x1 h1 ∂x1 h2 ∂x2 h2 ∂x2 h3 ∂x3 h3 ∂x3
⎛v ∂v2 v2 ∂v2 v3 ∂v2 ⎞ v1v2 vv vv
=⎜ 1 + + ⎟ eˆ 2 + eˆ 21 + 2 2 eˆ 22 + 3 2 eˆ 23
⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠ h1 h2 h3
⎛v ∂v2 v2 ∂v2 v3 ∂v2 ⎞ v1v2 ⎛ h12 ⎞
=⎜ 1 + + ⎟ eˆ 2 + ⎜ eˆ1 ⎟
⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠ h1 ⎝ h2 ⎠
v2 v2 ⎛ h21 h23 ⎞ v3v2 ⎛ h32 ⎞
+ ⎜ − eˆ1 − eˆ 3 ⎟ + ⎜ eˆ 3 ⎟
h2 ⎝ h1 h3 ⎠ h3 ⎝ h2 ⎠
⎛vv h vvh ⎞ ⎛ v ∂v v ∂v v ∂v ⎞ ⎛v v h vvh ⎞
= ⎜ 1 2 12 − 2 2 21 ⎟ eˆ1 + ⎜ 1 2 + 2 2 + 3 2 ⎟ eˆ 2 + ⎜ 3 2 32 − 2 2 23 ⎟ eˆ 3
⎝ h1h2 h2 h1 ⎠ ⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠ ⎝ h2 h3 h2 h3 ⎠

( V ⋅∇ )( v3eˆ 3 ) =
v ∂ ( v3eˆ 3 ) v2 ∂ ( v3eˆ 3 ) v3 ∂ ( v3eˆ 3 )
= 1 + +
h1 ∂x1 h2 ∂x2 h3 ∂x3
v ∂v v v ∂eˆ v ∂v v v ∂eˆ v ∂v v v ∂eˆ
= 1 3 eˆ 3 + 1 3 3 + 2 3 eˆ 3 + 2 3 3 + 3 3 eˆ 3 + 3 3 3
h1 ∂x1 h1 ∂x1 h2 ∂x2 h2 ∂x2 h3 ∂x3 h3 ∂x3
⎛ v ∂v v ∂v v ∂v ⎞ vv vv vv
= ⎜ 1 3 + 2 3 + 3 3 ⎟ eˆ 3 + 1 3 eˆ 31 + 2 3 eˆ 32 + 3 3 eˆ 33
⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠ h1 h2 h3
 ⎛ v ∂v v ∂v v ∂v ⎞ vv ⎛h ⎞ v v ⎛h ⎞
= ⎜ 1 3 + 2 3 + 3 3 ⎟ eˆ 3 + 1 3 ⎜ 13 eˆ1 ⎟ + 2 3 ⎜ 23 eˆ 2 ⎟
⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠ h1 ⎝ h3 ⎠ h2 ⎝ h3 ⎠
vv ⎛ h h ⎞
+ 3 3 ⎜ − 31 eˆ1 − 32 eˆ 2 ⎟
h3 ⎝ h1 h2 ⎠
⎛vv h vvh ⎞ ⎛v v h vvh ⎞ ⎛ v ∂v v ∂v v ∂v ⎞
= ⎜ 1 3 13 − 3 3 31 ⎟ eˆ1 + ⎜ 2 3 23 − 3 3 32 ⎟ eˆ 2 + ⎜ 1 3 + 2 3 + 3 3 ⎟ eˆ 3
⎝ h1h3 h3 h1 ⎠ ⎝ h2 h3 h3 h2 ⎠ ⎝ h1 ∂x1 h2 ∂x2 h3 ∂x3 ⎠

1 ∂p 1 ∂p 1 ∂p
Pressure gradient ∇p = eˆ1 + eˆ 2 + eˆ 3
h1 ∂x1 h2 ∂x2 h3 ∂x3

Viscous term ∇ 2 V
∇2V =
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
= ⎢ ⎢ ( h2 h3v1 ) + ( h3h1v2 ) + ( h1h2v3 ) ⎥ ⎥ eˆ1
h1 ∂x1 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h3 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h2 v2 ) − ( h1v1 ) ⎥ ⎟⎟ − ⎜⎜ 2 ⎢ ( h1v1 ) − ( h3v3 ) ⎥ ⎟⎟ ⎥ eˆ1
h2 h3 ⎢⎣ ∂x2 ⎝ h1h2 ⎣ ∂x1 ∂x2 ⎦ ⎠ ∂x3 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ⎥⎦
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ ⎢ ⎢ ( h2 h3v1 ) + ( h3h1v2 ) + ( h1h2v3 ) ⎥ ⎥ eˆ 2
h2 ∂x2 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h1 ⎡ ∂ ∂ ⎤ ⎞ ∂ ⎛ h3 ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h v ) − ( h )
2 2 ⎥⎟
v ⎟ − ⎜
⎜ ⎢ ( h v ) − ( h )
1 1 ⎥⎟
v ⎟⎥ e2
ˆ
h1h3 ⎢⎣ ∂x3 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ∂x1 ⎝ h1h2 ⎣ ∂x1 ∂x2
3 3 2 2
⎦ ⎠ ⎥⎦
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ ⎢ ⎢ ( h2 h3v1 ) + ( h3h1v2 ) + ( h1h2v3 ) ⎥ ⎥ eˆ 3
h3 ∂x3 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h2 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
− ⎢ ⎜⎜ ⎢ ( h1v1 ) − ( h3v3 )⎥ ⎟⎟ − ⎜⎜ 1 ⎢ ( h3v3 ) − ( h2v2 ) ⎥ ⎟⎟ ⎥ eˆ 3
h1h2 ⎣⎢ ∂x1 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ∂x2 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ⎦⎥

4.2.1 Combine terms in ê1 direction to get momentum equation in ê1 direction
∂v1 v1 ∂v1 v2 ∂v1 v3 ∂v1 v1v2 h12 v2 v2 h21 v1v3 h13 v3v3 h31
+ + + + − + −
∂t h1 ∂x1 h2 ∂x2 h3 ∂x3 h1h2 h2 h1 h1h3 h3 h1
1 1 ∂p
=−
ρ h1 ∂x1
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ν ⎢ ⎢ ( h2 h3v1 ) + ( h3h1v2 ) + ( h1h2v3 ) ⎥ ⎥
h1 ∂x1 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h3 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
−ν ⎢ ⎜⎜ ⎢ ( h2 v2 ) − ( h1v1 )⎥ ⎟⎟ − ⎜⎜ 2 ⎢ ( h1v1 ) − ( h3v3 )⎥ ⎟⎟ ⎥
h2 h3 ⎢⎣ ∂x2 ⎝ h1h2 ⎣ ∂x1 ∂x2 ⎦ ⎠ ∂x3 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ⎥⎦
4.2.2 Combine terms in ê 2 direction to get momentum equation in ê2 direction
∂v2 v2 v1h21 v1v1h12 v1 ∂v2 v2 ∂v2 v3 ∂v2 v2 v3 h23 v3v3 h32
+ − + + + + −
∂t h1h2 h1h2 h1 ∂x1 h2 ∂x2 h3 ∂x3 h2 h3 h3 h2
1 1 ∂p
=−
ρ h2 ∂x2
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ν ⎢ ⎢ ( h2 h3v1 ) + ( h3h1v2 ) + ( h1h2v3 ) ⎥ ⎥
h2 ∂x2 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h1 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
−ν ⎢ ⎜⎜ ⎢ ( h3v3 ) − ( h2v2 ) ⎥ ⎟⎟ − ⎜⎜ 3 ⎢ ( h2v2 ) − ( h1v1 ) ⎥ ⎟⎟ ⎥
h1h3 ⎣⎢ ∂x3 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ∂x1 ⎝ h1h2 ⎣ ∂x1 ∂x2 ⎦ ⎠ ⎦⎥

4.2.3 Combine terms in ê3 direction to get momentum equation in ê3 direction
∂v3 v3v1h31 v1v1h13 v3v2 h32 v2 v2 h23 v1 ∂v3 v2 ∂v3 v3 ∂v3
+ − + − + + +
∂t h3 h1 h3 h1 h2 h3 h2 h3 h1 ∂x1 h2 ∂x2 h3 ∂x3
1 1 ∂p
=−
ρ h3 ∂x3
1 ∂ ⎡ 1 ⎡ ∂ ∂ ∂ ⎤⎤
+ν ⎢ ⎢ ( h2 h3v1 ) + ( h3h1v2 ) + ( h1h2v3 )⎥ ⎥
h3 ∂x3 ⎣ h1h2 h3 ⎣ ∂x1 ∂x2 ∂x3 ⎦⎦
1 ⎡ ∂ ⎛ h2 ⎡ ∂ ∂ ⎤⎞ ∂ ⎛ h ⎡ ∂ ∂ ⎤ ⎞⎤
−ν ⎢ ⎜⎜ ⎢ ( h1v1 ) − ( h3v3 )⎥ ⎟⎟ − ⎜⎜ 1 ⎢ ( h3v3 ) − ( h2v2 ) ⎥ ⎟⎟ ⎥
h1h2 ⎣⎢ ∂x1 ⎝ h1h3 ⎣ ∂x3 ∂x1 ⎦ ⎠ ∂x2 ⎝ h2 h3 ⎣ ∂x2 ∂x3 ⎦ ⎠ ⎦⎥

5. Example: Incompressible N-S equations in cylindrical polar systems

5.1 Continuity equation ∇ ⋅ V = 0 in cylindrical coordinates ( r , θ , z )
For cylindrical coordinates ( r , θ , z ) , h1 = hr = 1, h2 = hθ = r , h3 = hz = 1
1⎡ ∂ ∂ ∂
∇ ⋅ V = ⎢ ( rvr ) + ( vθ ) + ( rvz ) ⎤⎥ = 0
r ⎣ ∂r ∂θ ∂z ⎦
1 ∂ 1 ∂ ∂
= ( rvr ) + ( vθ ) + ( vz ) = 0
r ∂r r ∂θ ∂z

∂V 1
5.2 Momentum equation + ( V ⋅∇ ) V = − ∇p + ν∇ 2 V in cylindrical coordinates ( r , θ , z )
∂t ρ
For cylindrical coordinates ( r , θ , z ) , h1 = hr = 1, h2 = hθ = r , h3 = hz = 1 and only h21 = hθ r = 1 , all
others are zero.
5.2.1 The r-momentum equation:
∂vr ∂v v ∂v ∂v v 2 1 ∂p ⎛ 1 2 ∂v ⎞
+ vr r + θ r + vz r − θ = − + ν ⎜ ∇ 2 vr − 2 vr − 2 θ ⎟
∂t ∂r r ∂θ ∂z r ρ ∂r ⎝ r r ∂θ ⎠

5.2.2 The θ -momentum equation:

∂vθ 1 ∂v v ∂v ∂v 1 ∂p ⎛ F 2 ∂F ⎞
+ vr vθ + vr θ + θ θ + vz θ = − + ν ⎜ ∇ 2 F2 − 22 + 2 1 ⎟
∂t r ∂r r ∂θ ∂z ρ r ∂θ ⎝ r r ∂θ ⎠

5.2.3 The z-momentum equation:

∂vz ∂v v ∂v ∂v 1 ∂p
+ vr z + θ z + vz z = − + ν∇ 2 v z
∂t ∂r r ∂θ ∂z ρ ∂z