LECTURE 6

BASIC EQUATIONS IN INTEGRAL FORM

FOR A CONTROL VOLUME

4.1 Basic Laws for a System

The basic laws for a system are familiar from your earlier work in mechanics and
thermodynamics. We shall summarize them briefly here and for reasons that will become
apparent in the next section, we shall write each of the basic equations for a system as a
rate equation.
4.1.1 Conservation of Mass

dM 
 0
dt  system

where, M system  mass ( system )

dm   ( system )
d

4.1.2 Newton’s Second Law

 
  d P m dV 

F 
d P F   ma
dt 
 dt dt
 system


where the linear momentum, P , of the system is given by
  
P system  
mass ( system )
V dm  
 ( system )
V d 
V dm
4.1.3 Moment of Momentum


r

 dH 
T 
dt 

 system

where the angular momentum of the system is given by

    
H system  
mass ( system)
r  V dm   ( system)
r  V d

Torque can be produced by surface and body forces, and also by shafts that cross the
system boundary, that is,
     
T  r  Fs   r  g dm  Tshaft
mass ( system)

4.1.4 The First Law of Thermodynamics

1
The first law of thermodynamics is a statement of conservation of energy for a system,
that is,
Q  W  dE

In rate form the equation can be written as

 dE 
Q W  
dt  system

where the total energy of the system is given by

E system   e dm
mass system 

 
  system 
ed

V2
and eu  gz
2

4.1.5 The Second Law of Thermodynamics

Q
dS 
T
On a rate basis we can write
dS  1 
  Q
dt  system T

Where the total entropy of the system is given by

S system   s dm  
mass  system    system 
s  d

4.2 Relation of System Derivatives to Control Volume Formulation

In developing the control volume formulation of each basic law from the system
formulation used symbol, N. The corresponding intensive property (extensive property
per unit mass) will be designated by η.

N system   mass  system 

dm  
 system 
d (4.6)

N = M, then η = 1
 
N  P, then  V
  
N H, then   rV

N = E, then η = e
N = S, then η = s

4.2.1 Derivation

2
 dN   N    N s  to
The rate of change of   lim s to  t (4.7)
dt  system t 0 t

Streamlines Sub region (1) Sub region (3)

at time, t0 of region I of region III
III

II
I
y y

System (moving)
x x
Control volume (fixed)
z z
(a) Time, to (b) Time, to + ∆t

Fig 4.1 System and control volume configuration

N system  mass  system 
 dm    system 
  d

We can write
 N s  to t   N II  N III  to t   N CV  N I  N III  to t

  CV
d  to  t
  d
I to  t
  III
d  to  t

and N s  to   N CV  to  
CV
d  to

upon substituting these expressions into the definition of the system derivative, Eq 4.7,
we obtain

dN 
 lim
 CV
d  to  t
  III
d  to  t
 d
I to  t
  CV
d  to

dt 
 system t 0 t

(4.8)
Since the limit of a sum is equal to sum of the limits, we can write

dN   d    d   d  d

 lim CV to  t CV to
 lim III to  t
 lim I to  t

dt 
 system t  0 t t 0 t t  0 t

(4.9) 1 2 3

Our task now is to evaluate each of the three terms in Eq. 4.9.
Term 1 in Eq. 4.9
  d    d  N CV  to  t  N CV  to N CV 
 lim    d
CV to  t CV to
lim
t 0 t t 0 t t t CV

3
Term 2 in Eq. 4.9
  d  N III  to  t
lim III to  t
 lim
t 0 t t 0 t

For sub region (3) we can write

dN 3  to t   d to t    l cos dA  to t

l
Streamline
at time, to

dA 
dA

α V (3)

System boundary
Control at time, to
surface III
dA

Fig. 4.2 Enlarged view of sub region (3) from Fig.4.1.

Since d  l cos  dA . Then for the entire region III.
N III  to  t   CSm
  l cos  dA  to  t

where CSm is the surface common to region III and the control volume. In this expression
for N III  to  t , ∆l represents the distance traveled by a particle on the system surface
during the time interval, ∆t, along a streamline that existed at time to.
Now that we have an expression for N III  to  t , we can evaluate term 2 in Eq. 4.9:

lim
 III
  d  to  t
 lim
N m  to t
t  0 t t 0 t

 lim
CSm
  l cos  dA
 lim  
l
cos dA
t 0 t t 0 CSm t
 
 CSm
  V cos  d A

The last equality follows from the fact that

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 l  
lim  V and dA  d A
t 0 t

Term 3 in Eq. 4.9

  d N I  to  t
lim I to  t
  lim
t  0 t t  0 t
For sub region (1) we can write
N III  to  t    d to  t    l   cos  dA to  t

Streamline
at time, to l
dA  (1)
 α V
dA
System boundary
Control
at time, to + ∆t
surface I
Fig. 4.3 Enlarged view of sub region (1) from Fig.4.1.
Then, for the entire region 1,
N I  to  t  CS 1
   l cos  dA  to  t

where CS1 is the surface common to region I and the control volume. In this expression
for N I  to  t , ∆l represents the distance traveled by a particle on the system surface
during the time interval, ∆t, along a streamline that existed at time to.
Now that we have an expression for N I  to  t , we can evaluate term 3 in Eq. 4.9:

    d  N I  to  t
 lim I to  t
  lim
t 0 t t  0 t

  lim
 CS I
  l cos  dA
 lim   
l
cos  dA
t 0 t t 0 CS I t
 
 CS I
  V cos  d A

The last equality follows from the fact that

l  
lim  V and dA  d A
t  0 t

Equation 4.9 can then be written

dN      

dt  system

t CV
d  
CS1
 V cos  d A  CSm
 V cos  d A

5
Referring to Fig 4.1, we see that the entire control surface, CS, consists of three surfaces,
that is,
CS  CS I  CS m  CS p

where CSp is characterized by either α = π/2 or V = 0, that is, by no flow across the
surface.
Consequently, we can write
dN    

dt  system

t 
CV
  d    V cos  d A
CS (4.10)
   

Upon recognizing that V cos  d A  V  d A , Eq. 4.10 becomes

dN    

dt  system

t 
CV
  d    V d A
CS

4.2.2 Physical Meaning

dN    

dt  system

t 
CV
  d  
CS
 V  d A

dN 
 is the total rate of change of any arbitrary extensive property of the
dt  system

system

t CV
  d is the time rate of change of the arbitrary extensive property N

within the control volume.

 

CS
 V  d A is the net rate of efflux (outflow) of the extensive property N

through the control surface.

4.3 Conservation of Mass

6
 rateofmasflowutof rateofmasflowintof rateofchangeofmas 
0   
thecontrlvoume  thecontrlvoume  insdethcontrlvoume
netrateofmas efluxoutflow rateofchangeofmas 
0   
t hrough thecontrolsurface  insidethecontrolvolume
4.3.1 Control volume Equation
Recall that conservation of mass states simply that the mass of a system is constant,
dM 
 0
dt  system

where M system   mass ( system )

dm  
 ( system )
d

The system and control volume formulations are related by Eq. 4.11
dN    

dt  system

t CV
  d   CS
 V  d A (4.11)

7
where N system  
mass ( system )
dm    ( system )
  d

to derive the control volume formulation of the conservation of mass, we set

NM and  1

With this substitution, we obtain

dM    

dt  system

t 
CV
 d  
CS
V d A

Comparing Eqs. 4.1a and 4.12, we arrive at the control volume formulation of the
conservation of mass:
  
0
t  CV
 d    V  d A
CS
(4.13)

4.3.2 Special Cases

Consider first the case of incompressible flow, that is, flow in which the density remains
constant. Since ρ is a constant, it may be taken out from under the integral signs in Eq.
4.13.
  
0   d    V  d A (4.14a)
t CV CS

The integral of d over the control volume is simply the volume of the control volume.
Thus we write Eq. 4.13a as
  
0   d   CS
Vd A (4.14b)
t
Since ρ is a constant and the size of the control volume is fixed, the conservation of mass
for incompressible flow becomes
 
0 V  d A
CS
(4.15)

The general case of steady flow in which the flow is not incompressible
 
0  CS
V  d A (4.16)

Example 4.1
Consider the steady flow of water (ρ = 1.94 slug/ft 3) through the device shown in the
diagram. The area are: A1 = 0.2 ft2, A2 = 0.5 ft2, and A3 = A4 = 0.4 ft2, Mass flow out
through section 3 is given as 3.88 slug/sec. The volumetric flow rate in through section 4

8
is given as 1 ft3/sec, and V1 = 10i ft/sec. If properties are assumed uniform across all inlet
and outlet flow sections, determine the flow velocity at section 2.

60o y

1 3
x

30o

GIVEN:
Steady flow of water through the device. Properties uniform at all ports.
A1 = 0.2 ft2 A2 = 0.5 ft2
A3 = A4 = 0.4 ft2 ρ = 1.94 slug/ft3

m 3  3.88 slug/sec (outflow)

Volumetric flow-rate ( q ) in at 4 = 1.0 ft3/sec

V1 = 10 i ft/sec

60o y

x
1 3

30o

CV
B CV A
2

9
FIND:
Velocity at section 2 .
SOLUTION:
Choose a control volume. Two possibilities are shown by dashed lines.
Basic equation:   
0
t  CV
 d    V  d A
CS
Mass conservation

For steady flow, the first term is zero by definition, so

 
0  CS
Vd A

In looking at either control volume, we see that there are four sections where mass flows
across the control surface. Thus we write
         

CS
Vd A   A1
Vd A   Vd A   Vd A   Vd A  0
A2 A3 A4

Let us look at these integrals one at a time, recognizing that properties are uniform over
each area and ρ = constant.
    
signof V Ad isnegative
V
 
 
A1
Vd A   A1
V dA  V1 A1 1 atsurface 1 
 
A1 

1

with the absolute value signs indicated, we have accounted for the direction of V and d A 
 
in taking the dot product 

Since we do not know the direction of V 2 , we shall leavesection 2 for moment.
V 3   

sign of V d A is positive 
  

A3
Vd A  A3
V dA  V3 A3  m 3 
A3  
3 at surface 3 since flow is out 
 

A4
 V  d A  
A4
V dA   V4 A4

    

   V4 A4    q4
V4 A4  sign of V  d A is negative

where q

is the volumetric flow-rate. at surface 4 
4
From Eq. 1 above,
       

A2
 V  d A    V  d A    V  d A    V  d A
A1 A3 A4

 
  V1 A1  m 3   q 4

1.94 slug 10 ft 3.88 slug 1.94 slug 1.0 ft 3

   0. 2 ft 2
 
ft 3 sec sec ft 3 sec
 

A2
 V  d A  1.94 slug/sec

10
  
Since this is positive, V d A at section 2 is positive. Flow is out as shown in the
sketch:
 
2
A2
 V  d A    V dA   V2 A2  1.94 slug/sec
A2
 
V2 
1.94 slug/sec 1.94 slug
A2

sec

ft 3

1
1.94 slug 0.5 ft 2
2
ft
sec
A2 V 2
Since V2 is in the negative y direction, then
 ft
V2  2 j
sec

Example 4.2
A thank of 0.05 m3 volume contains air at 800 kPa (absolute) and 15 oC. At time, t = 0, air
escapes from the tank through a valve with a flow area of 65 mm 2. the air passing through
the valve has a speed of 311 m/sec and a density of 6.13 kg/m 3. Properties in the rest of
the tank may be assumed to be uniform. Determine the instantaneous rate of charge of
density in the tank at t = 0.

GIVEN:
Tank of volume  = 0.05 m3 contains air at 800 kPa (absolute), T = 15oC. At t = 0, air
escapes through a valve. Air leaves with speed V = 311 m/sec, and density ρ = 6.13 kg/m 3
through area A = 65 mm2.

FIND: 1

Rate of change of air density in the tank at t = 0. CV

SOLUTION:
Choose a control volume as shown by the dashed line.
Basic equation:   
0
t 
CV
 d    V  d A
CS

11
Since properties are assumed uniform in the tank at any instant, we can take ρ out from
within the integral of the first term,

t

  d 
CV
 CS
 
Vd A  0

Now, 
CV
d   and hence

  
  d  CS  V  d A  0
t
The only place where mass crosses the boundary of the control volume is at surface 1 .
Hence
      

 Vd A   Vd A and   d  A  V  d A  0

CS A1 t 1

 
At surface 1 the sign of V d A is positive, so

  

t
  d   
A1
Vd A  0
A1
If it is assumed that properties are uniform over surface , thenV 1
1

  d  1V1 A1  0
t

or   d   1V1 A1
t

Since the volume,  , of the tank is not a function of time


   1V1 A1
t

 V A
and  1 1 1
t 
at time t = 0,
 6.13kg 311m 1 m2
   65 mm 2
 
t m3 sec 0.05m 3 10 6 mm 2
 kg / m 3
 2.48  the density is decreasing
t sec

PR
12
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