The Angular-Momentum Principle 4.

7*
Our next task is to derive a control volume form of the angular-momentum principle.
There are two obvious approaches we can use to express the angular-momentum
principle: We can use an inertial (fixed) XYZ control volume; we can also use a
rotating xyz control volume. For each approach we will: start with the principle in its
system form (Eq. 4.3a), then write the system angular momentum in terms of XYZ or
xyz coordinates, and finally use Eq. 4.10 (or its slightly different form, Eq. 4.25) to
convert from a system to a control volume formulation. To verify that these two
approaches are equivalent, we will use each approach to solve the same problem, in
Examples 4.14 and 4.15 (on the Web), respectively.
There are two reasons for the material of this section: We wish to develop a control
volume equation for each of the basic physical laws of Section 4.2; and we will need
the results for use in Chapter 10, where we discuss rotating machinery.

Equation for Fixed Control Volume

The angular-momentum principle for a system in an inertial frame is
!
dH~
T~5 ð4:3aÞ
dt
system
~5 total torque exerted on the system by its surroundings, and
where T
~ angular momentum of the system.
H5

*This section may be omitted without loss of continuity in the text material.
136 Chapter 4 Basic Equations in Integral Form for a Control Volume
Z Z
~5
H ~ ~ dm 5
r 3V ~ ~ ρ dV
r 3V --- ð4:3bÞ
MðsystemÞ ---ðsystemÞ
V

All quantities in the system equation must be formulated with respect to an inertial
reference frame. Reference frames at rest, or translating with constant linear velocity,
are inertial, and Eq. 4.3b can be used directly to develop the control volume form of
the angular-momentum principle.
The position vector, ~ r , locates each mass or volume element of the system with
respect to the coordinate system. The torque, T ~, applied to a system may be written
Z
T~5~ r3F ~s 1 ~
r 3~ ~shaft
g dm 1 T ð4:3cÞ
MðsystemÞ

where F~s is the surface force exerted on the system.

The relation between the system and fixed control volume formulations is
Z Z
dN @ ~
~ dA
5 η ρ dV 1
--- η ρV ð4:10Þ
dt system @t CV CS

where
Z
Nsystem 5 η dm
MðsystemÞ

~ then η 5 ~
If we set N 5 H, r 3V ~, and
! Z Z
dH ~ @
5 ~ ~ ρ dV
r 3V --- 1 ~ ~ ρV
r 3V ~
~ dA ð4:45Þ
dt @t CV CS
system

Combining Eqs. 4.3a, 4.3c, and 4.45, we obtain

Z Z Z
~ ~ @ ~ ~ ρV ~
~ dA
~
r 3 Fs 1 ~ ~
r 3 g dm 1 T shaft 5 r 3 V ρ dV 1
~ --- ~r 3V
MðsystemÞ @t CV CS

Since the system and control volume coincide at time t0,

~5T
T ~CV

and
Z Z Z
~ ~s 1
r3F ~ g ρ dV
r 3~ ~shaft 5 @
--- 1 T ~ ~ ρ dV
r 3V --- 1 ~ ~ ρV
r 3V ~ ð4:46Þ
~ dA
CV @t CV CS

Equation 4.46 is a general formulation of the angular-momentum principle for an

inertial control volume. The left side of the equation is an expression for all the
torques that act on the control volume. Terms on the right express the rate of change
of angular momentum within the control volume and the net rate of flux of angular
momentum from the control volume. All velocities in Eq. 4.46 are measured relative
to the fixed control volume.
For analysis of rotating machinery, Eq. 4.46 is often used in scalar form by con-
sidering only the component directed along the axis of rotation. This application is
illustrated in Chapter 10.
The application of Eq. 4.46 to the analysis of a simple lawn sprinkler is illustrated
in Example 4.14. This same problem is considered in Example 4.15 (on the Web)
using the angular-momentum principle expressed in terms of a rotating control
volume.
 4.7 The Angular-Momentum Principle 137

E
xample 4.14 LAWN SPRINKLER: ANALYSIS USING FIXED CONTROL VOLUME
A small lawn sprinkler is shown in the sketch at right. At an inlet Vrel
Vrel
gage pressure of 20 kPa, the total volume flow rate of water through ω
the sprinkler is 7.5 liters per minute and it rotates at 30 rpm. The α = 30°
diameter of each jet is 4 mm. Calculate the jet speed relative to each
sprinkler nozzle. Evaluate the friction torque at the sprinkler pivot.
Q = 7.5 L/min
ω = 30 rpm psupply = 20 kPa (gage)
R = 150 mm
Given: Small lawn sprinkler as shown.
Find: (a) Jet speed relative to each nozzle.
(b) Friction torque at pivot. Q = 7.5 L/min CV
ω = 30 rpm
Solution: Apply continuity and angular momentum equations
Vrel Vrel
using fixed control volume enclosing sprinkler arms. ω
Z
Governing equations: α = 30°
O Y

O X
(Control volume Tf
0(1) is fixed
psupply = 20 kPa (gage)
wrt XYZ)
dV V · dA 0 R = 150 mm
t CV CS

Z Z Z
~ ~s 1
r3F ~ g ρ dV
r 3~ ~shaft 5 @
--- 1 T ~ ~ dV
r 3 Vρ --- 1 ~ ~ ρV
r3V ~
~ dA ð1Þ
CV @t CV CS

where all velocities are measured relative to the inertial coordinates XYZ.
Assumptions: (1) Incompressible flow.
(2) Uniform flow at each section.
ω 5 constant:
(3) ~
From continuity, the jet speed relative to the nozzle is given by

Q Q 4
Vrel 5 5
2Ajet 2 πD2jet
1 L 4 1 m3 6 mm
2
min
5 3 7:5 3 3 3 10 3
2 min π ð4Þ mm
2 2 1000 L m2 60 s

Vrel 5 4:97 m=s Vrel

ß

Consider terms in the angular momentum equation separately. Since atmospheric pressure acts on the entire control
surface, and the pressure force at the inlet causes no moment about O, ~ r 3F ~s 5 0. The moments of the body (i.e.,
gravity) forces in the two arms are equal and opposite and hence the second term on the left side of the equation is
zero. The only external torque acting on the CV is friction in the pivot. It opposes the motion, so
~shaft 5 2Tf K
T ^ ð2Þ
Our next task is to determine the two angular momentum terms on the right side of Eq. 1. Consider the unsteady
term: This is the rate of change of angular momentum in the control volume. It is clear that although the position
~
r and velocity V~ of fluid particles are functions of time in XYZ coordinates, because the sprinkler rotates at constant
speed the control volume angular momentum is constant in XYZ coordinates, so this term is zero; however, as an
exercise in manipulating vector quantities, let us derive this result. Before we can evaluate the control volume
integral, we need to develop expressions for the instantaneous position vector, ~ ~ (measured
r , and velocity vector, V
relative to the fixed coordinate system XYZ) of each element of fluid in the control volume. OA lies in the XY plane;
AB is inclined at angle α to the XY plane; point Bu is the projection of point B on the XY plane.
We assume that the length, L, of the tip AB is small compared with the length, R, of the horizontal arm OA.
Consequently we neglect the angular momentum of the fluid in the tips compared with the angular momentum in the
horizontal arms.
138 Chapter 4 Basic Equations in Integral Form for a Control Volume

Z
A
ω θ
Y A
θ B'
B O X

O
θ
α
X B'
Isometric view Plan view

Consider flow in the horizontal tube OA of length R. Denote the radial distance
from O by r. At any point in the tube the fluid velocity relative to fixed coordinates Y
XYZ is the sum of the velocity relative to the tube V ~t and the tangential velocity rω A
ω 3~
~ r . Thus θ
r Vt
~ 5 ^I ðVt cos θ 2 rω sin θÞ 1 ^
V JðVt sin θ 1 rω cos θÞ θ
X
(Note that θ is a function of time.) The position vector is O
Plan view
r 5 ^I r cos θ 1 ^Jr sin θ
~

and

~ ~ 5 Kðr
r 3V ^ 2 ω cos2 θ 1 r2 ω sin2 θÞ 5 Kr
^ 2ω

Then
Z Z
^ R ω ρA
R 3
~ ~ ρ dV
r 3V --- 5 ^ 2 ωρA dr 5 K
Kr
-V--OA O 3

and
Z
@ ~ρ dV @ ^ R3 ω
~
r 3V --- 5 K ρA 5 0 ð3Þ
@t -V--OA @t 3

where A is the cross-sectional area of the horizontal tube. Identical results are obtained for the other horizontal tube
in the control volume. We have confirmed our insight that the angular momentum within the control volume does
not change with time.
Now we need to evaluate the second term on the right, the flux of momentum across the control surface. There
are three surfaces through which we have mass and therefore momentum flux: the supply line (for which ~ r3V ~ 5 0)
because ~r 5 0 and the two nozzles. Consider the nozzle at the end of branch OAB. For L{R, we have

~
r jet 5 ~
rB r jr 5 R 5 ð^Ir cos θ 1 ^Jr sin θÞjr 5 R 5 ^IR cos θ 1 ^JR sin θ
~

~j we have
and for the instantaneous jet velocity V

~j 5 V
V ~rel 1 V
~tip 5 IV
^ rel cos α sin θ 2 JV
^ rel cos α cos θ 1 KV
^ rel sin α 2 IωR
^ sin θ 1 JωR
^ cos θ

~j 5 IðV
V ^ rel cos α 2 ωRÞsin θ 2 JðV
^ rel cos α 2 ωRÞ cos θ 1 KV
^ rel sin α

~ ~j 5 IRV
rB 3 V ^ rel sin α sin θ 2 JRV
~ rel sin α cos θ 2 KRðV
^ 2 2
rel cos α 2 ωRÞðsin θ 1 cos θÞ

~ ~j 5 IRV
rB 3 V ^ rel sin α sin θ 2 JRV
~ rel sin α cos θ 2 KRðV
^ rel cos α 2 ωRÞ
 Edited with the trial version of
Foxit Advanced PDF Editor
To remove this notice, visit:
4.8 The First Law of Thermodynamics 139
www.foxitsoftware.com/shopping

The flux integral evaluated for flow crossing the control surface at location B is then
Z h i Q
~ ~j ρV
r 3V ~ dA~ 5 IRV^ rel sin α sin θ 2 JRV
^ rel sin α cos θ 2 KRðV
^ rel cos α 2 ωRÞ ρ
CS 2

The velocity and radius vectors for flow in the left arm must be described in terms of the same unit vectors used for the
right arm. In the left arm the I^ and J^ components of the cross product are of opposite sign, since sin (θ 1 π) 5 2sin (θ)
and cos (θ 1 π) 5 2cos (θ). Thus for the complete CV,
Z
~
r3V~j ρV
~ dA ~ 5 2KRðV
^ rel cos α 2 ωRÞρQ ð4Þ
CS

Substituting terms (2), (3), and (4) into Eq. 1, we obtain

^ 5 2KRðV
2Tf K ^ rel cos α 2 ωRÞρQ

or
Tf 5 RðVrel cos α 2 ωRÞρQ

This expression indicates that when the sprinkler runs at constant speed the friction torque at the sprinkler pivot just
balances the torque generated by the angular momentum of the two jets.
From the data given,

rev rad min m This prob

ωR 5 30 3 150 mm 3 2π 3 3 5 0:471 m=s lem illus
min rev 60 s 1000 mm angular tr ates us
momentu e of the
inertial c m princip
Substituting gives ontrol vo le for an
this exam lum
0 1 ple the fl e. Note that in
vector ~r and ve uid part
m m kg L depende locity vec icle position
Tf 5 150 mm 3 @4:97 3 cos 30 2 0:471 A999 3 3 7:5 nt tor V
~a
s s m min nates. Th (through θ) in XY re time-
is prob le Z coordi-
again us m
m3 min N s3 m ing a non will be solved
3 3 3 3 xyz coord ine
1000 L 60 s kg m 1000 mm inate sys rtial (rotating)
(on the W tem in Ex
eb). ample 4.1
5
Tf
Tf 5 0:0718 N m ß