Brinkman equation ($-\nabla p+\mu {\nabla }^2\mathbf{u}=\mu {\alpha }^2(\mathbf{u}-{\mathbf{u}}_m)$)

The Brinkman equation augments Stokes flow with a local drag against a background matrix of velocity ${\mathbf{u}}_m$. The inverse screening length $\alpha$ has units of inverse length. With equal viscous coefficients the permeability is ${\alpha }^{-2}$. Taking the curl produces a screened vorticity equation.

Porous-matrix drag depends on fluid velocity relative to the matrix, so it is not invariant under adding a uniform fluid velocity while leaving the matrix fixed. In a swimmer frame with stationary laboratory matrix, the drag is proportional to $\mathbf{u}-U{\mathbf{e}}_x$. A constant shift can alternatively be absorbed into a linear pressure term, whose physical interpretation must then be retained.