Cambridge DAMTP lecture notes, chapter 2, section 2.3.2, Flow Around a Sphere, and section 2.3.3, D'Alembert's Paradox. The cited PDF is the first part of the notes; its contents list other chapters which are not all present in this file.
This second PDF contains the discussion of viscous boundary conditions and the channel and pipe solutions cited in the no-slip boundary condition, Couette flow and Hagen-Poiseuille flow articles.

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