Kinematic reversibility of Stokes flow

For a fixed geometry, the steady Stokes equation maps $(\mathbf{u},p^{\prime },\mathbf{f})$ to $(-\mathbf{u},-p^{\prime },-\mathbf{f})$ when all imposed boundary velocities and disturbance forces are reversed; $p^{\prime }$ is pressure relative to any unchanged hydrostatic pressure. Linearity of Stokes flow and Uniqueness of Stokes flow therefore reverse the entire velocity field. If the driving schedule and evolving geometry are retraced, fluid elements retrace their paths too. Reversing just one drive while leaving another applied force unchanged does not meet these conditions.

This reversal concerns the paths, while viscous dissipation remains positive: for a sphere, the required power $6\pi \mu a{U}^2$ is unchanged by $U\mapsto -U$. A reversed experiment must supply fresh energy. Inertia, Brownian motion and irreversible contact can prevent perfect retracing. Edward M. Purcell illustrated the mechanism with a viscous fluid flow demonstration in Life at low Reynolds number, American Journal of Physics 45, 3–11 (1977).

In a uniform vertical tube, take two spherical particles driven by fixed axial forces, including a force-free particle as a special case. At a side-by-side passage time $t_c$, their centres lie in one horizontal reflection plane $S$. Reflection reverses the applied axial forces, and time reversal reverses them again. Uniqueness of the particle-velocity initial-value problem therefore identifies the reflected reverse trajectory with the original forward one. Their transverse positions before and after passage are equal at matching axial separations. The argument requires passage without contact and neglects inertia or other nonreversible effects.

Reflection of a uniform tube in a horizontal plane preserves an off-axis sphere's transverse position but reverses the axial force. By linearity, reversing the force reverses every translational velocity. By reflection symmetry, it preserves the transverse velocity. Thus the transverse velocity is zero. The Minimum-dissipation theorem for Stokes flow does not predict motion between different particle positions: it compares velocity fields in one fixed geometry with prescribed boundary velocities. Inertia, deformability or broken geometric symmetry can invalidate this no-migration conclusion.

For a smooth passing encounter of a force-driven sphere with a fixed sphere, isotropy and reflection symmetry imply $\mathbf{U}=[m_{\perp }(R)I+(m_{\parallel }(R)-m_{\perp }(R))\mathbf{nn}]\mathbf{F}$. Along a force axis $X$, $U_X$ is even and the transverse velocity is odd in $X$. Uniqueness then makes the trajectory fore-aft symmetric and restores the incoming impact parameter downstream. This consequence of kinematic reversibility of Stokes flow remains valid with lubrication resistance, provided the particles remain smooth, noncontacting and subject only to the stated forces. Surface roughness and contact can invalidate these assumptions.

A force-free, torque-free microswimmer in a stationary Newtonian fluid, with negligible fluid and body inertia and steady Stokes flow at each instant, gains no net displacement from a reciprocal stroke: one whose sequence of shapes is exactly retraced in reverse. The environment and boundary conditions must also be unchanged during that retracing. Opening a two-shell swimmer and then closing it follows the same sequence backwards; doing the closure faster does not help, because Linearity of Stokes flow changes the instantaneous velocity by the same factor as the stroke rate.

A single real shape coordinate that travels out and back along an interval gives this cancellation, as computed in the force-free two-sphere stroke. Two independently controlled shape coordinates can instead execute a loop that is not retraced, avoiding this obstruction. Continuous rotation also need not retrace an interval: the helical microswimmer with a spherical head provides another route to propulsion. The scallop theorem is a restriction on a stroke under stated conditions, not a claim that small organisms cannot swim. Purcell presented the opening-and-closing scallop and a swimmer with two hinges in Life at low Reynolds number (1977), figures 6–7.

For spheres linked by a length $\ell (t)$, axial mobility and $F_1+F_2=0$ imply $\dot{X}=K(\ell )\dot{\ell }$ for their midpoint. The displacement over a periodic stroke is $\oint K(\ell )d\ell =0$. Unequal radii permit instantaneous midpoint motion but not net translation. This is an explicit one-shape-coordinate example of the scallop theorem.

If spatial reflection leaves a Stokes configuration and forcing equivalent to flow reversal while preserving one candidate velocity component, uniqueness forces that component to vanish.