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A scalar potential whose negative spatial gradient is the material acceleration. For a smooth global potential, the spatial curl of the material acceleration vanishes. On a simply connected domain the converse holds under the usual smoothness assumptions. Its physical dimension is squared length divided by squared time.

A homogeneous motion has an acceleration potential exactly when $A=\ddot{F}{F}^{-1}$ is a symmetric matrix. Necessity follows because $A$ is the spatial gradient of the material acceleration, which must be a negative Hessian matrix. For sufficiency, put $\mathbf{y}=\mathbf{x}-\mathbf{c}(t)$ and take $\xi =-{\mathbf{y}}^{T}A\mathbf{y}/2-\ddot{\mathbf{c}}\cdot \mathbf{y}+g(t)$. Direct spatial differentiation gives $-\nabla \xi =A\mathbf{y}+\ddot{\mathbf{c}}$. Equivalently $F^T\dot{F}-{\dot{F}}^{T}F$ is constant: its time derivative is $F^T\ddot{F}-{\ddot{F}}^{T}F$.

The Cauchy momentum equation balances material acceleration against stress divergence and body force:For an inertialess flow, the left-hand side is neglected.

Let ${\mathbf{x}}_0(\mathbf{X};\tau )$ be a family of static elastic equilibrium solutions for a homogeneous material with incompressibility under a fixed spatial body force. Replacing $\tau$ by time gives a dynamic solution of the elastic field equations exactly when the resulting material acceleration has a global acceleration potential $\xi$. At the same deformation gradient, the Cauchy stress tensor can change only by the scalar pressure reaction. Subtracting static and dynamic balance of linear momentum gives $\nabla q=\rho \mathbf{a}$, and constant mass density then gives $q=-\rho \xi +C(t)$. Surface tractions must match the adjusted Cauchy stress tensor.

For constant mass density ${\rho }_0$, a frame with constant angular velocity $\mathbf{\Omega }$ absorbs centrifugal acceleration into reduced pressure $\Pi =p/{\rho }_0-|\mathbf{\Omega }\times \mathbf{r}{|}^2/2$. Indeed $\mathbf{\Omega }\times (\mathbf{\Omega }\times \mathbf{r})=-\nabla |\mathbf{\Omega }\times \mathbf{r}{|}^2/2$. Transforming the material acceleration in the Euler equations gives the displayed equation. The Coriolis acceleration remains velocity dependent and cannot be absorbed into a scalar potential. A conservative physical body force can be included by adding its potential to $\Pi$.

The Eulerian time derivative measures a continuum field's rate of change at a fixed Eulerian coordinate. For a velocity field $\mathbf{u}$, the material derivative instead follows a fluid element and satisfies $Df/Dt={\partial }_{t}f+\mathbf{u}\cdot \nabla f$. A nonuniform steady flow has zero Eulerian time derivative of velocity but can have nonzero material acceleration.

An elastic deformation map whose deformation gradient is independent of position at each time. Its spatial material acceleration is $\mathbf{a}=\ddot{F}{F}^{-1}(\mathbf{x}-\mathbf{c})+\ddot{\mathbf{c}}$. Incompressibility requires $\det F=1$.

The material acceleration is the rate of change of velocity following a continuum parcel:

The Navier-Stokes equation is momentum conservation for a fluid with a specified viscous constitutive equation. In the incompressible Newtonian fluid model below, $\rho$ is constant mass density, $\mu$ is constant dynamic viscosity, $p$ is pressure, and $f$ is external force per unit mass.

For an incompressible Newtonian fluid of constant density and viscosity,

The left side is mass density times the material acceleration. The pressure gradient, viscous momentum transport and external forcing supply the right side. The condition $\nabla \cdot u=0$ constrains the velocity field; suitable initial and boundary conditions are still needed to determine a flow. ^[ref]

Following a fluid element. Let $\mathbf{X}(t)$ be a pathline, satisfying $\dot{\mathbf{X}}=\mathbf{u}(\mathbf{X},t)$. The material derivative, also called the Lagrangian time derivative, is the rate observed while following that element. The multivariable chain rule givesThe partial derivative holds position fixed; the advection term accounts for motion through a spatially varying field. For a vector field, the same formula applies component by component in fixed Cartesian axes.

Momentum balance. For an inviscid flow, pressure is the only surface stress. A small material volume $dV$ has net pressure force $-\nabla pdV$, obtained by the divergence theorem. Its mass is $\rho dV$ and its material acceleration is $D\mathbf{u}/Dt$. Applying Newton's second law gives the Euler equations for an inviscid fluid,This is the local momentum conservation equation when viscosity and physical body forces are absent. A prescribed body force per unit mass would add $\rho \mathbf{f}$ on the right.

Changing to rotating coordinates. In a rotating frame with constant angular velocity $\mathbf{\Omega }$, the lab acceleration is the rotating-frame material acceleration plus $2\mathbf{\Omega }\times \mathbf{u}+\mathbf{\Omega }\times (\mathbf{\Omega }\times \mathbf{r})$. ThereforeFor uniform rotation,With constant ${\rho }_0$, this gives the Euler equation in a uniformly rotating frame,The term subtracted from $p$ is the equilibrium centrifugal contribution. Dividing the bracket by ${\rho }_0$ defines a reduced pressure $\Pi =p/{\rho }_0-|\mathbf{\Omega }\times \mathbf{r}{|}^2/2$, with units ${\mathrm{m}}^2{\mathrm{s}}^{-2}$. The Coriolis acceleration remains a velocity-dependent term.

Linear disturbances. Linearize about rest in the rotating coordinates, with the equilibrium part of $\Pi$ removed. The advective acceleration is quadratic in disturbance amplitude, so the linearized Euler equations and incompressible flow condition areTaking the curl removes the pressure gradient. The identitygives the inertial-wave vorticity equation,

Plane-wave frequencies. Let $\mathbf{k}\ne 0$ and use the given plane wave convention. Incompressible flow requires $\mathbf{k}\cdot {\mathbf{u}}_0=0$, and the vorticity equation givesFor a nonzero frequency, apply $\mathbf{k}\times$ again, using $\mathbf{k}\times (\mathbf{k}\times {\mathbf{u}}_0)=-k^2{\mathbf{u}}_0$. It follows thatThis is the inertial-wave dispersion relation. If $\theta$ is the angle of the wavevector to the rotation axis, the positive angular frequency is $2|\Omega \cos \theta |$. It is largest, $2|\Omega |$, for a parallel wavevector, decreases to zero for a perpendicular one, and is independent of the magnitude of the wavenumber at fixed direction. The two signs describe the two oscillatory polarization branches. When $k_z=0$, the zero-frequency result is obtained directly from the linear equations rather than by dividing by $\omega$; it describes the nonoscillating balanced limit.

The local conservation laws. The first equation is the radial Euler equation: the material acceleration $Du/Dt={\partial }_{t}u+u{\partial }_{r}u$ is caused by the pressure gradient force per unit mass, $-{\partial }_{r}p/\rho$. It neglects gravity and viscosity. The second equation is mass conservation in spherical coordinates,The term $2\rho u/r$ appears because the area of a spherical surface grows as $r^2$.

To obtain the third equation, let $e=p/[(\gamma -1)\rho ]$ be the specific internal energy of an ideal gas with constant heat capacity ratio $\gamma$. The first law of thermodynamics for a smooth adiabatically moving element isDifferentiating $e$ and collecting terms givesand henceThus the entropy parameter $p/{\rho }^{\gamma }$ is conserved along each smooth pathline; for fixed composition, specific entropy differs from $c_v\ln (p/{\rho }^{\gamma })$ only by a constant. This is local isentropic flow behind the shock. A physical shock wave itself generates entropy and must be treated with jump conditions, rather than by applying this smooth equation across the discontinuity.

The front-radius scaling. In the self-similar blast wave approximation there is no scale set by ambient pressure, cooling, gravity, or the initial source radius. Write $R\propto E^a{\rho }_0^b{t}^d$. Using $[E]=\mathsf{M}{\mathsf{L}}^2{\mathsf{T}}^{-2}$ and $[{\rho }_0]=\mathsf{M}{\mathsf{L}}^{-3}$, dimensional analysis givesThus $a=1/5$, $b=-1/5$, $d=2/5$ andThe dimensionless coefficient ${\xi }_0$ depends on $\gamma$ and the resolved similarity profiles; dimensions alone do not fix it. Define the length scale $\ell (t)=(E{t}^2/{\rho }_0{)}^{1/5}$, so $\xi =r/\ell$ and the front is at the fixed coordinate $\xi ={\xi }_0$.

Kinetic energy. Substitute $\rho ={\rho }_0{f}_{\rho }(\xi )$ and $u=(r/t)f_u(\xi )$ into the volume integral. Since $r=\ell \xi$ and $dr=\ell d\xi$,But ${\rho }_0{\ell }^5/t^2=E$, so the first of the spherical blast-wave similarity energy integrals isThe conclusion requires a fixed, integrable similarity profile, as in the finite-energy blast solution. Expansion increases the swept-up mass while reducing the characteristic squared speed, leaving this product constant.

Pressure and internal energy. The derivatives of the similarity variable areWriting a prime for differentiation with respect to $\xi$, the material acceleration becomesThe radial momentum equation therefore requires a pressure gradient on the scale ${\rho }_0\ell /t^2$. Integrating over radius gives pressure similarity in a spherical blast wave:whereThe prefactor has units $\mathrm{kg}{\mathrm{m}}^{-1}{\mathrm{s}}^{-2}$, as required for pressure. Strictly, the momentum equation alone permits an additional pressure uniform in space and arbitrary in time. In the scale-free strong-blast solution, shock matching and the remaining thermodynamic equation fix that freedom with the same similarity scaling; any allowed constant of integration is included in $f_p$. An independently imposed external pressure would introduce another scale and invalidate the simple dimensional ansatz.

For constant $\gamma >1$, the internal energy is consequentlyIf $E$ is the total excess explosion energy, its normalization isThe two constant fractions need not be equal. No explicit solution for $f_p$ is needed to establish their time independence.

In the current configuration, balance of linear momentum is the Cauchy momentum equationHere $\tau$ is the Cauchy stress tensor, $\rho$ is current mass density, $b$ is body force per unit mass, and $v(x,t)$ is the velocity of the material particle currently at $x$. The expression in parentheses is the material acceleration. The divergence is taken in current spatial coordinates, with $(\mathrm{div}\tau {)}_i={\partial }_j{\tau }_{ij}$.

Equivalently the right side is $\rho {\partial }_t^{2}x(X,t)$ evaluated at the particle, because this is the same material acceleration in Lagrangian coordinates. For the subsequent static inflation with negligible body force, the equation reduces to $\mathrm{div}\tau =0$.

For a scalar fluid property $f(\mathbf{x},t)$, the Eulerian time derivative ${\partial }_{t}f$ measures change at a fixed Eulerian coordinate. The material derivative, also called the Lagrangian time derivative, measures change while following one fluid element. If its Lagrangian trajectory is $\mathbf{X}(\mathbf{a},t)$, where $\mathbf{a}$ is its fixed Lagrangian coordinate, then ${\partial }_t\mathbf{X}=\mathbf{u}(\mathbf{X},t)$.

The chain rule therefore givesThe last term accounts for entering a region where the property differs. For example, a spatially varying but time-independent velocity field has zero Eulerian time derivative, while a moving fluid element can have nonzero material acceleration. The same formula applies componentwise to a vector field.

At a fixed point beside a river, the Eulerian coordinate description measures $\mathbf{u}(\mathbf{x},t)$. Its local acceleration ${\partial }_t\mathbf{u}$ measures change at that fixed point. Following a floating parcel gives a Lagrangian trajectory $\mathbf{X}(t)$ satisfying $\dot{\mathbf{X}}=\mathbf{u}(\mathbf{X},t)$. The chain rule gives its physical material acceleration:The extra term is the convective acceleration. For a river that narrows steadily, an observer at one fixed position measures a constant velocity, yet a parcel speeds up as it reaches the narrowing. A parcel following a steady bend also experiences a centripetal acceleration even when its speed is constant. An Eulerian calculation of the physical acceleration must include the same convective acceleration; the two descriptions do not predict different forces.

Use pressure per unit constant density, $\pi$, with the gravitational potential and centrifugal potential absorbed into it. Strict geostrophic balance is the exact balancewith material acceleration omitted, for a homogeneous incompressible flow. Writing $f=2\Omega \ne 0$, its components are $fv={\pi }_x$, $fu=-{\pi }_y$ and ${\pi }_z=0$. Differentiating the first two equations with respect to $z$ gives $u_z=v_z=0$. Alternatively, the vector calculus identityshows, on taking the curl of the balance, that $(\mathbf{\Omega }\cdot \nabla )\mathbf{u}=0$. Thus $w_z=0$ too, proving the Taylor–Proudman theorem:The physical pressure still includes its background hydrostatic pressure; it is the reduced pressure $\pi$ that is independent of $z$. Between horizontal impermeable boundaries, the vertically constant $w$ is zero.

For boundaries $z=z_b(x,y)$ and $z=z_t(x,y)$, impermeability condition gives $w_b={\mathbf{u}}_H\cdot {\nabla }_H{z}_b$ and $w_t={\mathbf{u}}_H\cdot {\nabla }_H{z}_t$. A nearly columnar flow crossing contours of $H=z_t-z_b$ must therefore have $w_t-w_b\simeq {\mathbf{u}}_H\cdot {\nabla }_{H}H\ne 0$. Exact columnarity must give way to small corrections from ageostrophic flow. The leading horizontal geostrophic flow can remain nearly independent of $z$, and the leading reduced pressure has ${\pi }_z=0$, but $w_z$ is now nonzero and exact three-dimensional strict geostrophic balance no longer holds. For small slopes, the dominant vertical vorticity equation iswhere $q=v_x-u_y$ is relative vorticity. Equivalently, $D[(q+f)/H]/Dt\simeq 0$. Crossing geostrophic contours stretches or squashes columns: increasing $H$ produces cyclonic relative vorticity, decreasing $H$ produces anticyclonic relative vorticity. The full vorticity equation also contains tilting terms, neglected at this columnar order.

For the circular shallowing, fluid arriving from upstream has potential vorticity $f/h$. Its height is $h(1-ϵ)$ inside, so conservation givesThis uses the stated column-stretching description and initially open streamlines. To obtain the leading disturbance velocity field, use the conventional streamfunction definition $u=-{\Psi }_y$, $v={\Psi }_x$, and write $\Psi =-Uy+\psi (r)$. Then $q={\nabla }_H^2\psi =r^{-1}(r{\psi }_r{)}_r$. Regularity at $r=0$ gives ${\psi }_r=-fϵr/2$ inside. Outside, ${\psi }_r=B/r$; matching tangential velocity at $r=a$ fixes $B=-fϵa^2/2$. Choose the irrelevant additive constant so thatBoth $\psi$ and ${\psi }_r$ match at $a$, so there is no extra vorticity sheet on the rim. This is the circular topographic anticyclone. The radial expression specifies the disturbance; the complete streamfunction is $\Psi =-Uy+\psi$, since a radial function alone cannot represent the required uniform far-field current. Reversing the streamfunction sign convention reverses the displayed proportionality constant, but leaves the physical velocity unchanged.

Differentiation gives the full relative velocity field in the rotating frame:away from the narrow transition across the change of depth. The disturbance turns clockwise for $fϵ>0$ and decays as $1/r$. The horizontal field is the leading small-$ϵ$ columnar inversion: the exact variable-depth transport across a sharp rim needs higher-order corrections, rather than an exactly two-dimensional velocity continuous across a literal vertical step.

Take $U>0$ and $ϵ>0$. The greatest opposing zonal disturbance speed is $Ca$, attained at $(0,-a)$. If $Ca<U$, then $u>0$ everywhere and every particle advances in $x$, precluding closed streamlines. If $Ca>U$, the interior stagnation point $(0,-U/C)$ is a center, since the interior contours are circles about that point. The exterior stagnation point $(0,-C{a}^2/U)$ is a saddle: linearization there has real eigenvalues of opposite sign. Closed contours around the center are bounded by a separatrix through the saddle. The two points meet at the rim at onset, giving the closed-streamline threshold for a circular topographic anticyclone:At this threshold $U/(fa)=ϵ/2\ll 1$, consistent with small Rossby number. Equality is the onset, not a finite-area closed cell. Beyond onset, upstream data alone no longer determine the potential vorticity of trapped fluid; the threshold follows from the continuation of the supplied open-flow model.

For $\gamma =5/3$, the shock data give ${\rho }_{\mathrm{ps}}=4{\rho }_0$ and $u_{\mathrm{ps}}=3V_s/4$. Since $V_s=R/(3t)$, the prescribed homologous spherical flow isPut $\xi =r/R(t)$ and $\rho ={\rho }_{0}D(\xi )$. The spherical continuity equation becomesso $D\propto {\xi }^9$. Matching the post-shock density givesThe material acceleration isThe radial Euler equations for an inviscid fluid thus give $dp/dr=3\rho r/(16t^2)$. Integrating from the centre to the shock,Since $p_{\mathrm{ps}}={\rho }_0{R}^2/(12t^2)$,

A Newtonian fluid exerts viscous shear stress proportional to the rate of strain. For an incompressible fluid of constant dynamic viscosity $\eta$,The local momentum balance is the Navier-Stokes equation:The left side is density times material acceleration. A steady velocity field can still have convective acceleration when a moving parcel changes speed or direction; setting $\partial \mathbf{u}/\partial t=0$ does not eliminate it.

The Reynolds number $\mathrm{Re}=\rho UL/\eta$ compares inertia with viscous effects. At low Reynolds number, the fluid's own inertia can often be neglected, giving Stokes flow. This does not say that every immersed body has zero acceleration: its mass and the net pressure, viscous and body forces still enter its own equation of motion.

For a small rigid sphere moving through a slowly varying viscous background, Stokes drag is $-6\pi \eta a(\mathbf{v}-\mathbf{u})$. In still fluid, a simple settling model includes weight, buoyancy and drag:Ignoring fluid added mass and unsteady history forces, this gives relaxation time $m/(6\pi \eta a)$ and terminal velocityAt the terminal velocity the net force and acceleration vanish, while viscous drag and gravity remain individually nonzero. The dissipated power $6\pi \eta a{v}_t^2$ is supplied by the loss of gravitational potential energy relative to buoyant support. The creeping-flow and quasisteady-drag assumptions must be checked before applying this expression at large speed or immediately after a rapid start.

The first equation is the local balance of linear momentum. Use $\mathsf{M},\mathsf{L},\mathsf{T}$ for the dimensions of mass, length, and time, to distinguish dimensional time from the Cauchy stress tensor $\mathbf{T}$.

Here $t$ has dimension $\mathsf{T}$. The hypothesis ${\partial }_t\mathbf{b}=0$ means that the prescribed spatial body force field is the same for every member of the static family and the resulting motion.

For a twice continuously differentiable scalar potential, mixed second partial derivatives commute. Taking the spatial curl of the equation from part (i) givesFor example, its first component is $-{\partial }_2{\partial }_3\xi +{\partial }_3{\partial }_2\xi =0$. The curl acts on the spatial representation of the material acceleration, not directly on its expression in reference coordinates.

This is a necessary local condition. It is sufficient locally, and sufficient globally on a simply connected domain under the usual smoothness assumptions. On a domain with holes, a global scalar potential additionally requires every closed-loop line integral of the material acceleration to vanish. The homogeneous motion in part (c) admits an explicit global scalar potential, so this topological qualification causes no obstruction there.

Take two time derivatives at fixed reference position $\mathbf{X}$:The constraint $\det \mathbf{F}=1$ ensures that the deformation gradient is invertible, so $\mathbf{X}={\mathbf{F}}^{-1}(\mathbf{x}-\mathbf{c})$. Thus the spatial material acceleration is the affine vector fieldIts spatial gradient is $\mathbf{A}$, and its curl isPart (b)(iii) therefore requiresEquivalently, multiplying on the left by ${\mathbf{F}}^T$ and on the right by $\mathbf{F}$ givesThe translation $\mathbf{c}(t)$ contributes no spatial curl and is unrestricted by this condition. A useful equivalent first integral isthe antisymmetric matrix in parentheses must be constant, and need not vanish. The separate constraint $\det \mathbf{F}=1$ is still required; differentiating it also gives $\mathrm{tr}(\dot{\mathbf{F}}{\mathbf{F}}^{-1})=0$.

The condition is understood in the setting of part (b), where a static family already exists under the prescribed body force. For a homogeneous elastic deformation gradient, the elastic stress $\mathbf{S}(\mathbf{F})$ is spatially constant. Static balance of linear momentum consequently gives $\nabla p_0=\rho \mathbf{b}$, ensuring that $\mathbf{b}$ has a scalar potential. If the static-family assumption were dropped and an arbitrary time-independent body force allowed, the general necessary condition would instead be $\nabla \times \ddot{\mathbf{x}}=\nabla \times \mathbf{b}$.