Stokes flow

Stokes flow is the zero-Reynolds-number limit in which viscous and pressure forces balance while fluid inertia is neglected.

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.

A slender low-viscosity fluid column inside a much more viscous fluid rises under a density contrast. At negligible inertia, its axial flux is approximately $q=\pi a^4(\Delta \rho g-P_{i,z})/(8{\mu }_i)$. Radial expansion strains the outer fluid and gives the normal-stress pressure difference $P_i-P_o=2{\mu }_o{a}_t/a$ at leading order when inner normal viscous stress and interfacial tension are negligible. Coupling that pressure to volume conservation yields the conduit equation. This two-fluid viscous model differs from a turbulent entraining thermal plume.

The conduit equation evolves the positive cross-sectional area $A$ of a viscous buoyant conduit. Its scaling uses axial length $a_0/\sqrt{8\lambda }$ and velocity $\Delta \rho g{a}_0^2/(8\lambda {\mu }_o)$, where $\lambda ={\mu }_i/{\mu }_o$. Linearization at $A=1$ gives $\omega =2k/(1+k^2)$: phase velocity is upward but group velocity changes sign at $|k|=1$. Nonlinear elevation waves obey the solitary-wave amplitude-speed relation for the conduit equation.

A positive travelling wave $f$ on a uniform background $f_0$ has first integral $c{f}^{\prime 2}/(2f^2)+V(f)=V(f_0)$, with $V(f)=\ln f+c/f+(f_0^2-c{f}_0)/(2f^2)$. Equating the crest and background potentials gives the displayed speed relation for crest ratio $\alpha >1$. The elevation-wave speed exceeds $2f_0$ and approaches that long-wave speed as $\alpha \to 1$. The formula requires the positive-area branch, rather than continuation through $f=0$.

Bodies immersed in one fluid affect each other through the flow that each produces. At large separation, a force-driven sphere generates a Stokeslet that modifies the other sphere's velocity. These interactions produce off-diagonal entries in the hydrodynamic mobility matrix.

Two spheres whose prescribed translations have a phase lag can exert a nonzero mean force on the fluid while each returns to its starting position. Their changing separation correlates the interaction strength with the other sphere's velocity. This pump is externally driven, so it is distinct from force-free swimming governed by the scallop theorem.

The centre separation for equal-amplitude oscillations has minimum ${\ell }_0-2\delta |\sin (\varphi /2)|$. A bound ${\ell }_0\ge \delta$ alone cannot guarantee nonoverlap. An asymptotic mobility calculation needs this minimum much larger than the sphere radii.

For equal oscillation amplitudes $\delta$, frequency $\omega$, mean separation ${\ell }_0$ and phase lag $\varphi$, the leading mean total force on the fluid is $9\pi \mu a_1{a}_2{\delta }^2\omega \sin \varphi /{\ell }_0^2$. Each sphere supplies half. The large-separation calculation expands the Stokeslet interaction; reciprocal in-phase and antiphase motions have zero mean force.

For well-separated spheres moving along their line of centres, the leading mobility matrix has diagonal entries $m_i=(6\pi \mu a_i{)}^{-1}$ and off-diagonal entries $h=(4\pi \mu \ell {)}^{-1}$. This is the axial Stokeslet interaction. Finite-size and repeated-reflection corrections enter at higher order.

The symmetric first moment of the traction exerted by a rigid inclusion, with the surface normal pointing into the inclusion. Its contraction with the background rate-of-strain tensor is the strain-related contribution to extra dissipation due to a rigid inclusion. A trace-free version is equivalent for an incompressible flow. This tensor is distinct from the axisymmetric force-dipole flow used as a far-field singularity.

Let the ambient velocity be $\mathbf{Ex}$, with $\mathbf{E}$ symmetric and trace free, and centre a rigid sphere of radius $a$ at the origin. It is force-free and torque-free, with zero translation and rotation. Its disturbance isThe total velocity vanishes at $r=a$, and the leading disturbance is a stresslet. Harmonic dipole and quadrupole potentials in the Papkovich–Neuber representation give the complete field.

For an incompressible Newtonian fluid with negligible inertia, the Stokes equations are

The Stokes equation is linear in velocity, pressure, body force, and boundary data. Solutions may therefore be superposed, and rigid-body velocities depend linearly on applied forces and torques.

With prescribed velocity on the boundary and suitable decay or far-field data, a Stokes flow is unique up to an additive pressure constant. Applying the viscous dissipation identity to the difference of two solutions makes its rate-of-strain tensor vanish; the homogeneous boundary data then eliminate the remaining rigid motion.

Let a viscous layer occupy $0<y<h(t)$, with no slip at $y=0$, zero tangential traction at $y=h$, and exterior pressure $p_0-{\rho }_a{E}^2{x}^2/2$. The Cartesian streamfunction ansatz $\psi =xf(y)$ reduces the Stokes equations to $f^{(4)}=0$. The resulting surface velocity isso the positive thinning rate is $-\dot{h}={\rho }_a{E}^2{h}^3/(3\mu )$.

A Stokeslet is the velocity field produced by a point force $\mathbf{F}$ in an unbounded three-dimensional Stokes fluid:

Differentiating the Stokeslet gives its rate-of-strain tensor and vorticity, displayed above for $r=|\mathbf{x}|>0$. The pressure is $p=\mathbf{F}\cdot \mathbf{x}/(4\pi r^3)$. Integrating the Newtonian fluid stress tensor over a sphere enclosing the origin gives traction resultant $-\mathbf{F}$, fixing the point-force normalization.

An impermeable stress-free plane is enforced for a normally oriented Stokeslet by an oppositely directed image Stokeslet at the reflected point. Two equal normal point forces at the same depth then attract laterally through their image flows.

Slender-body theory approximates the hydrodynamic force on a long thin body by a force density determined primarily by its local tangent and velocity, with logarithmic dependence on the aspect ratio.

For a straight rod $\mathbf{X}=s\mathbf{p}$, $-L<s<L$, leading slender-body theory uses $\mathbf{f}=C(I-\mathbf{pp}/2)[\Delta \mathbf{U}+s(\Delta \mathbf{\Omega }\times \mathbf{p}-E\mathbf{p})]$. Integration gives $\mathbf{F}=2CL(I-\mathbf{pp}/2)\Delta \mathbf{U}$ and $\mathbf{G}=(2C{L}^3/3)[(I-\mathbf{pp})\Delta \mathbf{\Omega }-\mathbf{p}\times E\mathbf{p}]$. Axial spin is outside this centreline approximation.

The orientation of a force-free, torque-free infinitely slender straight rod follows background rotation plus the transverse component of strain. The last term preserves $|\mathbf{p}|=1$. Finite aspect ratio changes the strain coefficient and permits periodic tumbling in a simple shear flow.

A force-free, torque-free straight rod contributes a particle stresslet tensor $(C{L}^3/3)(\mathbf{p}\cdot E\mathbf{p})\mathbf{pp}$. Its extra viscous dissipation is $(C{L}^3/3)(\mathbf{p}\cdot E\mathbf{p}{)}^2$. In a simple shear flow, $\dot{\theta }=-\gamma {\sin }^2\theta$; the dissipation is greatest along the extensional or compressional axes and vanishes at flow and gradient alignment.

At leading logarithmic order, a straight slender rod with unit tangent $\mathbf{t}$ and local velocity $\mathbf{v}$ exerts force per unit lengthwhere $C$ depends logarithmically on the rod aspect ratio.

For two perpendicular rods of length $2L$ joined at one endpoint, the slender-body force density gives translation resistance $CL\mathrm{diag}(3,3,4)$, rotation resistance $C{L}^3\mathrm{diag}(8/3,8/3,16/3)$, and translation–rotation block $C{L}^2\left(\begin{array}{ccc}0& 0& -2\\ 0& 0& 2\\ 2& -2& 0\end{array}\right)$. The opposite block is its transpose. Here $G$ is the torque about the joint and $F$ the force on the fluid. Integrating along each rod proves the entries and makes the symmetry and positivity of a rigid-body resistance matrix explicit.

Attach weights $mg$ at the joint and $\lambda mg$ at each outer endpoint of the right-angle two-rod resistance matrix geometry. With the first rod initially horizontal and the second vertically upwards, quasistatic Stokes flow gives $\dot{\theta }=(1-\lambda )mg(\cos \theta -\sin \theta )/(4C{L}^2)$. For $\lambda <1$ the orientation tends to $\pi /4$; for $\lambda >1$ it tends to $-3\pi /4$. Eliminating time gives $x-x_0=(2L/3)(1+\sin \theta -\cos \theta )$ and the same rightward net displacement $2L/3$ in both cases. For $\lambda >1$ the initial drift is leftwards before reversing. At $\lambda =1$ there is no rotation or lateral drift, illustrating noncommuting infinite-time and parameter limits.

For radius $b$, arc length $L$, tangent angle $\varphi$ to the horizontal plane, and local drag coefficient $C$, resistive-force theory givesThe sign of $B$ selects the handedness convention. With the force exerted on the fluid taken positive, $AD-B^2=C^2{L}^2{b}^2/2>0$. Translation-rotation coupling supplies propulsion for a rotating helical microswimmer with a spherical head.

Local resistive-force theory for a helix gives $AD-B^2={\ell }^2{a}^2{\xi }_{\parallel }{\xi }_{\perp }$. Positive local drag therefore guarantees a positive-definite axial resistance matrix and positive viscous power loss. The identity also keeps the denominator in counterrotating two-helix balances positive.

Mirroring the handedness of a helix reverses its axial translation-rotation coupling coefficients while preserving its pure translation and rotation resistances. With $\mathbf{t}=\cos \theta {\mathbf{e}}_z-\sin \theta {\mathbf{e}}_{\phi }$ for a left-handed helix and the force-on-body convention, $B=C=\ell a({\xi }_{\perp }-{\xi }_{\parallel })\sin \theta \cos \theta$.

At fixed orientation, linearity of Stokes flow relates a rigid body's translational velocity $\mathbf{U}$ to the hydrodynamic force $\mathbf{F}$ byThe Lorentz reciprocal theorem makes $\mathbf{R}$ symmetric, and positive viscous dissipation makes it positive definite.

With a consistent force convention, the mobility matrix maps applied generalized forces to rigid-body velocities; it is the inverse of the hydrodynamic resistance matrix. For a sphere with force on the fluid $\mathbf{F}$, its isolated mobility is $1/(6\pi \mu a)$. Coupling between bodies represents hydrodynamic interactions.

Here $\mathbf{F},\mathbf{G}$ are forces and torques exerted by the body on the fluid, or the external force and torque needed to maintain its motion. The Lorentz reciprocal theorem for Stokes flow makes the six-dimensional hydrodynamic resistance matrix symmetric. The power identity $\mathbf{F}\cdot \mathbf{U}+\mathbf{G}\cdot \mathbf{\Omega }=2\mu \int e:edV$ makes it a positive-definite matrix for a body moving in otherwise stationary unbounded fluid.

For two Stokes velocity-stress fields in the same domain,It follows by integrating the divergence of the corresponding cross-work flux and using symmetry of the Newtonian stress.

For an incompressible Newtonian fluid, the nonnegative rate at which viscosity converts mechanical energy into heat is

Among all incompressible velocity fields with the same prescribed boundary velocity and far-field behavior, the Stokes flow minimizes viscous dissipation. If $\mathbf{v}=\mathbf{u}+\mathbf{w}$, where $\mathbf{u}$ is the Stokes solution and $\mathbf{w}$ has homogeneous boundary data, integration by parts and the Stokes equation eliminate the cross term, leaving

At fixed outer boundary velocity, extending the inclusion velocity rigidly through its interior makes the particle flow an admissible competitor for the particle-free Minimum-dissipation theorem for Stokes flow. Its interior rate-of-strain tensor vanishes. For a linear background, the increase in viscous dissipation is force times relative translation, torque times relative rotation, plus the contraction of the particle stresslet tensor with background strain.

A dilute suspension of identical rigid spheres raises the dynamic viscosity by a fraction $5\varphi /2$, where $\varphi$ is the particle volume fraction. At imposed trace-free rate-of-strain tensor $E$, a sphere of radius $a$ adds viscous dissipation $20\pi \mu a^3(E:E)/3$. Multiplication by the number density $3\varphi /(4\pi a^3)$ gives $5\mu \varphi E:E$, which added to $2\mu E:E$ proves the formula. This is the leading noninteracting-sphere term; hydrodynamic interactions enter at higher concentration.

The Minimum-dissipation theorem for Stokes flow compares fields with fixed boundary velocities. Introducing a freely moving rigid inclusion can reduce velocity and total power at fixed applied force while increasing the resistance at fixed velocity. Extending the inclusion's rigid velocity through its interior adds zero viscous dissipation and gives a trial field in the domain without that inclusion, proving the fixed-velocity comparison.

Taking the curl of the planar Stokes equation makes vorticity harmonic. Since vorticity is minus the Laplacian of the stream function,

Incompressibility and periodicity imply that the spatial mean of the normal velocity is constant with height. Zero normal flow at infinity therefore requires zero mean normal boundary velocity. In the bounded biharmonic stream function for planar Stokes flow solution, the mean streamfunction is a constant plus a term linear in height.

For $\psi =r^{2}f(\theta )$, biharmonicity gives
$f^{(4)}+4f^{\prime \prime }=0$. In the wedge $-\alpha <\theta <0$, no slip at the lower wall and no penetration plus tangential stress $S$ at the upper surface giveThe resulting surface speed is

An inner cylinder of radius $a$ centered at $(0,a)$ and an outer cylinder of radius $2a$ centered at $(0,2a)$ have polar boundaries $r=2a\sin \theta$ and $r=4a\sin \theta$. If their angular velocities are $\Omega$ and $-\Omega /4$, respectively, the no-slip Stokes flow between them has streamfunctionIts unique interior stagnation point is $(x,y)=(0,2\sqrt{2}a)$, and its nonzero streamlines are closed curves around that point.

For a stationary disk of radius $a$ in the far-field shear $u_{\infty }=\gamma y{e}_x$, using $u_r={\psi }_{\theta }/r$ and $u_{\theta }=-{\psi }_r$, the exterior solution isIt satisfies no slip at $r=a$ and approaches the imposed shear in velocity.

The surface shear stress isThe torque exerted by the fluid on the disk per unit axial length is therefore

Divergence and curl of $-\nabla p+\mu {\nabla }^{2}u=0$ with $\nabla \cdot u=0$ give ${\nabla }^{2}p=0$ and ${\nabla }^2\omega =0$.

Writing $u=A(r)U+B(r)(U\cdot x)x$ reduces its gradient to radial derivatives of $A,B$ plus the product rule for $(U\cdot x)x$.

For the classical translating-sphere solution, $\omega =(3a/(2r^3))U\times x$.

Since ${\nabla }^2(1/r)=0$ away from the origin, every constant-coefficient derivative of $1/r$ is harmonic there as well.

For $u=A(r)U+B(r)(U\cdot x)x$, its divergence is $(U\cdot x)(A^{\prime }/r+r{B}^{\prime }+4B)$, which vanishes for the translating-sphere coefficients.

On the sphere, pressure and the normal part of the viscous stress cancel, leaving uniform traction $-3\mu U/(2a)$.

Integrating the translating-sphere traction gives the drag force $F=-6\pi \mu aU$.

A spherical clean bubble with negligible internal dynamic viscosity has zero tangential traction and permits tangential slip. In the creeping-flow, negligible-deformation limit its drag is $-4\pi \mu a\mathbf{U}$, versus $-6\pi \mu a\mathbf{U}$ for a no-slip rigid sphere.

The Stokes–Einstein relation connects translational diffusion and linear drag through $D=k_{B}T/\zeta$. For an unbounded spherical particle, $\zeta =6\pi \mu a$ and $D=k_{B}T/(6\pi \mu a)$.

Linearity of the Stokes equations implies that reversing all imposed forces and boundary velocities reverses the entire velocity field and retraces particle paths.

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 swimmer with a reciprocal shape stroke cannot achieve net locomotion in an inertia-free Newtonian fluid. A single real shape coordinate that retraces an interval gives a reciprocal cycle. The conclusion concerns free swimming; externally imposed translations can instead force and pump the fluid.

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.

For concentric spheres of radii $a<b$, with the inner sphere rotating at angular velocity $\mathbf{\Omega }$ and the outer sphere fixed, the Stokes velocity isThe pressure is constant, and may be set to zero.

The torque transmitted across any concentric sphere isIt approaches $8\pi \mu a^3\mathbf{\Omega }$ when $a\ll b$, and for a thin gap $h=b-a\ll a$ it approaches

Every homogeneous Stokes flow can be represented using a harmonic vector field $\mathbf{\Phi }$ and harmonic scalar $\chi$ as

After rescaling the harmonic potentials, the Papkovich–Neuber representation may be written

A sphere of radius $a$ rotating with angular velocity $\mathbf{\Omega }$ in otherwise stationary unbounded fluid producesThe fluid exerts the resisting torque $-8\pi \mu a^3\mathbf{\Omega }$ on the sphere.

A rotlet is the singular Stokes flow generated by a point torque $\mathbf{G}$:It is the far field of a rotating sphere in Stokes flow.

A rotlet dipole is the derivative of a rotlet along the separation of two opposed torques. A torque-free bacterium can have this far field because its rotating flagella and counterrotating body exert spatially separated internal torque reactions. The displayed axial formula uses the observation-coordinate derivative convention and signed torque moment $D$.

At a flat shear-free impermeable plane, a tangential torque is reflected with opposite sign because torque is an axial vector. A parallel axial rotlet dipole therefore has an opposite signed moment at the reflected source. Its velocity vanishes at the point directly beneath the image, but its velocity gradient can turn the swimmer.

For an axial rotlet dipole parallel to a flat free surface, its reflected image gives the displayed normal vorticity at height $h$. A spherical torque-free body responds with angular velocity ${\omega }_z/2$ and an elongated body also responds to strain. At constant height, self-propulsion plus yaw gives a circular path; the signed moment sets its handedness.

A sphere of radius $a$ translating with velocity $\mathbf{U}$ through otherwise stationary fluid hasIts surface traction integrates to the Stokes drag law.

A fixed sphere in a slowly varying incident Stokes flow requires an external force $\mathbf{F}=-6\pi \mu a{\mathbf{u}}_{\infty }$ and external couple $\mathbf{G}=-4\pi \mu a^3{\mathbf{\omega }}_{\infty }$ to leading order. These follow from Faxén translation law and Faxén rotation law; the incident Stokeslet supplies ${\mathbf{u}}_{\infty }$ and ${\mathbf{\omega }}_{\infty }$. Finite-radius Laplacian terms enter the translational force at the next nonzero order. The signs here refer to applied holding loads, not hydrodynamic loads.

For a sphere of radius $a$ in a slowly varying ambient Stokes flow ${\mathbf{u}}_{\infty }$, the translational force isevaluated at the sphere centre.

For two equal, well-separated spheres, the Rotne--Prager cross-mobility through order $a^3/R^3$ is proportional to

A passing forced sphere advects a distant force-free sphere along a curved trajectory. Its longitudinal displacement can diverge logarithmically even when its transverse displacement approaches a finite value.

For a sphere of radius $a$ in a slowly varying ambient Stokes flow of vorticity ${\mathbf{\omega }}_{\infty }$, its angular velocity and applied torque obeyat the sphere centre.

The method of reflections successively scatters the disturbance from each rigid body off every other body to enforce their boundary conditions. For well-separated particles, each reflection is smaller by a power of particle size over separation.

For equal spheres of radius $a$ separated by $R\gg a$, one held fixed and the other forced with $\mathbf{F}=6\pi \mu a\mathbf{V}$, put $\zeta =6\pi \mu a$, $\mathbf{n}=\mathbf{X}/R$ and $\mathsf{A}=3a(I+\mathbf{nn})/(4R)$. The method of reflections for Stokes flow gives $\mathbf{U}=\mathbf{V}-{\mathsf{A}}^2\mathbf{V}+O(V{a}^4/R^4)$, since the fixed sphere creates the reflected Stokeslet with force $-6\pi \mu a\mathsf{A}\mathbf{V}$. The leading hydrodynamic mobility matrix correction therefore reduces longitudinal motion more strongly than transverse motion.

In a planar force-driven encounter with a fixed equal sphere and positive impact parameter $b\gg a$, the mobility correction from a fixed distant sphere gives $Y-b=27a^{2}b/[32(X^2+b^2)]+O(a^4/b^3)$. The moving sphere reaches maximum deflection $27a^2/(32b)$ and rotates clockwise through $9\pi a^2/(32b^2)$ to leading order. The spin is obtained by integrating half the reflected Stokeslet vorticity, as prescribed by Faxén rotation law. These numerical formulas require a distant encounter.

For a two-mode tensorial squirmer flow of radius $a$ and a passive equal sphere held at $X=Re$, with $a/R\ll 1$, let $s=e\cdot Be$. Faxén's first law gives holding force $F_h=-9\pi \mu a^{3}se/R^2+O(\mu a^4|A|/R^3+\mu a^5\Vert B\Vert /R^4)$. Its reflected Stokeslet changes swimming velocity by $-9a^{3}se/(4R^3)$. Since this leading force is radial, its vorticity at the swimmer vanishes. The next holding force, generated by the potential dipole, yields rotation $a^{4}A\times X/(4R^6)$. Terms from the passive sphere's finite radius, reflected stresslet and rotlet are needed at higher order. These formulas assume fixed slip and no externally applied swimmer force or torque.

In the preceding two-sphere geometry, holding the second sphere's angular velocity at zero needs a torque $\mathbf{G}=-4\pi \mu a^3{\mathbf{\omega }}_{\infty }$. Its rotlet addsto the first sphere's velocity, in addition to the self-mobility correction from a distant force-free sphere. This leading constraint correction is transverse to the line of centres.

For two equal spheres of radius $a$ separated by $\mathbf{R}$, let the first have applied force $\mathbf{F}$ and let the second be force-free and torque-free. With ${\mathbf{U}}_0=\mathbf{F}/(6\pi \mu a)$, the leading reflected stresslet changes the first velocity byThe distant sphere's freely translating and rotating rigid motions remove its monopole force and torque fields; its incident rate-of-strain tensor produces the first self-mobility correction.

For a forced sphere and a distant equal force-free, torque-free sphere, the leading incident Stokeslet strain is proportional to $(\mathbf{U}\cdot \mathbf{n})(I-3\mathbf{nn})$. Its reflected stresslet is axisymmetric about the line of centers and has zero vorticity on that line. The nominal fifth-order self-spin coefficient therefore vanishes. Finite-size incident-strain corrections and higher force-free scattering multipoles first supply a generic seventh-order angular velocity. Purely longitudinal forcing has zero spin exactly by axial symmetry. The leading translation correction is fourth order for a generic orientation, but sixth order for purely transverse forcing. These cancellations matter when using the method of reflections for Stokes flow to infer orders from far-field decay alone.

A torque-driven sphere advects and rotates a distant force-free sphere through its rotlet. The incident rate of strain makes the second sphere emit a stresslet; the vorticity of that reflected field supplies the first correction to the original sphere's angular velocity.

A microswimmer is a microscopic body that propels itself through a fluid. At small Reynolds number its motion is governed by Stokes flow, and self-propulsion must respect the force-free and torque-free conditions.

Two coaxial opposite-handed helices linked by an internal motor share a translation speed but counterrotate. In an additive local-drag model, a length ratio $n$ multiplies the second helix's diagonal resistances by $n$ and reverses its coupling. With ${\Omega }_1-{\Omega }_2=\omega$, force and torque balance give $U=-2nBD\omega /[AD(1+n{)}^2-B^2(1-n{)}^2]$.

As the length ratio of an opposite-handed reaction helix tends to infinity, its translation and rotation tend to zero as $1/n$, while the finite first helix rotates at almost the full motor rate. Small motions of the long rotor balance finite force and torque. The common propulsion vanishes in this limit of the additive model.

If the second rotor has zero drag, it cannot supply reaction torque. The single remaining helix must be both force-free and torque-free; a positive-definite resistance matrix forces its translation and rotation to vanish. The relative motor motion is absorbed by the zero-resistance rotor.

Equal local resistance magnitudes and opposite coupling signs give ${\Omega }_1=\omega /2$, ${\Omega }_2=-\omega /2$ and $U=-B\omega /(2A)$. Translation-induced torques cancel, while propulsive forces add because handedness and rotation both reverse.

For a flagellum with axial resistance matrix of a slender helix and a head with resistances $A_0=6\pi \mu a$, $D_0=8\pi \mu a^3$, neglect interactions between the parts. A motor with relative angular velocity $\omega$ givesThe head rotates at $\Omega -\omega$. A large head creates excessive translational resistance; a small head supplies too little rotational resistance, allowing the head to counterrotate while the flagellum barely moves relative to the fluid.

When head translation is weakly resisted compared with the flagellum but head rotation is strongly resisted, $A_0\ll A$ and $D_0\gg D$. Then $U\simeq -B\omega /A=\omega b\sin \varphi \cos \varphi /(1+{\cos }^2\varphi )$. Maximizing this expression gives the displayed pitch and speed for the chosen handedness and positive $\omega$.

A squirmer is an idealized spherical microswimmer propelled by a prescribed tangential surface slip velocity. The Lorentz reciprocal theorem for Stokes flow determines its rigid translation and rotation without solving its complete exterior flow.

For a sphere of radius $a$ with prescribed surface slip $u^{\prime }$ and zero external torque, the Lorentz reciprocal theorem for Stokes flow giveswhere $n$ points from the sphere into the fluid. Use an auxiliary rotating sphere in Stokes flow with arbitrary angular velocity $\hat{\Omega }$ and traction $-3\mu \hat{\Omega }\times n$. The actual torque-free cross-work vanishes. Substituting the boundary velocity $\Omega \times an+u^{\prime }$ into the other cross-work leaves $-8\pi \mu a^3\hat{\Omega }\cdot \Omega -3\mu \hat{\Omega }\cdot \int n\times u^{\prime }=0$. A possible translation contributes zero because the auxiliary net force is zero.

A spherical squirmer can rotate without disturbing the surrounding fluid if its prescribed surface slip exactly cancels the velocity of rigid rotation: $u^{\prime }=-\Omega \times an$. The laboratory-frame boundary velocity is then zero. Uniqueness of Stokes flow with decay at infinity gives identically zero exterior velocity. In particular $u^{\prime }=b_0\sin \theta e_{\varphi }$ gives $\Omega =-(b_0/a)e_z$. The cancellation concerns the total fluid boundary velocity, not the solid material's angular velocity.

A spherical squirmer with tangential surface slip velocity $(I-nn)(A+Bn)$, where $B$ is a symmetric second-rank tensor and a traceless second-rank tensor, translates with $U=-2A/3$ and does not rotate in an unbounded quiescent fluid. With $S=x\cdot Bx$ its exterior Stokes flow isThis follows from the Unscaled Papkovich–Neuber representation using harmonic functions as potentials $\Phi =-a^{2}Bx/(2r^3)$ and $\chi =a^{3}A\cdot x/(3r^3)+a^{4}S/(2r^5)$. Matching the surface coefficients proves the formula. The two modes generate a potential dipole and a stresslet, respectively.