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Choose a length $\ell$, velocity $U_s$, time $\ell /U_s$, and pressure $\rho U_s^2$, giving Reynolds number $Re=U_s\ell /\nu$. Write perturbation velocity as $(u,v,w)$ and let $\mathcal{L}={\partial }_t+U{\partial }_x-R{e}^{-1}{\nabla }^2$. Linearizing the incompressible Navier-Stokes equations givesTaking the divergence gives ${\nabla }^{2}p=-2U^{\prime }{v}_x$. Applying ${\nabla }^2$ to the wall-normal momentum equation and usingthen cancels the pressure derivatives and yields $\mathcal{L}{\nabla }^{2}v-U^{\prime \prime }{v}_x=0$. Define wall-normal vorticity $\eta =u_z-w_x$. Applying ${\partial }_z$ to the streamwise equation minus ${\partial }_x$ to the spanwise equation gives $\mathcal{L}\eta =-U^{\prime }{v}_z$.

For the assumed normal modes, set $D=d/dy$ and ${\kappa }^2={\alpha }^2+{\beta }^2$. The two equations become the Orr-Sommerfeld equation and Squire equation:At rigid no-slip walls the conditions are $\hat{v}=D\hat{v}=\hat{\eta }=0$ for nonzero horizontal wavenumber.

In two dimensions at nondimensional streamwise wavenumber one, incompressibility gives $i\hat{u}+D\hat{v}=0$, so $\hat{u}=iD\hat{v}$. The spanwise vorticity is the $z$ component of the curl:ConsequentlyThe symbol $\hat{\omega }$ here denotes a vorticity amplitude, not the temporal frequency used elsewhere. In dimensional variables, ${\hat{\zeta }}^{\ast }=-i(D_{\ast }^2-(k^{\ast }{)}^2){\hat{v}}^{\ast }/k^{\ast }$, with the same sign convention.

Adopt the Boussinesq approximation, hydrostatic approximation, traditional approximation, and inviscid quasi-geostrophic approximation. Assume stable constant $N_0^2>0$, nonzero Coriolis parameter $f_0$, a beta plane, small Rossby number, $\beta L/|f_0|$ of that small order, and small displacement of the background stratification. Vertical advection of the buoyancy perturbation is then higher order. Define the quasi-geostrophic streamfunction byThe buoyancy and vertical vorticity equations at the retained order areDifferentiate the first in $z$. Since $J({\psi }_z,{\psi }_z)=0$, its material-derivative term becomes $f_0{D}_g{\psi }_{zz}$. Elimination of $w_z$ gives diabatically forced quasi-geostrophic potential vorticity:Thus it is the height gradient of heating, rather than heating alone, that produces potential vorticity at this order.

For the steady response linearized about rest, assume $\beta \ne 0$. The quasi-geostrophic potential-vorticity equation reduces to $\beta {\psi }_x=f_0{R}_z/N_0^2$. Choosing the horizontally uniform pressure gauge so that $\psi \to 0$ in the east gives the steady quasi-geostrophic response to localized heatingSetUsing the error function to integrate the Gaussian function givesThese velocities vanish as $x\to +\infty$. A depth-dependent but horizontally uniform addition to $\psi$ is dynamically irrelevant for the requested horizontal velocity. At $z=0$, streamlines are contours of $e^{-y^2/L^2}I(x)$. For $f_0,\beta ,R_0>0$, flow approaches the heating region from the west on its northern side, turns southward, and returns westward on its southern side. The contours are open, not closed gyres: $I$ tends to a nonzero constant in the west.

For $-H<z<0$, $R_z<0$ and the forcing decreases potential vorticity; steady balance requires $\beta v_g=f_0{R}_z/N_0^2<0$, giving southward flow. Below $z=-H$, $R_z>0$ and the meridional flow reverses. A constant heating rate independent of $z$ would have no such interior potential vorticity source.

For the nonlinear diagnostic quasi-geostrophic omega equation, write $\zeta ={\nabla }_h^2\psi$. Apply ${\nabla }_h^2$ to buoyancy evolution and $f_0{\partial }_z$ to vorticity evolution:Subtracting eliminates the pressure tendency and yieldsThe beta term is linear and must remain when the nonlinear terms are neglected. For the steady weak-forcing solution, $f_0\beta {\psi }_{xz}=f_0^2{R}_{zz}/N_0^2$, soThis also follows immediately from the steady linear buoyancy equation. It satisfies $w=0$ at $z=0$, decay at depth and horizontal infinity, and the linear quasi-geostrophic omega equation; with these homogeneous conditions the elliptic problem has no extra decaying homogeneous solution. The rigid-lid interpretation is an additional boundary approximation for this diagnostic response.

At $x=0$, the displayed $v_g$ and $w$ provide the requested meridional/vertical arrows. For positive heating there is upwelling concentrated near $y=0$, maximal in depth at $z=-H$, with northward flow below that depth and southward flow above. The vertical circulation tends to zero far from the forcing. A western zonal wake persists, but its meridional and vertical components vanish as $x\to -\infty$. Horizontal ageostrophic flow supplies the divergence associated with the upwelling; the projected $(v_g,w)$ slice is not itself a two-dimensional incompressible flow and need not have closed streamlines.

The steady calculation fixes an interior circulation, not its attainability from every possible initial and boundary state. For example, a rigid lid with initially uniform boundary buoyancy conserves that buoyancy at linear order because $R(0)=w(0)=0$. The formal steady profile instead generally has nonuniform $b^{\prime }(0)=f_0{\psi }_z(0)$. Such additional initial boundary data require a time-dependent adjustment and cannot simply be imposed on this particular steady solution. No boundary buoyancy data are supplied for the requested steady problem.

The velocity field is incompressible becauseWith the convention $u_x={\psi }_y$ and $u_y=-{\psi }_x$, a stream function isThe vorticity is vertical:For a steady inviscid incompressible flow, the vorticity equation is $(\mathbf{u}\cdot \nabla )\mathbf{\omega }=(\mathbf{\omega }\cdot \nabla )\mathbf{u}$. Here the right side is zero because the flow is independent of $z$, while the left side is $2(\mathbf{u}\cdot \nabla \psi ){\mathbf{e}}_z=0$ because velocity is tangent to the level sets of $\psi$. Thus the equation is satisfied.

The streamlines are the level curves $\sin x\sin y=\text{constant}$. The lines $x=\pi$ and $y=\pi$, together with the boundary, are separatrices; each of the four cells contains closed nested curves around a centre at $(\pi /2,\pi /2)$, $(3\pi /2,\pi /2)$, $(\pi /2,3\pi /2)$, or $(3\pi /2,3\pi /2)$.

Put $D={\partial }_t+U{\partial }_x$, write $p$ for perturbation pressure divided by ${\rho }_0$, and set $b=-g{\rho }^{\prime }/{\rho }_0$. The linearized Boussinesq approximation, incompressibility and material derivative giveTaking the curl eliminates pressure; differentiating the resulting vorticity equation in $x$ and using incompressibility gives $D{\nabla }^{2}w-U^{\prime \prime }{w}_x=b_{xx}$. A further application of $D$ therefore yieldsFor a stationary nonzero horizontal Fourier mode, $D=U{\partial }_x$, so cancellation of ${\partial }_x^2$ gives the stationary Taylor–Goldstein equationThis division requires $U\ne 0$ on the interval considered: a zero of $U$ is a critical level of an internal gravity wave. The mean profiles must be sufficiently smooth for the displayed derivatives, with background hydrostatic pressure and stable density stratification, $N^2>0$, for propagating internal gravity waves. The horizontally uniform component is excluded from the cancellation. For a horizontal wavenumber $k$, local vertical propagation additionally requires $N^2/U^2-U^{\prime \prime }/U>k^2$; this is distinct from the smoothness restrictions. If stability of the background against other disturbances is needed, the Miles–Howard theorem supplies the sufficient condition $N^2\ge (U^{\prime }{)}^2/4$, rather than a necessary condition for deriving the equation.

Writing $R=x^2+y^2$, direct differentiation givesso $\nabla \cdot \mathbf{u}=0$. Likewise,so the two-dimensional vorticity ${\partial }_{x}v-{\partial }_{y}u$ vanishes. The flow is therefore incompressible and irrotational away from the origin.

Write $\mathbf{\Omega }={\mathbf{G}}_1/(8\pi \mu a^3)$. The incident rotlet of sphere 1 at sphere 2 isand it is harmonic away from sphere 1. Since sphere 2 is force-free, Faxén's first law therefore givesThe vorticity of the rotlet isBecause ${\mathbf{G}}_2=0$, Faxén's rotational law gives

The symmetric rate-of-strain tensor of the incident rotlet at sphere 2 isAfter translation and rotation have matched the uniform and antisymmetric parts of the incident flow, the leading perturbation from sphere 2 is the stresslet part of the supplied straining-sphere solution:Part b gives its vorticity asAt the centre of sphere 1, $\mathbf{x}=-\mathbf{R}$, soApplying Faxén's rotational law to sphere 1 produces half this ambient vorticity and proves

The vorticity isHence the flow is irrotational exactly whenequivalently when $\Gamma$ is symmetric. Again, $U_0$ is unrestricted.

Linearizing the cosmological Euler equation givesTaking the curl removes the gradient force, so the vorticity $\mathbf{w}=\nabla \times \mathbf{v}$ obeysSince $\mathcal{H}=a^{\prime }/a$, its solution isThus expansion dilutes linear vorticity; in an Einstein-de Sitter universe, $a\propto {\tau }^2$ and $\mathbf{w}\propto {\tau }^{-2}$.

The first-order perturbation of the vortensity isTaking the curl of the linearized momentum equation and using the linearized continuity equation yieldsThis is linearized vortensity conservation. It is the perturbative form of material conservation of potential vorticity in an inviscid barotropic fluid; the forcing $-\nabla \Psi$ is a gradient and therefore creates no vorticity.

The steady incompressible Stokes flow equations areTaking the curl eliminates the pressure gradient and commutes with the Laplacian, so for the vorticity $\mathbf{\omega }=\nabla \times \mathbf{u}$,This is the vorticity part of Harmonic pressure and vorticity in Stokes flow.

For a two-dimensional incompressible flow, choose the stream function conventionThenApplying the harmonic-vorticity equation givesthe Biharmonic stream function for planar Stokes flow equation.

Writing the velocity as $(u,v)=(y,ax)$ givesso the flow is incompressible. With the conventiona stream function isThe streamlines are its level sets. For $a>0$, they are the hyperbolaswith separatrices $y=\pm \sqrt{a}x$ and a saddle at the origin. For $a<0$, they are concentric ellipsestraversed clockwise. This is the streamline classification of a planar linear saddle or centre.

The scalar vorticity isHence the flow is irrotational exactly whenThen $(u,v)=(y,x)=\nabla \varphi$, and a velocity potential is

Let $\theta =\nabla \cdot \mathbf{v}$. Vanishing vorticity implies in Fourier spaceFourier transforming $\nabla \cdot (\delta \mathbf{v})$ in the continuity equation giveswith the alpha mode-coupling kernelTaking the divergence of $(\mathbf{v}\cdot \nabla )\mathbf{v}$ and symmetrizing its two velocity arguments giveswhere the beta mode-coupling kernel is

For a fieldonly the gradient of the scalar prefactor contributes to its vorticity. At the swimmer,The prescribed rotation law has ${\mathbf{\Omega }}_f={\mathbf{\omega }}^{\ast }/2$. Since $\mathbf{b}\times \mathbf{p}=-\partial \mathbf{p}/\partial \theta$, comparison with $\dot{\mathbf{p}}=(\partial \mathbf{p}/\partial \theta )\dot{\theta }$ givesA pusher has $\mathcal{P}>0$ and rotates toward the stable parallel orientation $\theta =0$; there its image flow attracts it to the free surface. A puller has $\mathcal{P}<0$ and rotates toward a normal orientation $|\theta |=\pi /2$. Depending on which way its polar swimming direction points, it then swims away from the surface or meets it head-on; the dipolar image drift at the exactly normal orientation is toward the surface for this puller sign convention.

$\omega (t)={\omega }_0\exp ({\int }_0^t\alpha (s)ds)$. Positive $\alpha$ stretches material lines vertically; conservation of vortex flux through the shrinking transverse area amplifies vorticity.

For uniform vertical vorticity, advection vanishes and $(\omega \cdot \nabla )u=\alpha \omega \hat{z}$, hence $\dot{\omega }=\alpha (t)\omega$.

Taking the divergence of the linear Euler equation and defining the peculiar-velocity divergence $\theta =\nabla \cdot \mathbf{v}$ givesThe assumption of negligible vorticity ensures that this longitudinal variable captures the velocity perturbation relevant to scalar density growth.

The velocity induced by planar vorticity is a convolution with this kernel, whose sign depends on the stream function and vorticity conventions. Its magnitude is $(2\pi |z|{)}^{-1}$ and its derivative is bounded by $C|z{|}^{-2}$. Splitting the convolution at radius $R$ gives $\Vert K\ast \omega {\Vert }_{\infty }\le R\Vert \omega {\Vert }_{\infty }+\Vert \omega {\Vert }_1/(2\pi R)$. The same singularity yields a log-Lipschitz modulus, enough for a Yudovich characteristic flow.

The planetary contribution to absolute vorticity is supplied by the rotating frame. Its local vertical component is the Coriolis parameter $f=2\Omega \sin \varphi$. On a beta plane, motion with northward velocity $v$ changes this contribution at the rate $\beta v$.

A potential dipole in three dimensions is the potential flow $\mathbf{u}=\nabla \varphi$ with $\varphi =\mathbf{d}\cdot \mathbf{x}/r^3$. Away from the origin its potential is a harmonic function, so it is also a constant-pressure Stokes flow. Its velocity decays as $r^{-3}$ and its vorticity is zero. It is distinct from a stresslet, whose leading velocity decays as $r^{-2}$.