Derivation of the Navier–Stokes equations equation), three important concepts may be concisely written: conservation of mass, conservation of momentum, and conservation of energy. Validity is retained if formula_5 is a vector, in which case the vector-vector product in the second term will be a dyad. A general momentum equation is obtained when the conservation relation is applied to momentum. If the intensive property formula_5; considered is the mass flux (also "momentum density"), i.e. the product of mass density and flow velocity formula_17, by substitution in the general continuum equation: where formula_19 is a dyad, a special case of tensor product, which results in a second
Angular velocity with a linear velocity "V"("t") in each instant. To obtain the equations, it is convenient to imagine a rigid body attached to the frames and consider a coordinate system that is fixed with respect to the rigid body. Then we will study the coordinate transformations between this coordinate and the fixed "laboratory" system. As shown in the figure on the right, the lab system's origin is at point "O", the rigid body system origin is at and the vector from "O" to is R. A particle ("i") in the rigid body is located at point P and the vector position