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NS eqns: $du/dt+(\nabla.u)=-\nabla P + \nu\nabla^2 u $ vorticity $\omega=\nabla X u$, anti-symmetric strain $e_{ij}=0.5(u_{i,j}+u_{j,i}) symmetric stress $u_{i,j}=e_{ij}+0.5\epsilon_{ijk}\omega_k$
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