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ρ is the density (SI unit: kg/m3)
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u is the velocity vector (SI unit: m/s)
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p is the absolute pressure (SI unit: Pa)
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F is the volume force vector (SI unit: N/m3)
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Q is the volumetric heat source (SI unit: W/m3)
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g is the acceleration of gravity (SI unit: m/s2)
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I is the identity matrix
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