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# Unique solvability of the free-boundary Navier-Stokes equations with surface tension

## 1. Introduction

We are concerned with establishing the existence and uniqueness of the time-dependent incompressible Navier-Stokes equations with a free-surface governed by surface tension. Let $`\mathrm{\Omega }_0^3`$ denote an open bounded domain with boundary $`\mathrm{\Gamma }_0:=\mathrm{\Omega }_0`$. For each $`t(0,T]`$, we wish to find the domain $`\mathrm{\Omega }(t)`$, a divergence-free velocity field $`u(t,)`$, a pressure function $`p(t,)`$ on $`\mathrm{\Omega }(t)`$, and a volume-preserving transformation $`\eta (t,):\mathrm{\Omega }_0^3`$ such that

$`\mathrm{\Omega }(t)`$ $`=\eta (t,\mathrm{\Omega }_0),`$ (1.1a)
$`\eta _t(t,x)`$ $`=u(t,\eta (t,x)),`$ (1.1b)
$`u_t\nu \mathrm{}u+(u)u`$ $`=p+f,`$ (1.1c)
$`\mathrm{div}u`$ $`=0,`$ (1.1d)
$`\nu \mathrm{Def}unpn`$ $`=\sigma Hn\text{ on }\mathrm{\Gamma }(t):=\eta (t,\mathrm{\Gamma }_0),`$ (1.1e)
$`u(0,x)`$ $`=u_0(x),`$ (1.1f)
$`\eta (0,x)`$ $`=x,`$ (1.1g)
where $`\nu `$ is the kinematic viscosity, $`\sigma >0`$ denotes the surface tension, $`n(t,)`$ is the outward pointing unit normal to $`\mathrm{\Gamma }(t)`$, $`H(t,):=\frac{1}{2}\mathrm{div}n(t,)`$ denotes the mean curvature of $`\mathrm{\Gamma }(t)`$, and $`\mathrm{Def}u`$ is twice the rate of deformation tensor of $`u`$, given in coordinates by $`u^i,_j+u^j,_i`$. All Latin indices run through $`1,2,3`$, the Einstein summation convention is employed, and indices after commas denote partial derivatives.

Solonnikov studied the solvability of (1.1) in . His proof did not rely on energy estimates, but rather on Fourier-Laplace transform techniques, which required the use of exponentially weighted anisotropic Sobolev-Slobodeskii spaces with only fractional-order spatial derivatives for the analysis, as well as for the statement of the main result on solvability. In particular, he required the initial data $`u_0H^s(\mathrm{\Omega }_0;^3)`$ for $`s(2,2.5)`$. In a more recent article Tani in  used Solonnikov’s functional framework, but applied a new nonlinear iteration procedure in order to prove the solvability result; unfortunately, the linear problem which he poses in equation (4.3) on page 319 of  is not solvable.

In the case that $`\mathrm{\Omega }_0`$ is an infinite horizontal layer of fluid with a rigid bottom and a free surface, Beale  established the stability of the equilibrium state; namely, he showed that small perturbation of the flat surface continue for all time. The analysis made clever use of the fact that the normal vector is constant on $`^2`$ so that the boundary terms arising from surface tension involve surface Laplacians of a scalar field, whereas for a general domain $`\mathrm{\Omega }_0`$ (wherein the normal does not commute with the surface Laplacian), the operators act on a vector-valued field. This is a subtle issue which significantly simplifies the stability analysis. Analytically, Beale used the Laplace transform for the time variable; this required the use of fractional-order derivatives for his analysis as well.

In this paper, we develop energy methods, based on a new type of energy inequality for the weak formulation of the fundamental linearized problem, arising from Solonnikov’s method of successive approximations . We use this inequality to obtain weak solutions of this linear problem, proceed to develop the necessary regularity theory, and then provide a topological fixed-point theory for the mapping associated with the method of successive approximations; this, in turn, yields our unique solution to (1.1). As we shall specify below, we choose the initial velocity field $`u_0`$ to be in the space $`H_{\mathrm{div}}^2(\mathrm{\Omega }_0;^3)`$, and prove the unique solvability of (1.1) in the natural energy space $`L^2(0,T;H_{\mathrm{div}}^3(\mathrm{\Omega }(t);^3))`$ associated to this initial condition. Our proof of regularity illuminates the subtleties between the smoothing effects of surface tension and the derivative loss which surface tension appears to induces upon the successive approximation scheme.

In addition to the energy methods that we use for the basic linear problem, we employ the Tychonoff fixed-point theorem to prove existence of solutions to the Navier-Stokes equations; our approach requires less regularity on the forcing function $`f`$ than is required by the Banach fixed-point theorem used by Solonnikov.

## 2. The basic energy law

To understand the intrinsic dynamics of interface flow, let us set the external forcing $`f`$ to zero. Let $`K(t)=\frac{1}{2}_{\mathrm{\Omega }(t)}|u(t,x)|^2𝑑x`$ denote the kinetic energy of the fluid, and let $`A(t)`$ denote the surface area of $`\mathrm{\Gamma }(t)`$. If there are smooth solutions of (1.1), they must satisfy the following basic energy law:

$$\frac{d}{dt}\left[K(t)+\sigma A(t)\right]=\nu _{\mathrm{\Omega }(t)}|\mathrm{Def}u|^2𝑑x.$$

When $`\sigma =0`$ but $`\nu >0`$, the kinetic energy decays, whereas when $`\nu =0`$ and $`\sigma >0`$, there is a delicate balance between the kinetic energy of the fluid and the surface area of the moving boundary, the sum achieving a critical point of the total energy. In the former case, the problem behaves as if it was parabolic, whereas in the latter case, it behaves almost as though it was hyperbolic; Beale  viewed the system as being of mixed character. We view the system as behaving more as though it was parabolic; the estimates for the linearized system show that viscosity is necessary to control the higher-order derivatives of the surface tension term on the boundary. On the other hand, this coupling is seen only when one linearizes about an interface for which the normal vector is not constant. For example, in the problem that Beale considered in , smoothing on the interior due to viscosity, and smoothing on the boundary due to surface tension decouple at the level of the linearized equations.

## 3. Lagrangian formulation of the problem

Let

$$a(x)=[\eta (x)]^1,$$
(3.1)
where $`(\eta (x))_j^i=\eta ^i/x^j(x)`$ denotes the matrix of partial derivatives of $`\eta `$. Let $`v=u\eta `$ denote the Lagrangian or material velocity field, $`q=p\eta `$ is the Lagrangian pressure function, and $`F=f\eta `$ is the forcing function. Then (1.1) can be written as

$`\eta _t`$ $`=v`$ $`\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (3.2a)
$`v_t^i\nu (a_l^ja_l^kv^i,_k),_j+a_i^kq,_k`$ $`=F^i`$ $`\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (3.2b)
$`a_i^kv^i,_k`$ $`=0`$ $`\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (3.2c)
$`\nu (v^i,_ka_l^k+v^l,_ka_i^k)a_l^jN_jqa_i^jN_j`$ $`=\sigma \mathrm{}_g(\eta )^i`$ $`\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (3.2d)
$`v`$ $`=u_0`$ $`\text{on}\mathrm{\Omega }_0\times \{t=0\},`$ (3.2e)
$`\eta `$ $`=\text{Id}`$ $`\text{on}\mathrm{\Omega }_0\times \{t=0\},`$ (3.2f)
where $`N`$ denotes the outward-pointing unit normal to $`\mathrm{\Gamma }_0`$, and

$$\mathrm{}_g(\eta )=(Hn)\eta $$

is defined as follows: denote the Laplacian on $`\mathrm{\Gamma }_0`$ with respect to the induced metric $`g`$ by $`\mathrm{}_g`$, so that in local coordinates $`\{y^\alpha ,\alpha =1,2\}`$ on $`\mathrm{\Gamma }_0`$,

$$\mathrm{}_{g(t,)}=g^{\alpha \beta }(t,)\left(\frac{^2}{y^\alpha y^\beta }\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)\frac{}{y^\gamma }\right),$$
(3.3)
where $`g^{\alpha \beta }=g_{\alpha \beta }^1`$,

$$g_{\alpha \beta }=\frac{\eta ^i}{y^\alpha }\delta _{ij}\frac{\eta ^j}{y^\beta },\text{and}\mathrm{\Gamma }_{\alpha \beta }^\gamma =\frac{1}{2}g^{\gamma \delta }\left(\frac{g_{\beta \delta }}{y^\alpha }+\frac{g_{\alpha \delta }}{y^\beta }\frac{g_{\alpha \beta }}{y^\delta }\right),$$
(3.4)
where $`\delta _{ij}`$ denotes the usual (identity) metric on $`^3`$. In the computation of the induced metric in (3.4), the flow map $`\eta `$ is restricted to the boundary. Throughout the paper, all Greek indices run through $`1,2`$.

## 4. Notation and preliminaries

We begin by specifying our notation for certain vector and matrix operations.

* We write the Euclidean inner-product between two vectors $`x`$ and $`y`$ as $`xy`$, so that $`xy=x^iy^i`$.
* The transpose of a matrix $`A`$ will be denoted by $`A^T`$, i.e., $`(A^T)_j^i=A_i^j`$.
* We write the product of a matrix $`A`$ and a vector $`b`$ as $`Ab`$, i.e, $`(Ab)^i=A_j^ib^j`$.
* The product of two matrices $`A`$ and $`S`$ will be denoted by $`AS`$, i.e., $`(AS)_j^i=A_k^iS_j^k`$.
* The trace of the product of two matrices $`A`$ and $`S`$ will be denoted by $`A:S`$, i.e., $`A:S=\mathrm{Trace}(AS)=A_j^iS_i^j`$.

For $`s0`$ and a Hilbert space $`(X,_X)`$, $`H^s(\mathrm{\Omega };X)`$ denotes the Sobolev space of $`X`$-valued functions with $`s`$ distributional derivatives in $`L^2(\mathrm{\Omega };X)`$, the equivalence class of functions which are measurable and have finite $`_{L^2}`$-norm, where $`f_{L^2(\mathrm{\Omega };X)}^2=_\mathrm{\Omega }f(x)_X^2𝑑x`$.

For $`T>0`$ and integers $`m1`$, we set

$`V^1(T)`$ $`=\{wL^2(0,T;H^1(\mathrm{\Omega }_0;^m))|w_tL^2(0,T;H^1(\mathrm{\Omega }_0;^m)^{})\},`$
$`V^2(T)`$ $`=\{wL^2(0,T;H^2(\mathrm{\Omega }_0;^m))|w_tL^2(0,T;L^2(\mathrm{\Omega }_0;^m))\},`$
$`V^3(T)`$ $`=\{wL^2(0,T;H^3(\mathrm{\Omega }_0;^m))|w_tL^2(0,T;H^1(\mathrm{\Omega }_0;^m))\},`$
where for any Hilbert space $`X`$, we use $`X^{}`$ to denote the dual space. Letting $`\mathrm{\Gamma }:=\mathrm{\Omega }`$, we use $`H^s(\mathrm{\Gamma };^m)`$ to denote the dual space of $`H^s(\mathrm{\Gamma };^m)`$. We shall also need the spaces

$`V_{\mathrm{div}}^k(T)`$ $`=\{wV^k(T)|\mathrm{div}w=0\},k=1,2,3,`$
as well as the space (of weak solutions)

$`𝒱(T)=`$ $`\{wL^2(0,T;H^1(\mathrm{\Omega }_0;^3))|\mathrm{div}w=0,`$
$`{\displaystyle _0^t}N_0w(r)|_{\mathrm{\Gamma }_0}drL^{\mathrm{}}(0,T;L^2(\mathrm{\Gamma }_0;^3))\},`$
where in components $`[N_0v]^\alpha =N_ig_0^{\alpha \beta }_\beta v^i`$. When there is no time dependence, we shall use $`𝒱`$ to denote the space $`\{\psi H^1(\mathrm{\Omega }_0,^3)|\mathrm{div}\psi =0,N_0\psi L^2(\mathrm{\Gamma }_0;^3)\}`$.

###### Lemma 4.1.

The space $`𝒱`$ is separable.

###### Proof.

The mapping $`I:v(_1v,_2v,_3v,v,_0vN)`$ is an isometry from $`𝒱`$ into the separable space $`[L^2(\mathrm{\Omega }_0;^3)]^4\times L^2(\mathrm{\Gamma }_0;^3)`$. As a subset of a separable space, $`I(𝒱)`$ is separable (see, for instance, ), and consequently $`𝒱`$ is also a separable space. ∎

## 5. The main theorem

###### Theorem 5.1.

Let $`\mathrm{\Omega }_0^3`$ be a smooth, open and bounded subset, and suppose that $`\nu >0`$, $`\sigma >0`$, and $`u_0H_{\mathrm{div}}^2(\mathrm{\Omega };^3)`$ satisfies the compatibility condition

$$[\mathrm{Def}u_0N]_{\mathrm{tan}}=0\text{ on }\mathrm{\Gamma }_0,$$
(5.1)
and that

$$fL^2(0,\overline{T};H^1(^3;^3)),f_tL^2(0,\overline{T};H^1(^3;^3)^{}).$$
(5.2)
Existence. Then there exists a $`\overline{T}>0`$ depending on $`u_0`$, $`f`$, and $`\mathrm{\Omega }_0`$, such that there exists a solution $`vV^3(\overline{T})`$ and $`qV^2(\overline{T})`$ of the problem (3.2). Furthermore, $`\eta C^0([0,\overline{T}];H^3(\mathrm{\Omega }_0;^3))`$ and the surface tension term $`\sigma \mathrm{}_g(\eta )L^2(0,\overline{T};H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))`$.

Uniqueness. Moreover, if there exists $`K>0`$ such that

$$\begin{array}{c}t\overline{T},(x,y)^3\times ^3,\hfill \\ |f(t,x)f(t,y)|+|f(t,x)f(t,y)|+|f_t(t,x)f_t(t,y)|K|xy|,\hfill \end{array}$$
(5.3)
i.e, $`f`$, $`f`$, and $`f_t`$ are uniformly Lipschitz continuous in the spatial variable, then the solution is unique.

###### Remark 1.

The regularity of our unique solution $`vV^3(\overline{T})`$ implies that for each $`t[0,\overline{T}]`$ there is a unique domain $`\mathrm{\Omega }(t)`$ of regularity class $`H^3`$, a unique divergence-free velocity field on $`\mathrm{\Omega }(t)`$, $`uL^2(0,T;H^3(\mathrm{\Omega }(t);^3))`$, and a unique pressure function $`pL^2(0,T;H^2(\mathrm{\Omega }(t);))`$ solving the Eulerian problem (1.1). Also, although we have stated our results for three-dimensional fluid motion, all of our results hold for two-dimensional fluid motion as well.

###### Remark 2.

Theorem 5.1 differs from the existence and uniqueness assertions of Solonnikov , which require the initial velocity field $`u_0`$ to be taken in $`H_{\mathrm{div}}^s(\mathrm{\Omega }_0;^3)`$ for $`s(2,2.5)`$, and does not permit the integer value $`s=2`$.

###### Remark 3.

Our theorem also differs from that of Solonnikov’s  in that we require only the minimal regularity assumptions (5.2) on the forcing function $`f`$ in order to establish the existence of solutions, whereas the additional Lipschitz assumption (5.3) is needed only for uniqueness. This is due to our method of proof which employs the Tychonoff fixed-point theorem instead of the Banach fixed-point theorem used in .

## 6. The basic linear problem

We denote the surface Laplacian on $`\mathrm{\Gamma }_0`$ by

$$\mathrm{}_0:=\mathrm{}_{g(0,)}$$

where $`\mathrm{}_{g(0,)}`$ is defined in (3.3) and (3.4), and $`g(0,)`$ is the induced metric at $`t=0`$.

We are concerned with the time-dependent linear problem

$`\overline{w}_t\nu \mathrm{}\overline{w}`$ $`=p+\overline{f}`$ $`\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (6.1a)
$`\mathrm{div}\overline{w}`$ $`=\overline{a}`$ $`\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (6.1b)
$`\nu \mathrm{Def}\overline{w}NpN`$ $`=\sigma (N\mathrm{}_0{\displaystyle _0^t}\overline{w}(s)𝑑s+\overline{B})N+\overline{g}`$ $`\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (6.1c)
$`\overline{w}`$ $`=\overline{w}_0`$ $`\text{on}\mathrm{\Omega }_0\times \{t=0\}.`$ (6.1d)
###### Theorem 6.1.

Given $`\nu >0`$, $`\sigma >0`$, and $`\overline{g}L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))`$ with $`\overline{g}_tL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))`$, and $`\overline{g}(0,)_{\mathrm{tan}}=0`$, and the initial data $`\overline{w}_0H_{\mathrm{div}}^2(\mathrm{\Omega }_0;^3)`$ satisfying the compatibility condition

$$[\mathrm{Def}\overline{w}_0N]_{\mathrm{tan}}=0,$$
(6.2)
$`\overline{B}C^0(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)),\overline{B}_tL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))`$, with $`B(0,)=0`$, $`\overline{a}V^2(T)`$ with $`a(0,)=0`$, and $`\overline{f}V^1(T)`$, there exists a unique solution $`\overline{w}V^3(T)`$ and $`pV^2(T)`$ of (6.1) for any $`T>0`$. Furthermore, we have the estimate

$`\overline{w}_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}+N\mathrm{}_0{\displaystyle _0^{}}\overline{w}(s)𝑑s_{C^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+p_{L^2(0,T;H^2(\mathrm{\Omega }_0;))}`$
$`+\overline{w}_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+N\mathrm{}_0\overline{w}_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+p_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}`$
$`+\overline{w}_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9))}+p_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`C(w_0_{H^2(\mathrm{\Omega }_0;^3)}+g(0,)N_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}+f(0)_{L^2(\mathrm{\Omega }_0;^3)}`$
$`+\overline{f}_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+\overline{f}_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+\overline{a}_{L^2(0,T;H^2(\mathrm{\Omega }_0;))}+\overline{a}_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}+\overline{B}_{C^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`+\overline{B}_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+\overline{g}_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}+\overline{g}_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}),`$ (6.3)
where the $`C`$ may depend on $`T`$, $`\mathrm{\Omega }_0`$, $`\nu `$, $`\sigma `$, and $`C(T)`$ remains bounded as $`T0`$.

## 7. Proof of Theorem 6.1

### 7.1. Weak solutions on $`\mathrm{\Omega }_0`$

#### 7.1.1. The divergence-free linear problem

We first transform (6.1) into a divergence-free problem for the velocity field. To do so, we shall consider the following elliptic problem: For a.e. $`t[0,T]`$, we solve

$`\mathrm{}r(t,)`$ $`=\overline{a}(t,)`$ $`\text{in }\mathrm{\Omega }_0,`$ (7.1a)
$`r(t,)`$ $`=r_0(t,)`$ $`\text{on }\mathrm{\Gamma }_0,`$ (7.1b)
$`\mathrm{}_0r_0(t,)`$ $`=\overline{a}(t,)`$ $`\text{on }\mathrm{\Gamma }_0,`$ (7.1c)
where $`\mathrm{}_0`$ denotes the surface Laplacian on $`\mathrm{\Gamma }_0`$, and define

$$v(t,)=r(t,).$$
(7.2)
###### Lemma 7.1.

$`vV^3(T)`$ and $`[\mathrm{Def}v_tN]NL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))`$, and

$$v(0,)=0.$$
(7.3)
###### Proof.

For a.e. $`0tT`$, $`\overline{a}(t,)H^2(\mathrm{\Omega }_0,)`$ and $`\overline{a}_t(t,)L^2(\mathrm{\Omega }_0,)`$. It follows by elliptic regularity of $`\mathrm{}_0`$ that for a.e. $`0tT`$, $`r_0(t,)H^{3.5}(\mathrm{\Gamma }_0,)`$ and $`_tr_0(t,)H^{1.5}(\mathrm{\Gamma }_0,)`$, so that by elliptic regularity of the Dirichlet problem, we see that $`r(t,)H^4(\mathrm{\Omega }_0,)`$ and $`r_t(t,)H^2(\mathrm{\Omega }_0,)`$, so that $`vV^3(T)`$. By the usual compactness argument, $`vC([0,T];H^2(\mathrm{\Omega }_0;^3))`$, and since $`a(0,)=0`$, we see that $`v(0,)=0`$.

It remains to show that $`[\mathrm{Def}v_tN]NL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))`$ (which is better than the trace provides). We may characterize the surface Laplacian as the trace of the operator $`_0_0`$, where $`_0`$ is the surface gradient, given by

$$_0=(\text{Id}NN).$$

A simple computation shows that on $`\mathrm{\Gamma }_0`$

$$\mathrm{}=\mathrm{}_0+_0[(NN)]+(NN):.$$

Because of (7.1a) and (7.1c),

$$(NN):r_t=_0[(NN)]r_t,$$
(7.4)
and since

$$[\mathrm{Def}v_tN]N=2(NN):v_t=2(NN):r_t$$

(where we have used (7.2) for the second equality), (7.4) proves the lemma, since $`r_tL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))`$. ∎

We define the new divergence-free velocity field

$$w=\overline{w}v,$$
(7.5)
and correspondingly, the modified data:

$`f`$ $`=\overline{f}v_t+\nu \mathrm{}v,`$ (7.6)
$`g`$ $`=\overline{g}[\nu \mathrm{Def}vN]_{\mathrm{tan}},`$
$`B`$ $`=\overline{B}+N\mathrm{}_0{\displaystyle _0^t}v(s)𝑑s\nu (\mathrm{Def}vN)N,`$
and
$`w_0`$ $`:=w(0)=\overline{w}_0,`$ (7.7)
where we have used (7.3) for (7.7), and $`[]_{\mathrm{tan}}`$ denotes the tangential component.

###### Lemma 7.2.

The modified data has the following regularity:

$`f`$ $`V^1(T)`$ $`,`$
$`g`$ $`L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3)),`$ $`g_t`$ $`L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)),`$
$`B`$ $`C^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)),`$ $`B_t`$ $`L^2([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)),`$
and
$`B(0,)`$ $`=0,`$ (7.8)
$`Ng(0,)`$ $`H^{\frac{1}{2}}(\mathrm{\Gamma }_0;).`$ (7.9)
###### Proof.

Equations (7.8) and (7.9) follow from (7.3) and the fact that $`\overline{B}(0,)=0`$. Lemma 7.1 also establishes the desired regularity for $`f`$, $`g`$, $`g_t`$, $`B`$, and $`B_t`$. It remains to show that $`f_tL^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})`$. From (7.6) we see that $`f_t=\overline{f}_tv_{tt}+\nu \mathrm{}v_t`$ has the desired regularity if $`v_{tt}L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})`$. This is true if $`\overline{a}_{tt}L^2(0,T;H^2(\mathrm{\Omega }_0;)^{})`$, which is the case if $`\overline{w}_{tt}L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})`$. This follows from (6.1a) and the a priori estimate (6.3) which shows that $`p_tL^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})`$. ∎

###### Remark 4.

To be more precise, we may define $`\overline{a}^ϵ:=J^ϵ\overline{a}`$ for a family of Friedrichs mollifiers $`J^ϵ`$, and then pass to the limit as $`ϵ0`$ after obtaining the a priori estimate (6.3). The above lemma proves the consistency in allowing $`fV^1(T)`$ (and hence $`p_tL^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})`$) with the estimate (6.3) which is itself established using that $`fV^1(T)`$.

We now consider the following divergence-free problem:

$`w_t\nu \mathrm{}w`$ $`=p+f`$ $`\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (7.10a)
$`\mathrm{div}w`$ $`=0`$ $`\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (7.10b)
$`\nu \mathrm{Def}wNpN`$ $`=\sigma (N\mathrm{}_0{\displaystyle _0^t}w(s)𝑑s+B)N+g`$ $`\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (7.10c)
$`w`$ $`=w_0`$ $`\text{on}\mathrm{\Omega }_0\times \{t=0\}.`$ (7.10d)
#### 7.1.2. Weak solutions of (7.10)

We shall need the following

###### Lemma 7.3.

For $`uH^2(\mathrm{\Gamma }_0)`$ and $`vH^1(\mathrm{\Gamma }_0)`$,

$$_{\mathrm{\Gamma }_0}(N\mathrm{}_0u)(Nv)𝑑S=_{\mathrm{\Gamma }_0}_\alpha u^ig_0^{\alpha \beta }_\beta (N^jv^jN^i)dS.$$

###### Proof.

Letting $`𝔤=detg_0`$, integration by parts using the formula

$$𝔤^1_\alpha (𝔤g_0^{\alpha \beta }_\beta u)=g_0^{\alpha \beta }[_{\alpha \beta }^2u(\mathrm{\Gamma }_0)_{\alpha \beta }^\gamma _\gamma u]$$

yields the result for all $`uC^{\mathrm{}}(\mathrm{\Gamma }_0)`$, and hence by approximation for all $`uH^2(\mathrm{\Gamma }_0)`$. ∎

This allows us to make the following

###### Definition 7.1.

Let $`w_0L_{div}^2=\{wL^2(\mathrm{\Omega }_0;^3)|\mathrm{div}w=0\}`$ . A vector $`w𝒱(T)`$ with $`w_tL^2(0,T;𝒱^{})`$ is a weak solution of (7.10) provided that

$`(\mathrm{i})`$ $`w_t,v+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w,\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}=f,v+g,v_{\mathrm{\Gamma }_0}`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha w^i(s,)dsg_0^{\alpha \beta }_\beta (N^jv^jN^i)dSv𝒱,`$
$`\mathrm{and}`$
$`(\mathrm{ii})`$ $`w(0,)=w_0,`$
for a.e. $`0tT`$, where $`,`$ denotes the duality pairing between $`H^1(\mathrm{\Omega }_0,^3)`$ and $`H^1(\mathrm{\Omega }_0,^3)^{}`$, and $`,_{\mathrm{\Gamma }_0}`$ denotes the duality pairing between $`H^{\frac{1}{2}}(\mathrm{\Gamma }_0,^3)`$ and $`H^{\frac{1}{2}}(\mathrm{\Gamma }_0,^3)`$.

#### 7.1.3. Galerkin approximations

For

$$fL^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{}),gL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)),$$

the Riesz representation theorem asserts the existence of

$$\stackrel{~}{f}L^2(0,T;H^1(\mathrm{\Omega }_0;^3)),\stackrel{~}{g}L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)),$$

respectively, such that

$$f,v=(\stackrel{~}{f},v)_{H^1(\mathrm{\Omega }_0;^3)},g,v_{\mathrm{\Gamma }_0}=(\stackrel{~}{g},v)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}.$$

Lemma 4.1 guarantees the existence of a basis $`\{\psi _k\}_{k=1}^{\mathrm{}}`$ of $`𝒱`$ which is also an orthonormal basis of $`L_{div}^2`$ with respect to the $`L^2(\mathrm{\Omega }_0;^3)`$ inner-product. Fix $`m`$, and let $`w_m:[0,T]𝒱`$ be given by

$$w_m(t,x):=\underset{k=1}{\overset{m}{}}\lambda _m^k(t)\psi _k(x),$$
(7.11)
where we choose the coefficients $`\lambda _m^k(t)`$ for $`t[0,T]`$ and $`k=1,\mathrm{},m`$ such that

$$\lambda _m^k(0)=(w_0,\psi _k)_{L^2(\mathrm{\Omega }_0;^3)},$$
(7.12)
and, letting $`w_m^{}:=_tw_m`$,

$`(w_m^{},\psi _k)_{L^2(\mathrm{\Omega }_0;^3)}+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w_m,\mathrm{Def}\psi _k)_{L^2(\mathrm{\Omega }_0;^3)}=(\stackrel{~}{f},\psi _k)_{H^1(\mathrm{\Omega }_0;^3)}+(\stackrel{~}{g},\psi _k)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+\sigma (BN,\psi _k)_{L^2(\mathrm{\Gamma }_0;^3)}\sigma {\displaystyle _{\mathrm{\Gamma }_0}}_\alpha {\displaystyle _0^t}w_m^i(s,)𝑑sg_0^{\alpha \beta }_\beta (N^j(\psi _k)^jN^i)dS.`$ (7.13)
###### Proposition 7.1.

For each $`m`$, there exists a unique function $`w_m`$ of the form (7.11) satisfying (7.12) and (7.13).

###### Proof.

Assuming $`w_m`$ has the structure of (7.11), we define

$$G_{jk}:=(\mathrm{Def}\psi _j,\mathrm{Def}\psi _k)_{L^2(\mathrm{\Omega }_0;^3)},H_{jk}:=_{\mathrm{\Gamma }_0}_\alpha (\psi _j)^ig_0^{\alpha \beta }_\beta (N^j(\psi _k)^jN^i)dS.$$

Letting

$$F_k(t):=(\stackrel{~}{f},\psi _k)_{H^1(\mathrm{\Omega }_0;^3)}+\sigma (BN,\psi _k|_{\mathrm{\Gamma }_0})_{L^2(\mathrm{\Gamma }_0;^3)}+(\stackrel{~}{g},\psi _k|_{\mathrm{\Gamma }_0})_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)},$$

we write (7.13) as

$$\lambda _{m}^{k}{}_{}{}^{}(t)+\frac{\nu }{2}G_{jk}\lambda _m^j(t)+\sigma H_{jk}_0^t\lambda _m^j(r)𝑑r=F_k(t).$$
(7.14)
Let $`d_m^j(t)=_0^t\lambda _m^j(r)𝑑r`$ so that

$$d_m^j(0)=0.$$
(7.15)
Hence, $`d_{m}^{j}{}_{}{}^{}(t)=\lambda _m^j(t)`$, and we may write (7.14) as the second-order ordinary differential equation

$$d_{m}^{k}{}_{}{}^{\prime \prime }(t)+\frac{\nu }{2}G_{kj}d_{m}^{j}{}_{}{}^{}(t)+\sigma H_{kj}d_m^j(t)=F_k(t),$$
(7.16)
subject to the initial conditions (7.12) and (7.15). By the fundamental theorem of ordinary differential equations, there exists (for each $`k=1,\mathrm{},m`$) a unique absolutely continuous function $`d_m^k(t)`$ satisfying (7.16), (7.12) and (7.15) for a.e. $`0tT`$, and hence $`\lambda _m^k(t)`$ satisfying (7.14). Thus, $`w_m`$ defined by (7.11) solves (7.13) for a.e. $`0tT`$. ∎

#### 7.1.4. Energy estimates

###### Theorem 7.1.

There exists a constant $`C`$, depending only on $`\mathrm{\Omega }_0`$ and $`T`$, such that

$`\underset{0tT}{\mathrm{max}}\left[w_m(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^t}w_m(s)𝑑s_{L^2(\mathrm{\Gamma }_0;)}^2\right]+w_m_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2`$
$`(\stackrel{~}{c}_3+C(T))[f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2+B_{L^2(0,T;L^2(\mathrm{\Gamma }_0;))}^2`$
$`+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2]+(1+C(T))w_0^2_{L^2(\mathrm{\Omega }_0;^3)}`$ (7.17)
for $`m=1,2,\mathrm{}`$ , where $`C(T)=(\stackrel{~}{c}_4T+\stackrel{~}{c}_5T^2)e^{\stackrel{~}{c}_1T+\stackrel{~}{c}_2T^2}`$ for some constants $`\stackrel{~}{c}_j>0`$, $`j=1,2,3,4,5`$.

###### Proof.

We multiply (7.13) by $`\lambda _m^k(t)`$, sum for $`k=1,\mathrm{},m`$, to find that

$`(w_m^{},w_m)_{L^2(\mathrm{\Omega }_0;^3)}+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w_m,\mathrm{Def}w_m)_{L^2(\mathrm{\Omega }_0;^9)}=(\stackrel{~}{f},w_m)_{H^1(\mathrm{\Omega }_0;^3)}+(\stackrel{~}{g},w_m)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}BNw_m𝑑S\sigma {\displaystyle _{\mathrm{\Gamma }_0}}_\alpha {\displaystyle _0^t}w_{m}^{}{}_{}{}^{i}(s,)𝑑sg_0^{\alpha \beta }_\beta (N^jw_{m}^{}{}_{}{}^{j}N^i)dS`$ (7.18)
for a.e. $`0tT`$. We will make use of Korn’s inequality which states that for $`uH^1(\mathrm{\Omega }_0;^3)`$, there exists a constant $`C>0`$ depending only on $`\mathrm{\Omega }_0`$, such that $`u_{L^2(\mathrm{\Omega }_0;^9)}^2C\left[u_{L^2(\mathrm{\Omega }_0;^3)}^2+\mathrm{Def}u_{L^2(\mathrm{\Omega }_0;^9)}^2\right]`$, so that the right-hand-side defines a norm equivalent to the $`H^1(\mathrm{\Omega }_0,^3)`$-norm. For $`j`$, we will use $`c_j`$ to denote a positive constant which generally only depends on the domain $`\mathrm{\Omega }_0`$ unless otherwise specified, and $`ϵ>0`$ will represent a small number.

Using Young’s inequality, for a.e. $`t[0,T]`$,

$`(\stackrel{~}{f},w_m)_{H^1(\mathrm{\Omega }_0;^3)}`$ $`=(\stackrel{~}{f},w_m)_{L^2(\mathrm{\Omega }_0;^3)}+(_j\stackrel{~}{f},_jw_m)_{L^2(\mathrm{\Omega }_0;^9)}`$
$`c_2(ϵ)\stackrel{~}{f}_{H^1(\mathrm{\Omega }_0;^3)}^2+ϵw_m_{H^1(\mathrm{\Omega }_0;^3)}^2`$
$`=c_2(ϵ)f_{H^1(\mathrm{\Omega }_0;^3)^{}}^2+ϵw_m_{H^1(\mathrm{\Omega }_0;^3)}^2`$
Similarly for a.e. $`t[0,T]`$,

$`(\stackrel{~}{g},w_m)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$ $`=(\stackrel{~}{g},w_m)_{L^2(\mathrm{\Gamma }_0;^3)}+((\mathrm{}_0)^{\frac{1}{4}}\stackrel{~}{g},(\mathrm{}_0)^{\frac{1}{4}}w_m)_{L^2(\mathrm{\Gamma }_0;^3)}`$
$`c_3(ϵ)\stackrel{~}{g}_{H^{\frac{1}{2}}(\mathrm{\Omega }_0;^3)}^2+ϵw_m_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}^2`$
$`c_3(ϵ)g_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}^2+ϵw_m_{H^1(\mathrm{\Omega }_0;^3)}^2`$
where we have used Young’s inequality for the second inequality, that $`g_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}=\stackrel{~}{g}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$, and the trace theorem for the last equality. Also, $`(BN,w_m)_{L^2(\mathrm{\Gamma }_0;^3)}c_3(ϵ)B_{L^2(\mathrm{\Gamma }_0;)}^2+ϵw_m_{H^1(\mathrm{\Omega }_0;^3)}^2`$ for a.e. $`0tT`$. Since $`(w_m^{},w_m)_{L^2(\mathrm{\Omega }_0;^3)}=\frac{1}{2}\frac{d}{dt}w_m_{L^2(\mathrm{\Omega }_0;^3)}^2`$, adding $`\nu w_m_{L^2(\mathrm{\Omega }_0;^3)}^2`$ to both sides of (7.18), yields the inequality

$`{\displaystyle \frac{d}{dt}}w_m_{L^2(\mathrm{\Omega }_0;^3)}^2+c_1w_m_{H^1(\mathrm{\Omega }_0;^3)}^2c_2(ϵ)f_{H^1(\mathrm{\Omega }_0;^3)^{}}^2+c_3(ϵ)g_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}^2`$
$`+c_3(ϵ)B_{L^2(\mathrm{\Gamma }_0;)}^2+c_4w_m_{L^2(\mathrm{\Omega }_0;^3)}^2+2ϵw_m_{H^1(\mathrm{\Omega }_0;^3)}^2`$
$`\sigma {\displaystyle _{\mathrm{\Gamma }_0}}_\alpha {\displaystyle _0^t}w_{m}^{}{}_{}{}^{i}(s,)𝑑sg_0^{\alpha \beta }_\beta (N^jw_{m}^{}{}_{}{}^{j}N^i)dS.`$ (7.19)
We now study the last term in this inequality. Expanding the $`_\beta `$ term, and integrating by parts yields

$`{\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}w_{m}^{}{}_{}{}^{i},_\alpha (s,)dsg_0^{\alpha \beta }(N^jw_{m}^{}{}_{}{}^{j}N^i),_\beta dS={\displaystyle \frac{1}{2}}{\displaystyle \frac{d}{dt}}{\displaystyle _{\mathrm{\Gamma }_0}}|{\displaystyle _0^t}N_0w_mdr|^2dS`$
$`(N_0{\displaystyle _0^t}w_m𝑑r,_0Nw_m)_{L^2(\mathrm{\Gamma }_0;^2)}+(_0N{\displaystyle _0^t}w_m𝑑r,N_0w_m)_{L^2(\mathrm{\Gamma }_0;^2)}`$
$`+(_0N{\displaystyle _0^t}w_mdr,_0Nw_m)_{L^2(\mathrm{\Gamma }_0;^2)}+{\displaystyle _{\mathrm{\Gamma }_0}}N^i,_{\alpha \beta }{\displaystyle _0^t}w_{m}^{}{}_{}{}^{i}drg_0^{\alpha \beta }N^jw_{m}^{}{}_{}{}^{j}dS`$
$`+{\displaystyle _{\mathrm{\Gamma }_0}}N^i,_\beta {\displaystyle _0^t}w_{m}^{}{}_{}{}^{i}drg_{0}^{}{}_{}{}^{\alpha \beta },_\alpha N^jw_{m}^{}{}_{}{}^{j}dS,`$ (7.20)
where $`(_0f,_0h)_{L^2(\mathrm{\Gamma }_0;^2)}:=_{\mathrm{\Gamma }_0}f,_\alpha g_0^{\alpha \beta }h,_\beta dS`$.

Choosing $`ϵ`$ sufficiently small and $`0t\stackrel{~}{T}T`$, integrating (7.19) from $`0`$ to $`\stackrel{~}{T}`$, and using (7.20), we obtain the inequality

$`w_m(\stackrel{~}{T})_{L^2(\mathrm{\Omega }_0;^3)}^2+{\displaystyle \frac{\sigma }{2}}{\displaystyle _{\mathrm{\Gamma }_0}}\left|{\displaystyle _0^{\stackrel{~}{T}}}N_0w_m(r)𝑑r\right|^2𝑑S+c_5w_m_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3))}^2`$
$`w_m(0)_{L^2(\mathrm{\Omega }_0;^3)}^2+c_2(ϵ)f_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3)^{})}^2`$
$`+c_3(ϵ)g_{L^2(0,\stackrel{~}{T};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2+c_3(ϵ)B_{L^2(0,\stackrel{~}{T};L^2(\mathrm{\Gamma }_0;))}^2`$
$`+c_4w_m_{L^2(0,\stackrel{~}{T};L^2(\mathrm{\Gamma }_0;^3))}^2\sigma {\displaystyle _0^{\stackrel{~}{T}}}(N_0{\displaystyle _0^t}w_m𝑑r,_0Nw_m)_{L^2(\mathrm{\Gamma }_0;^2)}𝑑t`$
$`+\sigma {\displaystyle _0^{\stackrel{~}{T}}}(_0N{\displaystyle _0^t}w_m𝑑r,N_0w_m)_{L^2(\mathrm{\Gamma }_0;^2)}𝑑t`$
$`+c_6{\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}\left|{\displaystyle _0^t}w_m(r)𝑑r\right|\left|w_m\right|𝑑S𝑑t,`$
where the last term above bounds the last three terms on the right-hand-side of equation (7.20). By Young’s inequality and Korn’s inequality,

$`\sigma {\displaystyle _0^{\stackrel{~}{T}}}(N_0{\displaystyle _0^t}w_m𝑑r,_0Nw_m)_{L^2(\mathrm{\Gamma }_0;^2)}𝑑t`$
$`c_7(ϵ){\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}\left|{\displaystyle _0^t}N_0w_m(r)𝑑r\right|^2𝑑S𝑑t+ϵw_m_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3))}^2`$ (7.21)
Next, an integration-by-parts in $`t`$ yields

$`\sigma {\displaystyle _0^{\stackrel{~}{T}}}(_0N{\displaystyle _0^t}w_m𝑑r,N_0w_m)_{L^2(\mathrm{\Gamma }_0;^2)}𝑑t`$
$`\sigma {\displaystyle _0^{\stackrel{~}{T}}}(_0Nw_m,N_0{\displaystyle _0^t}w_m𝑑r)_{L^2(\mathrm{\Gamma }_0;^2)}𝑑t`$
$`+\sigma (_0N{\displaystyle _0^{\stackrel{~}{T}}}w_m𝑑r,N_0{\displaystyle _0^{\stackrel{~}{T}}}w_m𝑑r)_{L^2(\mathrm{\Gamma }_0;^2)}.`$ (7.22)
The first term on the right-hand-side of (7.22) is the same as (7.21). Young’s inequality for the second term gives

$`\sigma (_0N{\displaystyle _0^{\stackrel{~}{T}}}w_m𝑑r,N_0{\displaystyle _0^{\stackrel{~}{T}}}w_m𝑑r)_{L^2(\mathrm{\Gamma }_0;^2)}`$
$`ϵ{\displaystyle _{\mathrm{\Gamma }_0}}\left|{\displaystyle _0^{\stackrel{~}{T}}}N_0w_m(r)𝑑r\right|^2𝑑S+c_8(ϵ){\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}|w_m|^2𝑑S𝑑t.`$ (7.23)
By the general trace theorem (see Theorem 5.22 in ), there is a constant $`C`$ such that $`_{\mathrm{\Gamma }_0}|w_m|^2𝑑SCw_m_{L^{1.5}(\mathrm{\Omega }_0;^3)}^2`$ and by the standard interpolation inequality,

$$w_m_{L^{1.5}(\mathrm{\Omega }_0;^9)}^2Cw_m_{L^2(\mathrm{\Omega }_0;^9)}^{2r}w_m_{L^2(\mathrm{\Omega }_0;^3)}^{2s}$$

for $`r+s=1`$. Thus, with Young’s inequality

$`c_8(ϵ){\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}|w_m|^2𝑑S𝑑tϵw_m_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3))}^2+c_9(ϵ){\displaystyle _0^{\stackrel{~}{T}}}w_m(t)_{L^2(\mathrm{\Omega }_0;^3)}^2𝑑t.`$ (7.24)
Finally, Jensen’s inequality together with Young’s inequality and the trace theorem provides the inequality

$`c_6{\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}\left|{\displaystyle _0^t}w_m(r)𝑑r\right|\left|w_m\right|𝑑S𝑑t`$
$`c_{10}(ϵ)\stackrel{~}{T}{\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _{\mathrm{\Omega }_0}}{\displaystyle _0^t}|\mathrm{Def}w_m(r)|^2𝑑r𝑑S𝑑t+ϵw_m_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3))}^2`$
$`c_{11}\stackrel{~}{T}{\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _0^t}\mathrm{Def}w_m(r)_{H^1(\mathrm{\Omega }_0;^9)}^2𝑑r𝑑t+ϵw_m_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3))}^2.`$ (7.25)
Using (7.21), (7.22), (7.23), (7.24), and (7.25) we arrive at the basic inequality

$`w_m(\stackrel{~}{T})_{L^2(\mathrm{\Omega }_0;^3)}^2+c_{12}{\displaystyle _{\mathrm{\Gamma }_0}}\left|{\displaystyle _0^{\stackrel{~}{T}}}N_0w_m(r)𝑑r\right|^2𝑑S+c_{13}w_m_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3))}^2`$
$`w_m(0)_{L^2(\mathrm{\Omega }_0;^3)}^2+c_2f_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3)^{})}^2+c_3g_{L^2(0,\stackrel{~}{T};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2`$
$`+c_3B_{L^2(0,\stackrel{~}{T};L^2(\mathrm{\Gamma }_0;))}^2+c_9{\displaystyle _0^{\stackrel{~}{T}}}w_m(t)_{L^2(\mathrm{\Omega }_0;^3)}^2𝑑t`$
$`+c_{14}{\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}\left|{\displaystyle _0^t}N_0w_m(r)𝑑r\right|^2𝑑S𝑑t+c_{11}\stackrel{~}{T}{\displaystyle _0^{\stackrel{~}{T}}}{\displaystyle _0^t}w_m(r)_{H^1(\mathrm{\Omega }_0;^3)}^2𝑑r𝑑t.`$ (7.26)
Letting

$`y_m(\stackrel{~}{T})`$ $`:={\displaystyle _0^{\stackrel{~}{T}}}[w_m(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+{\displaystyle _{\mathrm{\Gamma }_0}}|{\displaystyle _0^t}N_0w_mdr|^2dSdt`$
$`+{\displaystyle _0^t}w_m_{H^1(\mathrm{\Omega }_0;^3)}^2dr]dt`$ (7.27)
$`\varphi (\stackrel{~}{T})`$ $`:=c_2f_{L^2(0,\stackrel{~}{T};H^1(\mathrm{\Omega }_0;^3)^{})}^2+c_3g_{L^2(0,\stackrel{~}{T};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2+c_3B_{L^2(0,\stackrel{~}{T};L^2(\mathrm{\Gamma }_0;))}^2,`$ (7.28)
we may choose new constants $`\stackrel{~}{c}_1`$, $`\stackrel{~}{c}_2`$, and $`\stackrel{~}{c}_3`$, and write (7.26) as the differential inequality

$`y_m^{}(\stackrel{~}{T})`$ $`[\stackrel{~}{c}_2\stackrel{~}{T}+\stackrel{~}{c}_1]y_m(\stackrel{~}{T})+\stackrel{~}{c}_3\varphi (\stackrel{~}{T})+w_m(0)_{L^2(\mathrm{\Omega }_0;^3)}^2`$
$`[\stackrel{~}{c}_2\stackrel{~}{T}+\stackrel{~}{c}_1]y_m(\stackrel{~}{T})+\stackrel{~}{c}_3\varphi (\stackrel{~}{T})+w_0_{L^2(\mathrm{\Omega }_0;^3)}^2.`$ (7.29)
It follows that

$`y_m(\stackrel{~}{T})`$ $`Ce^{\stackrel{~}{c}_1\stackrel{~}{T}+\stackrel{~}{c}_2\stackrel{~}{T}^2}{\displaystyle _0^{\stackrel{~}{T}}}(\stackrel{~}{c}_3\varphi (s)+w_0_{L^2(\mathrm{\Omega }_0;^3)}^2)𝑑s`$
$`CTe^{\stackrel{~}{c}_1T+\stackrel{~}{c}_2T^2}(\stackrel{~}{c}_3\varphi (T)+w_0_{L^2(\mathrm{\Omega }_0;^3)}^2),`$
so that

$`y_m^{}(\stackrel{~}{T})`$ $`\left[\stackrel{~}{c}_3+(\stackrel{~}{c}_4T+\stackrel{~}{c}_5T^2)e^{\stackrel{~}{c}_1T+\stackrel{~}{c}_2T^2}\right]\varphi (T)`$
$`+\left[1+(\stackrel{~}{c}_4T+\stackrel{~}{c}_5T^2)e^{\stackrel{~}{c}_1T+\stackrel{~}{c}_2T^2}\right]w_0_{L^2(\mathrm{\Omega }_0;^3)}^2,`$ (7.30)
for $`0\stackrel{~}{T}T`$. Since $`y_m^{}(\stackrel{~}{T})`$ implies the left-hand-side of inequality (7.17), this proves the theorem. ∎

#### 7.1.5. Existence

We first have the following

###### Theorem 7.2.

For $`w_0L_{div}^2`$, there exists a weak solution of (7.10) satisfying

$`\underset{0tT}{sup}\left[w(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^t}w(s)𝑑s_{L^2(\mathrm{\Gamma }_0;^2)}^2\right]+w_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2`$
$`C(T)[w_0_{L^2(\mathrm{\Omega }_0;^3)}^2+f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))^{}}^2`$
$`+B_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2].`$ (7.31)
###### Proof.

We first pass to the weak limit as $`m\mathrm{}`$. The a priori bounds (7.17) show that there exists a subsequence $`\{w_{m_l}\}`$ such that

$$w_{m_l}w\text{ in }𝒱(T).$$
(7.32)
Since equation (7.13) holds for a.e. $`0tT`$, we multiply by a function $`\xi 𝒟([0,T])`$, choose a linear combination of $`\{w_k\}_{k=1}^p`$, with $`pm`$, which we denote by $`\mathrm{\Psi }_p`$, and integrate by parts on the time derivative to obtain

$`{\displaystyle _0^T}(w_{m_l},\xi ^{}(t)\mathrm{\Psi }_p)_{L^2(\mathrm{\Omega }_0;^3)}𝑑t+{\displaystyle \frac{\nu }{2}}{\displaystyle _0^T}(\mathrm{Def}w_{m_l},\xi (t)\mathrm{Def}\mathrm{\Psi }_p)_{L^2(\mathrm{\Omega }_0;^9)}𝑑t`$
$`={\displaystyle _0^T}(\stackrel{~}{f},\xi (t)\mathrm{\Psi }_p)_{H^1(\mathrm{\Omega }_0;^3)}𝑑t+{\displaystyle _0^T}(\stackrel{~}{g},\xi (t)\mathrm{\Psi }_p)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}𝑑t`$
$`+\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}BN\xi (t)\mathrm{\Psi }_p𝑑S𝑑t`$
$`\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}_\alpha {\displaystyle _0^t}w_{m_l}^i(s,)𝑑sg_0^{\alpha \beta }\xi (t)_\beta (N^j(\mathrm{\Psi }_p)^jN^i)dSdt.`$ (7.33)
From (7.32), we see that the limit $`w`$ satisfies

$`{\displaystyle _0^T}(w^{},\xi (t)\mathrm{\Psi }_p)_{L^2(\mathrm{\Omega }_0;^3)}𝑑t+{\displaystyle \frac{\nu }{2}}{\displaystyle _0^T}(\mathrm{Def}w,\xi (t)\mathrm{Def}\mathrm{\Psi }_p)_{L^2(\mathrm{\Omega }_0;^9)}𝑑t`$
$`={\displaystyle _0^T}(\stackrel{~}{f},\xi (t)\mathrm{\Psi }_p)_{H^1(\mathrm{\Omega }_0;^3)}𝑑t+{\displaystyle _0^T}(\stackrel{~}{g},\xi (t)\mathrm{\Psi }_p)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}𝑑t`$
$`+\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}B\xi (t)\mathrm{\Psi }_p𝑑S𝑑t`$
$`\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}_\alpha {\displaystyle _0^t}w^i(s,)𝑑sg_0^{\alpha \beta }\xi (t)_\beta (N^j(\mathrm{\Psi }_p)^jN^i)dSdt.`$ (7.34)
By density of the $`\mathrm{\Psi }_p`$ in $`𝒱`$, (7.34) holds for any $`v𝒱`$ replacing $`\mathrm{\Psi }_p`$. By denseness of $`𝒟([0,T])𝒱`$ in $`L^2(0,T;𝒱)`$, we see that $`w_t:=w^{}L^2(0,T;𝒱^{})`$, and by the inequality (7.17), $`w𝒱(T)`$, so that condition (i) of Definition 7.1 is satisfied.

Let $`y`$ be given by (7.27) with $`w`$ replacing $`w_m`$; we show that $`y^{}`$ satisfies (7.30). Fix $`\stackrel{~}{T}[0,T]`$, choose $`\delta >0`$ small, and integrate (7.17) from $`\stackrel{~}{T}`$ to $`\stackrel{~}{T}+\delta `$ to find

$`{\displaystyle _{\stackrel{~}{T}}^{\stackrel{~}{T}+\delta }}\left[w_m(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^t}w_m(s)𝑑s_{L^2(\mathrm{\Gamma }_0;^2)}^2+w_m_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2\right]𝑑t`$
$`{\displaystyle _{\stackrel{~}{T}}^{\stackrel{~}{T}+\delta }}\{(\stackrel{~}{c}_3+C(T))[f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2+B_{L^2(0,T;L^2(\mathrm{\Gamma }_0;))}^2`$
$`+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2]+(1+C(T))w_0_{L^2(\mathrm{\Omega }_0;^3)}^2\}dt.`$ (7.35)
Since $`w_mw`$ in $`𝒱(T)`$, by lower semi-continuity of weak convergence, we have that

$`{\displaystyle _{\stackrel{~}{T}}^{\stackrel{~}{T}+\delta }}\left[w(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^t}w(s)𝑑s_{L^2(\mathrm{\Gamma }_0;^2)}^2+w_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2\right]𝑑t`$
$`\underset{m\mathrm{}}{lim\; inf}{\displaystyle _{\stackrel{~}{T}}^{\stackrel{~}{T}+\delta }}[w_m(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^t}w_m(s)ds_{L^2(\mathrm{\Gamma }_0;^2)}^2`$
$`+w_m_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2]dt.`$ (7.36)
Since for arbitrary $`\delta `$ the inequality $`_{\stackrel{~}{T}}^{\stackrel{~}{T}+\delta }(f(t)g(t))𝑑t0`$ implies that $`f(\stackrel{~}{T})g(\stackrel{~}{T})0`$; putting together (7.36) and (7.35) shows that

$`w(\stackrel{~}{T})_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^{\stackrel{~}{T}}}w(s)𝑑s_{L^2(\mathrm{\Gamma }_0;^2)}^2+w_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2`$
$`(\stackrel{~}{c}_3+C(T))[f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2+B_{L^2(0,T;L^2(\mathrm{\Gamma }_0;))}^2`$
$`+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2]+(1+C(T))w_0^2_{L^2(\mathrm{\Omega }_0;^3)},`$ (7.37)
for all $`\stackrel{~}{T}[0,T]`$, which establishes (7.31).

Next, we address the issue of the initial condition. From (7.37), there is an $`M>0`$ such that

$$\underset{t[0,T]}{sup}w(t)_{L^2(\mathrm{\Omega }_0;^3)}<M,$$

so for each sequence $`\{t_n\}_{n=1}^{\mathrm{}}`$ with $`t_n0`$ as $`n\mathrm{}`$, there is a subsequence $`\{t_{n_j}\}`$ such that $`w(t_{n_j})W`$ in $`L^2(\mathrm{\Omega }_0;^3)`$ as $`n_j\mathrm{}`$. Since $`w_tL^2(0,T;𝒱^{})`$, it follows that $`wC^0([0,T];𝒱^{})`$, so that $`w(t_{n_j}),\psi _𝒱w(0),\psi _𝒱`$ as $`n_j\mathrm{}`$ for all $`\psi 𝒱`$. $`,_𝒱`$ denotes the duality pairing between $`𝒱`$ and $`𝒱^{}`$. Thus $`w(0)=W`$ in $`L^2(\mathrm{\Omega }_0;^3)`$.

###### Remark 5.

The inequality (7.30) shows that

$$\underset{T0}{lim\; sup}w(T)_{L^2(\mathrm{\Omega }_0;^3)}^2w_0_{L^2(\mathrm{\Omega }_0;^3)}^2,$$

from which we may infer that $`w(t)w(0)`$ strongly in $`L^2(\mathrm{\Omega }_0;^3)`$ as $`t0`$.

To show that $`w(0)=w_0`$, we first note from (7.34), that

$`{\displaystyle _0^T}(w,v^{})_{L^2(\mathrm{\Omega }_0;^3)}𝑑t+{\displaystyle \frac{\nu }{2}}{\displaystyle _0^T}(\mathrm{Def}w,\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}𝑑t={\displaystyle _0^T}(\stackrel{~}{f},v)_{H^1(\mathrm{\Omega }_0;^3)}𝑑t`$
$`+{\displaystyle _0^T}(\stackrel{~}{g},v)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}𝑑t+\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S𝑑t`$
$`\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}_\alpha {\displaystyle _0^t}w^i(s,)𝑑sg_0^{\alpha \beta }_\beta (N^jv^jN^i)dSdt.+(w(0),v(0))_{L^2(\mathrm{\Omega }_0;^3)}`$ (7.38)
for each $`vC^1([0,T];𝒱)`$ with $`v(T)=0`$. Similarly, from (7.33) we deduce

$`{\displaystyle _0^T}(w_{m_l},v^{})_{L^2(\mathrm{\Omega }_0;^3)}𝑑t+{\displaystyle \frac{\nu }{2}}{\displaystyle _0^T}(\mathrm{Def}w_{m_l},\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}𝑑t={\displaystyle _0^T}(\stackrel{~}{f},v)_{L^2(\mathrm{\Omega }_0;^3)}𝑑t`$
$`+{\displaystyle _0^T}(\stackrel{~}{g},v)_{H^{\frac{1}{2}}(\mathrm{\Omega }_0;^3)}𝑑t+\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S𝑑t`$
$`\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}_\alpha {\displaystyle _0^t}w_{m_l}^i(s,)𝑑sg_0^{\alpha \beta }_\beta (N^jv^jN^i)dSdt+(w_{m_l}(0),v(0))_{L^2(\mathrm{\Omega }_0;^3)}.`$
Using (7.32) and the fact that $`w_{m_l}(0)w_0`$ in $`L^2(\mathrm{\Omega }_0;^3)`$, we find that

$`{\displaystyle _0^T}(w,v^{})_{L^2(\mathrm{\Omega }_0;^3)}𝑑t+{\displaystyle \frac{\nu }{2}}{\displaystyle _0^T}(\mathrm{Def}w,\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^3)}𝑑t={\displaystyle _0^T}(\stackrel{~}{f},v)_{H^1(\mathrm{\Omega }_0;^3)}𝑑t`$
$`+{\displaystyle _0^T}(\stackrel{~}{g},v)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}𝑑t+\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S𝑑t`$
$`\sigma {\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}_\alpha {\displaystyle _0^t}w^i(s,)𝑑sg_0^{\alpha \beta }_\beta (N^jv^jN^i)dSdt+(w_0,v(0))_{L^2(\mathrm{\Omega }_0;^3)}.`$ (7.39)
Since $`v(0)`$ is arbitrary, comparing (7.38) with (7.39), we conclude that $`w(0)=w_0`$, which verifies condition (ii) of Definition 7.1; thus, $`w`$ is a weak solution.

### 7.2. Pressure as a Lagrange multiplier

Let $`𝒲=\{\psi H^1(\mathrm{\Omega }_0,^3)|N_0\psi L^2(\mathrm{\Gamma }_0;^3)\}`$ and $`H=\{fL^2(\mathrm{\Omega }_0;)|_{\mathrm{\Omega }_0}f(x)𝑑x=0\}`$.

###### Lemma 7.4.

For all $`pH`$, there exists a constant $`C>0`$ and $`v𝒲`$ such that $`\mathrm{div}v=p`$ and

$$v_{H^1(\mathrm{\Omega }_0;^3)}^2+N_0v_{L^2(\mathrm{\Gamma }_0;^2)}^2Cp_{L^2(\mathrm{\Omega }_0;)}^2.$$
(7.40)
###### Proof.

We let $`v=f`$ and solve $`\mathrm{}f=p`$ in $`\mathrm{\Omega }_0`$ with $`f/N=0`$ on $`\mathrm{\Gamma }_0`$. Then $`\mathrm{div}v=p`$, and by the standard elliptic estimate $`v_{H^1(\mathrm{\Omega }_0;^3)}^2Cp_{L^2(\mathrm{\Omega }_0;)}^2`$. Since $`Nv=0`$ on $`\mathrm{\Gamma }_0`$, then

$$N_0v_{L^2(\mathrm{\Gamma }_0;^2)}^2=_0Nv_{L^2(\mathrm{\Gamma }_0;^2)}^2Cv_{H^1(\mathrm{\Omega }_0;^3)}^2,$$

which establishes (7.40). ∎

We can now follow . Define the linear functional on $`𝒲`$ by $`(p,\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;)}`$, where $`pH`$. By the Riesz representation theorem, there is a bounded linear operator $`Q:H𝒲`$ such that

$$(p,\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;)}=(Qp,v)_𝒲,$$

where $`(,)_𝒲`$ denotes the inner-product on $`𝒲`$ (the left-hand-side of (7.40) defines the norm on $`𝒲`$). Letting $`v=Qp`$ shows that

$$Qp_𝒱Cp_{L^2(\mathrm{\Omega }_0;)}$$
(7.41)
for some constant $`C>0`$. Using Lemma 7.4, we have the estimate

$$p_{L^2(\mathrm{\Omega }_0;)}^2=(p,\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;^3)}CQp_𝒱v_𝒱CQp_𝒱p_{L^2(\mathrm{\Omega }_0;)}.$$
(7.42)
It follows that

$$𝒲=R(Q)_𝒲𝒱.$$
(7.43)
To see this, suppose that $`v𝒲R(Q)`$. Then for any $`pH`$, $`(Qp,v)_𝒲=(p,\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;^3)}=0`$, so that $`\mathrm{div}v`$ is a constant, and since $`vN=0`$ on $`\mathrm{\Gamma }_0`$, the constant must equal to zero; thus, $`v𝒱`$. Finally, by (7.41) and (7.42), $`R(Q)`$ is closed in $`𝒲`$. ∎

###### Lemma 7.5.

A solution $`w𝒱(T)`$ of (7.10) satisfies for a.e. $`0tT`$,

$`w_t,v+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w,\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}(p,\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;)}=f,v+g,v_{\mathrm{\Gamma }_0}`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha w^i(s,)dsg_0^{\alpha \beta }_\beta (N^jv^jN^i)dSv𝒲,`$ (7.44)
where $`p(t,)H`$ for a.e. $`0tT`$ is termed the pressure function, with the energy inequality

$`\underset{0tT}{sup}\left[w(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^t}w(s)𝑑s_{L^2(\mathrm{\Gamma }_0;^2)}^2\right]`$
$`+w_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2+p_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}^2`$
$`C(T)[w_0_{L^2(\mathrm{\Omega }_0;^3)}^2+f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2+B_{L^2([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2`$
$`+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2].`$ (7.45)
###### Proof.

From (7.10) and (7.31), we first see that $`w_tL^2(0,T;𝒲^{})`$, with

$`w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2`$ $`C[w_{L^2(0,T;𝒲)}^2+f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2`$
$`+B_{L^2([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2].`$
By the decomposition (7.43), for $`v𝒲`$, we let $`v=v_1+v_2`$, and $`v_1𝒱`$ and $`v_2R(Q)`$. We define $`\mathrm{\Lambda }𝒲^{}`$ as the difference of the left- and right-hand-sides of condition (i) in Definition 7.1; then $`\mathrm{\Lambda }0`$ on $`𝒱`$. It follows that

$$\mathrm{\Lambda }(v)=\mathrm{\Lambda }(v_2)=(\psi ,v_2)_𝒲=(\psi ,v)_𝒲\text{ for }\psi R(Q).$$

From Lemma 7.4, for a.e. $`t[0,T]`$, $`\mathrm{\Lambda }(v)=(p,\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;^3)}`$, which establishes (7.44), and with the estimate

$`p_{L^2(\mathrm{\Omega }_0;^3)}`$ $`C[w_t_{H^1(\mathrm{\Omega }_0;^3))}^2+w_{L^2(0,T;𝒲)}^2`$
$`+f_{H^1(\mathrm{\Omega }_0;^3)^{}}^2+B_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}^2+g_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}^2],`$
which by integration from $`0`$ to $`T`$ gives (7.45). ∎

While we have proven that $`w_tL^2(0,T;𝒱^{})`$, we have not shown that $`wL^2(0,T;𝒱)`$, and so we cannot employ the standard methods to prove uniqueness. Using the assumptions on our data for the nonlinear problem, however, we have additional regularity for $`w_t`$, and so uniqueness follows from

###### Theorem 7.3.

Suppose that

$$\begin{array}{c}fL^2(0,T;H^1(\mathrm{\Omega }_0;^3))),gL^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))),\\ f_tL^2(0,T;H^1(\mathrm{\Omega }_0;^3))^{}),g_tL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)),\\ B_tL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))B(0)=0,\end{array}$$
(7.46)
and that the initial data $`w_0H^2(\mathrm{\Omega }_0;^3)𝒱`$ satisfies the compatibility condition $`[\nu \mathrm{Def}(w_0)g(0)]_{\mathrm{tan}}=0`$. Then, there exists a unique solution $`w`$ in $`L^2(0,T;𝒱)`$ of (7.10) such that $`w_t𝒱(T)`$.

###### Proof.

Given the regularity assumptions in (7.46), compactness implies that

$$fC(0,T;L^2(\mathrm{\Omega }_0;^3)),gC(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)),$$

so that $`f(0)L^2(\mathrm{\Omega }_0;^3)`$ and $`g(0)H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)`$. Since $`w_0H^2(\mathrm{\Omega }_0;^3)`$, let $`p_0H^1(\mathrm{\Omega }_0;^3)`$ be the solution of the Dirichlet problem

$$\mathrm{}p_0=\mathrm{div}(\nu \mathrm{}w_0+f(0))\text{ in }\mathrm{\Omega }_0,$$
(7.47a)
$$p_0=[\nu \mathrm{Def}w_0Ng(0)]N\text{ on }\mathrm{\Gamma }_0.$$
(7.47b)
From our initial compatibility condition $`(\nu \mathrm{Def}(w_0)g(0))_{\mathrm{tan}}=0`$, we see that (7.47b) implies

$$p_0N=\nu \mathrm{Def}w_0Ng(0),$$

which will be used later in the proof.

Let $`\overline{w}_0L^2(\mathrm{\Omega }_0;^3)`$ be defined by

$$\overline{w}_0=\nu \mathrm{}w_0p_0+f(0).$$

Thanks to (7.47a), $`\overline{w}_0L_{div}^2`$, and standard elliptic estimates for (7.47) show that there exists a constant $`C>0`$ such that

$`\overline{w}_0_{L^2(\mathrm{\Omega }_0;^3)}^2`$ $`+p_0_{H^1(\mathrm{\Omega }_0;^3)}^2`$
$`C\left(w_0_{H^2(\mathrm{\Omega }_0;^3)}^2+f(0)_{L^2(\mathrm{\Omega }_0;^3)}^2+g(0)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}^2\right).`$ (7.48)
Now, since $`\overline{w}_0L_{div}^2`$, from Theorem 7.2, let us define $`\overline{w}𝒱(T)`$ to be a solution of

$`(\mathrm{i})\overline{w}_t,v+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}\overline{w},\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}=f_t,v+g_t,v_{\mathrm{\Gamma }_0}`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}B_tNv𝑑S\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha \overline{w}^i(s,)dsg_0^{\alpha \beta }_\beta (N^jv^jN^i)dS`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}_\alpha w_0^ig_0^{\alpha \beta }_\beta (N^jv^jN^i)dSv𝒱,\text{a.e. in}(0,T),`$
$`\mathrm{and}`$
$`(\mathrm{ii})\overline{w}(0,)=\overline{w}_0,`$
with the energy estimate

$`\underset{0tT}{sup}\left[\overline{w}(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^t}\overline{w}(s)𝑑s_{L^2(\mathrm{\Gamma }_0;^2)}^2\right]+\overline{w}_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2`$
$`C(T)[\overline{w}_0_{L^2(\mathrm{\Omega }_0;^3)}^2+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2`$
$`+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2+_0w_0_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^6)}^2].`$ (7.49)
Now, let $`\overline{p}`$ be given by Lemma 7.5, and let us define

$$w(t,x)=w_0(x)+_0^t\overline{w}(s,x)𝑑s,$$

$$p(t,x)=p_0(x)+_0^t\overline{p}(s,x)𝑑s.$$

Since $`w_t=\overline{w}`$, we then have $`w_t(0)=\overline{w}(0)=\overline{w}_0`$. We also obviously have $`w(0)=w_0`$ and $`p(0)=p_0`$. Concerning the regularity, we see that $`wL^2(0,T;𝒱)`$ (since $`w_t=\overline{w}𝒱(T)`$).

By Lemma 7.5, we know that a.e. in $`(0,T)`$,

$`\overline{w}_t,v+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}\overline{w},\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}(\overline{p},\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;)}=f_t,v+g_t,v_{\mathrm{\Gamma }_0}`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha \overline{w}^i(s,)dsg_0^{\alpha \beta }_\beta (N^jv^jN^i)dS`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}_\alpha w_0^ig_0^{\alpha \beta }_\beta (N^jv^jN^i)dS,v𝒲.`$
By integrating in time this equality from $`0`$ to $`t(0,T)`$, we find that

$`w_t\overline{w}_0,v+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}(ww_0),\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}(pp_0,\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;)}`$
$`=ff(0),v+gg(0),v_{\mathrm{\Gamma }_0}`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha (w^i(s,)w_0^i)dsg_0^{\alpha \beta }_\beta (N^jv^jN^i)dS`$
$`+\sigma t{\displaystyle _{\mathrm{\Gamma }_0}}_\alpha w_0^ig_0^{\alpha \beta }_\beta (N^jv^jN^i)dS,v𝒲,`$
and then using the definitions of $`\overline{w}_0`$ and $`p_0`$, we find that

$`w_t,v+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w,\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}(p,\mathrm{div}v)_{L^2(\mathrm{\Omega }_0;)}=f,v+g,v_{\mathrm{\Gamma }_0}`$
$`+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha w^i(s,)dsg_0^{\alpha \beta }_\beta (N^jv^jN^i)dS,v𝒲.`$
Consequently, we immediately get that $`wL^2(0,T;𝒱)`$ satisfies

$`w_t,v+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w,\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}=f,v+g,v_{\mathrm{\Gamma }_0}+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}BNv𝑑S`$
$`\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha w^i(s,)dsg_0^{\alpha \beta }_\beta (N^jv^jN^i)dS,v𝒱,`$
which with the condition $`w(0)=w_0`$ shows that $`w`$ is a solution of (7.10). Furthermore, $`w_t𝒱(T)`$. From (7.49), it is readily seen that

$`\underset{0tT}{sup}[w(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+w_t(t)_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^t}w(s)ds_{L^2(\mathrm{\Gamma }_0;^2)}^2`$
$`+N_0w(t)_{L^2(\mathrm{\Gamma }_0;^2)}^2]+w^2_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+w_t^2_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}`$
$`+p_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}^2+p_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}^2`$
$`C(T)[w_0_{H^2(\mathrm{\Omega }_0;^3)}^2+f(0)_{L^2(\mathrm{\Omega }_0;^3)}^2+g(0)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}^2`$
$`+f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2+B_{C^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2`$
$`+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2+g_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}^2+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2].`$ (7.50)
Now, let us assume that there exists another solution $`w^{}`$ to (7.10), such that $`w^{}L^2(0,T;𝒱)`$ and $`w_t^{}𝒱(T)`$. By denoting $`\delta w=ww^{}`$, we see that $`\delta wL^2(0,T;𝒱)`$ is solution of

$`(\mathrm{i})\delta w_t,v+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}\delta w,\mathrm{Def}v)_{L^2(\mathrm{\Omega }_0;^9)}`$
$`=\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha \delta w^i(s,)dsg_0^{\alpha \beta }_\beta (N^jv^jN^i)dsv𝒱,\text{a.e. in}(0,T),`$
$`\mathrm{and}`$
$`(\mathrm{ii})\delta w(0,)=0.`$
Since $`\delta w(t)𝒱`$ a.e. in $`(0,T)`$, we can use $`\delta w`$ as a test function in (i), which gives a.e. in $`(0,T)`$

$`\delta w_t,\delta w`$ $`+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}\delta w,\mathrm{Def}\delta w)_{L^2(\mathrm{\Omega }_0;^9)}`$
$`=\sigma {\displaystyle _{\mathrm{\Gamma }_0}}{\displaystyle _0^t}_\alpha \delta w^i(s,)dsg_0^{\alpha \beta }_\beta (N^j\delta w^jN^i)dS.`$
Since $`\delta wL^2(0,T;𝒱)`$ and $`\delta w_tL^2(0,T;𝒱^{})`$, we have

$$\frac{1}{2}\frac{d}{dt}\delta w_{L^2(\mathrm{\Omega }_0;^3)}^2=\delta w_t,\delta w.$$

Since $`N_0\delta wL^2(0,T;L^2(\mathrm{\Gamma }_0;^2))`$ and $`N_0_0^{}\delta wL^2(0,T;L^2(\mathrm{\Gamma }_0;^2))`$, we also have the same relation as (7.20), where $`\delta w`$ replaces $`w_m`$. In a quite similar fashion as we proved (7.37) (except that this time there is no limit associated to a Galerkin procedure to consider) we can then infer that

$`\delta w(\stackrel{~}{T})_{L^2(\mathrm{\Omega }_0;^3)}^2+N_0{\displaystyle _0^{\stackrel{~}{T}}}\delta w(s)𝑑s_{L^2(\mathrm{\Gamma }_0;^2)}^2+\delta w_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2`$
$`(1+C(T))\delta w(0)_{L^2(\mathrm{\Omega }_0;^3)}^2,`$ (7.51)
which, with the condition $`\delta w(0)=0`$, precisely proves that $`\delta w=0`$, establishing the uniqueness of such a solution.

###### Remark 6.

We note that the estimate (7.50) holds if we replace $`\mathrm{\Omega }_0`$ by $`_+^3`$.

### 7.3. Regularity of weak solutions on $`_+^3`$

We consider the half-space $`_+^3:=\{(x^1,x^2,x^3)^3|x^3>0\}`$ with the usual orthonormal basis $`(e_1,e_2,e_3)`$. The unit normal vector to the horizontal plane $`\{x^3=0\}`$ is $`N=(0,0,1)`$.

###### Definition 7.2.

The first-order difference quotient of $`w`$ of size $`h`$ at $`x`$ is given by

$$D_hw(x)=\frac{w(x+h)w(x)}{|h|},$$

where $`h`$ is any vector orthogonal to $`N`$. The second-order difference quotient of $`w`$ of size $`h`$ is defined as $`D_hD_hw(x)`$, given explicitly by

$$D_hD_hw(x)=\frac{w(x+h)+w(xh)2w(x)}{|h|^2}.$$

###### Lemma 7.6.

Suppose that $`wL^2(_+^3;^3)`$.

(i) If

$$D_hw_{L^2(_+^3;^3)}M$$

for a constant $`M`$ and for $`h=e_1,e_2`$, then

$$_0w_{L^2(_+^3;^6)}M,$$

and $`D_hw_{L^2(_+^3;^3)}C_0w_{L^2(_+^3;^6)}`$ for some constant $`C`$.

(ii) If

$$D_hD_hw_{L^2(_+^3;^3)}M$$

for a constant $`M`$ and for $`h=e_1,e_2,(e_1+e_2)/\sqrt{2}`$, then

$$_0_0w_{L^2(_+^3;^{12})}M,$$

where $`_0=(_1,_2)`$ is the gradient on $`^2\times \{x^3=0\}`$.

###### Proof.

Part (i) is proved on page 277 of , and part (ii) follows from page 7 of . ∎

On the half-space $`_+^3`$, the system of equations (7.10) becomes

$`w_t\nu \mathrm{}w`$ $`=p+f`$ $`\text{in}(0,T)\times _+^3,`$ (7.52a)
$`\mathrm{div}w`$ $`=0`$ $`\text{in}(0,T)\times _+^3,`$ (7.52b)
$`\nu \mathrm{Def}wNpN`$ $`=\sigma \left[\begin{array}{c}0\\ 0\\ _0^t\mathrm{}_0w^3(r,)𝑑r+B\end{array}\right]+\left[\begin{array}{c}g^1\\ g^2\\ g^3\end{array}\right]`$ $`\text{on}(0,T)\times ^2,`$ (7.52c)
$`w`$ $`=w_0`$ $`\text{on}_+^3\times \{t=0\}.`$ (7.52d)
For the remainder of this section, we replace $`\mathrm{\Omega }_0`$ with $`_+^3`$, and $`\mathrm{\Gamma }_0`$ with $`^2\times \{x^3=0\}`$, in the definitions of our function spaces, and we use $`,_{\mathrm{\Gamma }_0}`$ to denote the duality pairing between $`H^{\frac{1}{2}}(^2;^3)`$ and its dual space $`H^{\frac{1}{2}}(^2;^3)`$.

###### Theorem 7.4 (Regularity on $`_+^3`$).

If $`w𝒱(T)`$ is a weak solution of (7.52), satisfying the estimate (7.50), the weak formulation

$`(w_t,v)_{L^2(_+^3;^3)}+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w,\mathrm{Def}v)_{L^2(_+^3;^9)}=f,v+g,v_{\mathrm{\Gamma }_0}`$
$`+\sigma (B,v^3)_{L^2(^2;)}\sigma ({\displaystyle _0^t}_0w^3(r)𝑑r,_0v^3)_{L^2(^2;^2)}v𝒱,`$ (7.53)
as well as the initial condition $`w(0,)=w_0`$ and the compatibility condition

$$[\nu \mathrm{Def}w_0N]_{\mathrm{tan}}=g(0,)_{\mathrm{tan}},$$

and if

$$\begin{array}{c}fV^1(T),gL^2(0,T;H^{\frac{3}{2}}(^2,^3)),g_tL^2(0,T;H^{\frac{1}{2}}(^2,^3)),\\ BC^0([0,T];H^{\frac{1}{2}}(^2,)),B_tL^2(0,T;H^{\frac{1}{2}}(^2,)),\end{array}$$

and $`B(0,)=0`$, then $`wV_{\mathrm{div}}^3(T)`$, $`pV^2(T)`$, and we have the following estimate:

$`w_{L^2(0,T;H^3(_+^3;^3))}+N\mathrm{}_0{\displaystyle _0^{}}w(s)𝑑s_{C^0([0,T];H^{\frac{1}{2}}(^2;))}+p_{L^2(0,T;H^2(_+^3;))}`$
$`+w_t_{L^2(0,T;H^1(_+^3;^3))}+N\mathrm{}_0w_{L^2(0,T;H^{\frac{1}{2}}(^2;))}+p_t_{L^2(0,T;L^2(_+^3;))}`$
$`+w_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^9))}+p_t_{L^2(0,T;H^{\frac{1}{2}}(^2;))}`$
$`C(w_0_{H^2(_+^3;^3)}+f(0)_{H^2(_+^3;^3)}+g(0)_{H^{\frac{1}{2}}(^2;^3)}`$
$`+f_{L^2(0,T;H^1(_+^3;^3))}+f_t_{L^2(0,T;H^1(_+^3;^3)^{})}+B_{C^0([0,T];H^{\frac{1}{2}}(^2;))}`$
$`+B_t_{L^2(0,T;H^{\frac{1}{2}}(^2;))}+g_{L^2(0,T;H^{\frac{3}{2}}(^2;^3))}+g_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}).`$ (7.54)
###### Proof.

We will use the superposition principle, first establishing the result by keeping the data $`f`$, $`g`$, and $`w_0`$, and setting $`B=0`$ in the first step, and then keeping $`B`$ and setting $`f=g=w_0=0`$ in the second step. In the third step of the proof, we shall establish the necessary boundary regularity for the $`w_t`$ and $`p_t`$.

1. We first consider the case that $`B=0`$. From the estimate (7.50), we see that for a.e. $`0tT`$, $`w(t)𝒱`$. We set $`v=D_hD_hw`$ for $`h=e_1,e_2`$ in (7.53). Since for $`f_1,f_2L^2(_+^3;^3)`$,

$$_{_+^3}f_1(x)D_hD_hf_2(x)𝑑x=_{_+^3}D_hf_1(x)D_hf_2(x)𝑑x,$$

we see that for $`ϵ>0`$,

$`{\displaystyle \frac{1}{2}}{\displaystyle \frac{d}{dt}}\left(D_hw_{L^2(_+^3;^3)}^2+\sigma D_h_0{\displaystyle _0^t}w^3(r)𝑑r_{L^2(^2;^2)}^2\right)+{\displaystyle \frac{\nu }{2}}D_h\mathrm{Def}w_{L^2(_+^3;^9)}^2`$
$`=(f,D_hD_hw)_{L^2(_+^3;^3)}+(D_hg,D_hw)_{L^2(^2;^3)}`$
$`C(ϵ)f_{L^2(_+^3;^3)}^2+ϵD_h_0w_{L^2(_+^3;^6)}^2+C(ϵ)D_hg_{H^{\frac{1}{2}}(^2;^3)}^2`$
$`+ϵD_hw_{L^2(^2;^3)}^2`$
$`C\left(f_{L^2(_+^3;^3)}^2+g_{H^{\frac{1}{2}}(^2;^3)}^2\right)+ϵD_h_0w_{L^2(_+^3;^6)}^2`$
$`+ϵD_h\mathrm{Def}w_{L^2(_+^3;^9)}^2+ϵD_hw_{L^2(_+^3;^3)}^2,`$ (7.55)
where we have used Lemma 7.6 and the trace theorem for the last inequality. We choose $`ϵ>0`$ sufficiently small, define

$$y(t):=D_hw(t)_{L^2(_+^3;^3)}^2+\sigma D_h_0_0^tw^3(r)𝑑r_{L^2(^2;^2)}^2,$$

and

$$F(t)=C\left(f(t)_{L^2(_+^3;^3)}^2+g(t)_{H^{\frac{1}{2}}(^2;^3)}^2\right),$$

so that for some constant $`c>0`$, we may reexpress (7.55) as $`y^{}(t)cy(t)F(t)`$. Gronwall’s inequality then shows that for all $`0\overline{T}T`$, $`y(\overline{T})e^{CT}y(0)+_0^Te^{c(Tt)}F(t)𝑑t`$. Since $`y(0)=D_hw_0_{L^2(_+^3;^3)}^2C_0w_0_{L^2(_+^3;^6)}^2`$, we see that

$`\underset{0tT}{sup}D_hw(t)_{L^2(_+^3;^3)}^2`$ $`C(T)(_0w_0_{L^2(_+^3;^6)}^2+f_{L^2(0,T;L^2(_+^3;^3))}^2`$
$`+g_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}^2)=:\mathrm{\Phi }(T),`$
where $`C(T)+\mathrm{}`$ as $`T+\mathrm{}`$. Integrating (7.55) from $`0`$ to $`T`$, and using Korn’s inequality, we find that

$$D_hw_{L^2(0,T;L^2(_+^3;^9))}^2\mathrm{\Phi }(T),$$

possibly readjusting $`C(T)`$ if necessary. By Lemma 7.6,

$$_0w_{L^2(0,T;L^2(_+^3;^{18}))}^2\mathrm{\Phi }(T).$$
(7.56)
We next establish a similar bound for $`_3_3w^\alpha `$. Since $`\mathrm{div}w=0`$, $`_3_3w^3=_1_3w^1_2_3w^2`$, so that by (7.56),

$$\mathrm{}w^3_{L^2(0,T;L^2(_+^3;))}^2\mathrm{\Phi }(T).$$
(7.57)
Since $`_3p=w_t^3\nu \mathrm{}w^3f^3`$, then $`_3pL^2(0,T;L^2(_+^3;))`$ and satisfies the bound

$$_3p_{L^2(0,T;L^2(_+^3;))}^2\mathrm{\Phi }(T)+w_t_{L^2(0,T;L^2(_+^3;^3))}^2.$$
(7.58)
Using Lemma 7.5, we see that on $`_+^3`$, $`w`$ satisfies

$`(w_t,v)_{L^2(_+^3;^3)}+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w,\mathrm{Def}v)_{L^2(_+^3;^9)}(p,\mathrm{div}v)_{L^2(_+^3;)}`$
$`=f,v+g,v_{\mathrm{\Gamma }_0}\sigma ({\displaystyle _0^t}_0w^3(r)𝑑r,_0v^3)_{L^2(^2;^2)}v𝒲.`$ (7.59)
Since the test function $`v`$ need not satisfy the divergence-free constraint, the idea is to take $`v=(_1p,_2p,0)`$ as the test function. Formally, at least, for this choice of $`v`$, the boundary term in (7.59) disappears, and the bound (7.58) for $`_\alpha p`$ can be obtained. Since we a priori do not know that $`_\alpha p𝒲`$, we must use a mollification process.

For each $`x_30`$ and $`0ϵ\overline{ϵ}`$, let $`(x_1,x_2)\rho ^ϵ(x_1,x_2,x_3)`$ denote a family of Friedrichs mollifiers on $`^2\times \{x^3\}`$. It is standard that the $`\rho ^ϵ`$ satisfy $`_\alpha (\rho ^ϵp)=_\alpha \rho ^ϵp=\rho ^ϵ_\alpha p`$, and that $`_{_+^3}(f)(\rho ^ϵg)𝑑x=_{_+^3}(\rho ^ϵf)(g)𝑑x`$ for all $`f,gL^2(_+^3;)`$.

For our test function $`v`$ in (7.59), we set $`v^\alpha =\rho ^ϵ_\alpha (\rho ^ϵp)`$ and $`v^3=0`$, so that $`v𝒲`$. Let $`P:=\rho ^ϵp`$, and $`W:=\rho ^ϵw`$. Then (7.59) becomes

$`_\alpha P_{L^2(_+^3;)}^2`$ $`={\displaystyle \frac{\nu }{2}}{\displaystyle _{_+^3}}[2(W^\alpha ,_\beta +W^\beta ,_\alpha )P,_{\alpha \beta }+(W^\alpha ,_3+W^3,_\alpha )P,_{\alpha 3}]dx`$
$`+(\rho ^ϵf^\alpha W_t^\alpha ,P,_\alpha )_{L^2(_+^3;^3)}+(\rho ^ϵg^\alpha ,P,_\alpha )_{L^2(^2;^3)}`$
$`={\displaystyle \frac{\nu }{2}}{\displaystyle _{_+^3}}[2(W^\alpha ,_{\beta \beta }+W^\beta ,_{\alpha \beta })P,_\alpha +(W^\alpha ,_{3\alpha }+W^3,_{\alpha \alpha })P,_3]dx`$
$`+(\rho ^ϵf^\alpha W_t^\alpha ,P,_\alpha )_{L^2(_+^3;)}(\rho ^ϵg^\alpha ,_\alpha ,P)_{L^2(^2;)}.`$
We use Young’s inequality (and the trace theorem for the last term), and then integrate from $`0`$ to $`T`$ to find

$$_\alpha P_{L^2(0,T;L^2(_+^3;))}^2C(\epsilon )\left(\mathrm{\Phi }(T)+W_t_{L^2(0,T;L^2(_+^3;^3))}^2\right)+\epsilon _\alpha P_{L^2(_+^3;)}^2.$$

where we have used (7.56), (7.57), and (7.58). Using the fact that

$$W_t_{L^2(0,T;L^2(_+^3;^3))}^2w_t_{L^2(0,T;L^2(_+^3;^3))}^2$$

and choosing $`\epsilon >0`$ sufficiently small, we see that

$$_\alpha P_{L^2(0,T;L^2(_+^3;))}^2C$$

for some constant $`C`$. Thus, $`_\alpha (\rho ^ϵp)\phi _\alpha `$ in $`L^2(0,T;L^2(_+^3;))`$ as $`ϵ0`$. Choose $`\psi 𝒟(_+^3,)`$ with $`\text{supp}(\psi )=K`$. Then for each $`\alpha =1,2`$

$$_0^T_{_+^3}_\alpha (\rho ^ϵ\psi )pdxdt_0^T_{_+^3}\phi _\alpha \psi 𝑑x𝑑t$$

as $`ϵ0`$. For each $`x^3K`$, $`\rho ^ϵ_\alpha \psi (,x^3)_\alpha \psi (,x^3)`$ a.e., and

$$\rho ^ϵ_\alpha \psi (,x^3)_{L^{\mathrm{}}(^2\times \{x^3\};)}\rho ^ϵ_{L^1(^2\times \{x^3\};)}_\alpha \psi (,x^3)_{L^{\mathrm{}}(^2\times \{x^3\};)},$$

so that

$$\rho ^ϵ_\alpha \psi _{L^{\mathrm{}}(^3;)}C$$

for some constant $`C>0`$, which follows since the intersection of $`K`$ with the $`x^3`$-axis is compact.

Thus, for some limit point $`\xi ^\alpha L^2(_+^3;)`$, $`\rho ^ϵ_\alpha \psi \xi _\alpha `$ in $`L^2(_+^3;)`$ and by the a.e. convergence, $`\xi _\alpha =_\alpha \psi `$ in $`L^2(_+^3;)`$, so that

$$_0^T_{_+^3}\phi _\alpha \psi 𝑑x𝑑t=_0^T_{_+^3}p_\alpha \psi dxdt.$$

By lower semi-continuity of weak convergence of the mollification, it follows that

$$_\alpha p_{L^2(0,T;L^2(_+^3;^3))}^2C\left(\mathrm{\Phi }(T)+w_t_{L^2(0,T;L^2(_+^3;^3))}^2\right).$$

Combining this with (7.58), we obtain

$$p_{L^2(0,T;L^2(_+^3;^3))}^2C\left(\mathrm{\Phi }(T)+w_t_{L^2(0,T;L^2(_+^3;^3))}^2\right).$$
(7.60)
Since $`\nu _3_3w^\alpha =\nu _\beta _\beta w^\alpha f^\alpha +w_t^\alpha +_\alpha p`$, $`_3_3w^\alpha L^2(0,T;L^2(_+^3;^3))`$ and is bounded by the right-hand-side of (7.60). We obtain the estimate

$$w_{L^2(0,T;H^2(_+^3;^3))}+p_{L^2(0,T;H^1(_+^3;))}C\left(\mathrm{\Phi }(T)+w_t_{L^2(0,T;L^2(_+^3;^3))}^2\right).$$
(7.61)
Next, we set $`v=D_hD_hD_hD_hw`$ for $`h=e_1,e_2,\frac{e_1+e_2}{\sqrt{2}}`$ in (7.53). Just as we obtained the inequality (7.55), we find that

$`{\displaystyle \frac{1}{2}}{\displaystyle \frac{d}{dt}}\left(D_hD_hw_t_{L^2(_+^3;^3)}^2+\sigma D_hD_h_0{\displaystyle _0^t}w^3(r)𝑑r_{L^2(^2;^2)}^2\right)`$
$`+{\displaystyle \frac{\nu }{2}}D_hD_h\mathrm{Def}w_{L^2(_+^3;^9)}^2C\left(f_{H^1(_+^3;^3)}^2+g_{H^{\frac{3}{2}}(^2;^3)}^2\right)`$
$`+ϵD_hD_h_0w_{L^2(_+^3;^6)}^2+ϵD_hD_h\mathrm{Def}w_{L^2(_+^3;^9)}^2+ϵD_hD_hw_{L^2(_+^3;^3)}^2,`$ (7.62)
The identical argument leading to (7.56) gives

$$_0_0w_{L^2(0,T;L^2(_+^3;^{36}))}^2\mathrm{\Psi }(T).$$
(7.63)
where

$$\mathrm{\Psi }(T):=C(T)\left(_0_0w_0_{L^2(_+^3;^{12})}^2+f_{L^2(0,T;H^1(_+^3;^3))}^2+g_{L^2(0,T;H^{\frac{3}{2}}(^2;^3))}^2\right),$$
(7.64)
and $`C(T)+\mathrm{}`$ as $`T+\mathrm{}`$. Since, $`_\alpha _\beta _jw^i_{L^2(0,T;L^2(_+^3;))}\mathrm{\Psi }(T)`$, then $`_\alpha _3_3w^3_{L^2(0,T;L^2(_+^3;))}\mathrm{\Psi }(T)`$ using that $`\mathrm{div}w=0`$. It follows that

$$_\alpha \mathrm{}w^3_{L^2(0,T;L^2(_+^3;))}\mathrm{\Psi }(T),$$

and since $`_\alpha _3p=_\alpha w_t^3+_\alpha f+_\alpha \mathrm{}w^3`$, we see that

$$_\alpha _3p_{L^2(0,T;L^2(_+^3;))}^2\mathrm{\Psi }(T)+w_t_{L^2(0,T;H^1(_+^3;^3))}^2.$$
(7.65)
Setting $`v^\alpha =\rho ^ϵ_\alpha _\gamma _\gamma (\rho ^ϵp)`$ in (7.59) we find that

$`_\alpha _\gamma P_{L^2(_+^3;)}^2={\displaystyle \frac{\nu }{2}}{\displaystyle _{_+^3}}[2(W^\alpha ,_{\beta \beta \gamma }+W^\beta ,_{\alpha \beta \gamma })P,_{\alpha \gamma }+(W^\alpha ,_{3\gamma \gamma }+W^3,_{\alpha \gamma \gamma })P,_{3\alpha }]dx`$
$`+(_\gamma (\rho ^ϵf^\alpha W_t^\alpha ),P,_{\alpha \gamma })_{L^2(_+^3;)}(\rho ^ϵg^\alpha ,_{\alpha \gamma },P,_\gamma )_{L^2(^2;)}.`$ (7.66)
Integrating from $`0`$ to $`T`$, using Young’s inequality and the trace theorem, and passing to the limit as $`ϵ0`$, the estimate (7.65) gives

$$_\alpha p_{L^2(0,T;L^2(_+^3;^3))}^2C\left(\mathrm{\Psi }(T)+w_t_{L^2(0,T;H^1(_+^3;^3))}^2\right).$$
(7.67)
Since $`\nu _i_3_3w^\beta =\nu _i_\gamma _\gamma w^\beta _if^\beta +_iw_t^\beta +_{i\beta }p`$, and $`w^3,_{333}=w_{331}^1w_{332}^2`$ from the divergence-free condition, we find that

$$w_{L^2(0,T;H^3(_+^3;^3))}+p_{L^2(0,T;H^2(_+^3;))}C\left(\mathrm{\Psi }(T)+w_t_{L^2(0,T;H^1(_+^3;^3))}^2\right).$$
(7.68)
2. Next, we keep $`B`$ and set $`f=g=w_0=0`$. We first assume the following regularity for $`B`$:

$$BC^0([0,T];L^2(_+^3;)),B_tL^2(0,T;L^2(_+^3;)).$$
(7.69)
During the course of the proof of Theorem 7.3, we proved that $`w_t(0)=\overline{w}_0`$, with $`\overline{w}_0`$ satisfying (7.48). Thus, $`w_t(0)=0`$ with our present choice of initial data and forcings.

We consider the weak formulation for the time derivative $`w_t`$ given by

$`(w_{tt},v)_{L^2(_+^3;^3)}+{\displaystyle \frac{\nu }{2}}(\mathrm{Def}w_t,\mathrm{Def}v)_{L^2(_+^3;^9)}=\sigma {\displaystyle _{\mathrm{\Gamma }_0}}B_tv^3𝑑S\sigma {\displaystyle _{\mathrm{\Gamma }_0}}_\alpha w^3_\alpha v^3dS,`$ (7.70)
for all $`vL^2(0,T;𝒱)`$. We set $`v=D_hD_hw`$ in (7.70) and integrate from $`0`$ to $`\overline{T}`$ for $`0\overline{T}T`$ to find that

$`{\displaystyle \frac{\nu }{4}}D_h\mathrm{Def}w(\overline{T})_{L^2(_+^3;^9)}^2+\sigma {\displaystyle _0^{\overline{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}|D_h_0w^3|^2𝑑S𝑑t`$
$`(w_t(\overline{T}),D_hD_hw(\overline{T}))_{L^2(_+^3;^3)}+C(ϵ){\displaystyle _0^T}B_t_{L^2(^2;^3)}^2𝑑t`$
$`+ϵ{\displaystyle _0^{\overline{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}|D_hD_hw^3|^2𝑑S𝑑t.`$
In order to employ Korn’s inequality we add $`\frac{\nu }{4}D_hw(\overline{T})_{L^2(_+^3;^3)}^2`$ to both sides of the above inequality. We find that with $`ϵ>0`$ taken sufficiently small,

$`D_hw(\overline{T})_{H^1(_+^3;^3)}^2+{\displaystyle _0^{\overline{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}|D_h_0w^3|^2dSdtC(B_t_{L^2(0,T;L^2(^2;))}^2`$
$`+w_t_{L^2(0,T;H^1(_+^3;^3))}^2+w_t(\overline{T})_{L^2(_+^3;^3)}^2+w(\overline{T})_{H^1(_+^3;^3)}^2).`$ (7.71)
We need to estimate $`w(\overline{T})_{H^1(_+^3;^3)}^2`$. Letting $`v=D_hD_hw`$ in (7.53), integrating from $`0`$ to $`\overline{T}`$, and using Young’s inequality, we find that

$`D_hw(\overline{T})_{L^2(_+^3;^3)}^2+\sigma {\displaystyle _{\mathrm{\Gamma }_0}}|{\displaystyle _0^{\overline{T}}}D_h_0w^3dt|^2𝑑S`$
$`{\displaystyle \frac{1}{2}}B_t_{L^2(0,T;L^2(^2;))}^2+{\displaystyle \frac{\sigma }{2}}{\displaystyle _0^{\overline{T}}}{\displaystyle _{\mathrm{\Gamma }_0}}|{\displaystyle _0^t}D_h_0w^3ds|^2𝑑S𝑑t`$
$`+C(ϵ)B(\overline{T})_{L^2(^2;)}^2+ϵ{\displaystyle _{\mathrm{\Gamma }_0}}|{\displaystyle _0^{\overline{T}}}D_h_0w^3dt|^2𝑑S.`$
Thus, for $`ϵ>0`$ sufficiently small,

$`{\displaystyle _{\mathrm{\Gamma }_0}}|{\displaystyle _0^{\overline{T}}}D_h_0w^3dt|^2𝑑S`$
$`C{\displaystyle _{\mathrm{\Gamma }_0}}|{\displaystyle _0^t}D_h_0w^3ds|^2𝑑S𝑑t+C(B_t_{L^2(0,T;L^2(^2;))}^2+B(\overline{T})_{L^2(^2;)}^2).`$
Gronwall’s inequality yields the bound

$$_{\mathrm{\Gamma }_0}|_0^{\overline{T}}D_h_0w^3dt|^2𝑑SC(1+\overline{T}e^{\overline{T}})\left(B_t_{L^2(0,T;L^2(^2;))}^2+B(\overline{T})_{L^2(^2;)}^2\right)$$

so that

$$D_hw(\overline{T})_{L^2(_+^3;^3)}^2C(T)\left(B_t_{L^2(0,T;L^2(^2;))}^2+B(\overline{T})_{L^2(^2;)}^2\right)$$

where $`C(T)+\mathrm{}`$ as $`T+\mathrm{}`$. Substituting this into (7.71) and taking the sup over $`0\overline{T}T`$, we find that

$`\underset{0tT}{sup}_0w(t)_{H^1(_+^3;^6)}^2+w^3_{L^2(0,T;H^2(^2,))}^2`$
$`C\left(B_{L^2(0,T;L^2(^2,))}^2+B_t_{L^2(0,T;L^2(^2,))}^2+w_t_{L^{\mathrm{}}(0,T;L^2(^3,^3))}^2\right)`$
$`C\left(B_{C^0([0,T];L^2(^2,))}^2+B_t_{L^2(0,T;L^2(^2,))}^2\right),`$ (7.72)
where we used (7.50) for the second inequality, with $`\mathrm{\Omega }_0`$ replaced by $`_+^3`$ and $`\mathrm{\Gamma }_0`$ replaced by $`^2`$.

Having established (7.72) under the assumptions (7.69), we next assume that

$$BC^0([0,T];H^1(_+^3;)),B_tL^2(0,T;H^1(_+^3;)).$$
(7.73)
We take $`v=D_hD_hw_t`$ in (7.70) and obtain

$`{\displaystyle \frac{d}{dt}}D_hw_t_{L^2(_+^3;^3)}^2+CD_hw_t_{H^1(_+^3;^3)}^2+\sigma {\displaystyle \frac{d}{dt}}D_h_0w^3_{L^2(^2;^2)}^2`$
$`=2(D_hB_t,D_hw_t^3)_{L^2(^2;)}+2\nu D_hw_t_{L^2(_+^3;^3)}^2`$
$`C(ϵ)B_t_{H^1(^2;)}^2+ϵD_hw_t_{H^1(_+^3;^3)}^2+2\nu w_t_{L^2(_+^3;^3)}^2,`$
where we have used Young’s inequality, the trace theorem and Lemma 7.6 for the last inequality, as well as Korn’s inequality for the first line. Choosing $`ϵ>0`$ sufficiently small, and integrating from $`0`$ to $`\overline{T}`$, for $`0\overline{T}T`$, we have that

$`D_hw_t(\overline{T})_{L^2(_+^3;^3)}^2+2D_hw_t_{L^2(0,\overline{T};H^1(_+^3;^3))}^2+D_h_0w^3(\overline{T})_{L^2(^2;^2)}^2`$
$`C\left(B_{C^0([0,T];L^2(^2,))}^2+B_t_{L^2(0,T;L^2(^2,))}^2\right),`$
where we have again used (7.50) to bound $`w_t_{L^2(0,T;L^2(_+^3;^3))}^2`$. From Lemma 7.6, it follows that

$`\underset{0tT}{sup}_0w_t_{L^2(_+^3;^6)}^2+_0w_t_{L^2(0,\overline{T};H^1(_+^3;^6))}^2`$
$`C\left(B_{C^0([0,T];L^2(^2,))}^2+B_t_{L^2(0,T;L^2(^2,))}^2\right).`$ (7.74)
Next, letting $`v=D_hD_hD_hD_hw`$ in (7.70), we get

$`(D_hw_{tt},D_hD_hD_hw)_{L^2(_+^3;^3)}+\nu {\displaystyle \frac{d}{dt}}D_hD_h\mathrm{Def}w_{L^2(_+^3;^9)}^2`$
$`+\sigma D_hD_h_0w^3_{L^2(^2;^2)}^2=(D_hB_t,D_hD_hD_hw^3)_{L^2(^2;)}`$
$`C(ϵ)B_t_{H^1(^2;)}^2+ϵD_hD_h_0w^3_{L^2(^2;^2)}^2,`$
where we have used Young’s inequality and Lemma 7.6 to obtain the inequality. Choosing $`ϵ>0`$ sufficiently small and integrating from $`0`$ to $`T`$ we get

$`c_1D_hD_hw(T)_{H^1(_+^3;^3)}^2+c_1D_hD_h_0w^3_{L^2(0,T;L^2(^2;^2))}^2`$
$`{\displaystyle \frac{1}{2}}D_hD_hw_t_{L^2(0,T;L^2(_+^3;^3))}^2(D_hw_t(T),D_hD_hD_hw(T))_{L^2(_+^3;^3)}`$
$`+CB_t_{L^2(0,T;H^1(^2;))}^2+\nu D_hD_hw(T)_{L^2(_+^3;^3)}^2`$
$`{\displaystyle \frac{1}{2}}D_hw_t_{L^2(0,T;H^1(_+^3;^3))}^2+C(ϵ)_0w_t(T)_{L^2(_+^3;^6)}^2`$
$`+CB_t_{L^2(0,T;H^1(^2;))}^2+ϵD_hD_hw(T)_{H^1(_+^3;^3)}^2+\nu D_hD_hw(T)_{L^2(_+^3;^3)}^2.`$
Choosing $`ϵ>0`$ sufficiently small, using (7.74), and Lemma 7.6, we find that

$`w^3_{L^2(0,T;H^3(^2,))}^2C\left(B_{C^0([0,T];L^2(^2,))}^2+B_t_{L^2(0,T;H^1(^2,))}^2\right).`$ (7.75)
Interpolating between (7.72) and (7.75) we have that

$`w^3_{L^2(0,T;H^{2.5}(^2,))}^2C\left(B_{C^0([0,T];L^2(^2,))}^2+B_t_{L^2(0,T;H^{\frac{1}{2}}(^2,))}^2\right).`$ (7.76)
Having established the estimate (7.76), we now return to the original assumptions of the theorem on $`B`$ so that

$$BC^0([0,T];H^{\frac{1}{2}}(^2;)),B_tL^2(0,T;H^{\frac{1}{2}}(^2;)).$$

Equations (7.52a) and (7.52c) take the form

$`w_t\nu \mathrm{}w`$ $`=p`$ $`\text{in}(0,T)\times _+^3,`$ (7.77a)
$`_3w^\alpha `$ $`=_\alpha w^3`$ $`\text{on}(0,T)\times ^2,`$ (7.77b)
$`2\nu _3w^3p`$ $`=\sigma \left({\displaystyle _0^t}\mathrm{}_0w^3(r)𝑑r+B\right)`$ $`\text{on}(0,T)\times ^2.`$ (7.77c)
Taking the $`L^2`$ inner-product of (7.77a) with $`vL^2(0,T;𝒱)`$ we find that

$`(w_t,v)_{L^2(_+^3;^3)}+\nu (w,v)_{L^2(_+^3;^9)}`$ $`={\displaystyle _{\mathrm{\Gamma }_0}}\left[\nu _3w^iv^ipv^3\right]𝑑S`$
$`={\displaystyle _{\mathrm{\Gamma }_0}}[\nu _\alpha w^3v^\alpha +(2\nu _3w^3p)v^3)dS,`$
where we have used (7.77b) for the second equality. Setting $`v=D_hD_hD_hD_hw`$,

$`{\displaystyle \frac{1}{2}}{\displaystyle \frac{d}{dt}}D_hD_hw_{L^2(_+^3;^3)}^2+\nu D_hD_hw_{L^2(_+^3;^9)}^2`$
$`={\displaystyle _{\mathrm{\Gamma }_0}}D_hD_hw^3,_\alpha D_hD_hw^\alpha dS+{\displaystyle _{\mathrm{\Gamma }_0}}D_h(2\nu w^3,_3p)D_hD_hD_hw^3dS.`$
Using Korn’s inequality and integrating from $`0`$ to $`T`$, we have that

$`\nu D_hD_hw_{L^2(0,T;H^1(_+^3;^3))}^2{\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}D_hD_hw^3,_\alpha D_hD_hw^\alpha dSdt`$
$`+{\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}D_h(w^3,_3p)D_hD_hD_hw^3dSdt+\nu D_hD_hw_{L^2(0,T;L^2(_+^3;^3))}^2.`$
We look at the right-hand-side term by term. First, $`\nu D_hD_hw_{L^2(0,T;L^2(_+^3;^3))}^2`$ is bounded by (7.72); second,

$`{\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}D_hD_hw^3,_\alpha D_hD_hw^\alpha dSdt`$
$`{\displaystyle _0^T}D_hD_hw^3,_\alpha _{H^{\frac{1}{2}}(^2;)}D_hD_hw^\alpha _{H^{\frac{1}{2}}(^2;)}dt`$
$`{\displaystyle _0^T}CD_hD_h\mathrm{}_0^{\frac{1}{4}}w^3,_\alpha _{L^2(^2;)}D_hD_hw^\alpha _{H^{\frac{1}{2}}(^2;)}dt`$
$`C(ϵ)w^3_{L^2(0,T;H^{2.5}(^2;))}^2+ϵD_hD_hw^\alpha _{L^2(0,T;H^{\frac{1}{2}}(^2;))}^2`$
$`C\left(B_{C^0([0,T];L^2(^2,))}^2+B_t_{L^2(0,T;H^{\frac{1}{2}}(^2,))}^2\right)`$
$`+ϵD_hD_hw_{L^2(0,T;H^1(_+^3;^3))}^2,`$
where we have used the duality for the first inequality, the fact that $`\mathrm{}_0^{\frac{1}{4}}()_{L^2(^2;)}^2`$ defines an equivalent norm on $`H^{\frac{1}{2}}(^2;)`$ for the second inequality, Young’s inequality for the third inequality, and the trace theorem together with the estimate (7.76) for the last inequality.

Finally, using the identical arguments, we find that

$`{\displaystyle _0^T}{\displaystyle _{\mathrm{\Gamma }_0}}D_h(2\nu w^3,_3p)D_hD_hD_hw^3dSdt`$
$`{\displaystyle _0^T}D_hD_hD_hw^3_{H^{\frac{1}{2}}(^2;)}D_h(2\nu w^3,_3p)_{H^{\frac{1}{2}}(^2;)}dt`$
$`C(ϵ)w^3_{L^2(0,T;H^{2.5}(^2;))}^2+ϵ_\alpha 2\nu _3w^3_\alpha p)^2_{L^2(0,T;H^1(_+^3;))}.`$
Thus, choosing $`ϵ>0`$ sufficiently small, combining the previous estimates, and using the fact that for some $`C>0`$,

$$_\alpha 2\nu _3w^3_\alpha p_{L^2(0,T;H^1(_+^3;))}^2C\left(w_{L^2(0,T;H^3(_+^3;^3))}^2+p_{L^2(0,T;H^2(_+^3;))}^2\right),$$

we see that for some (possibly readjusted) $`ϵ>0`$, and using Lemma 7.6

$`_0_0w_{L^2(0,T;H^1(_+^3;^{12}))}^2`$ $`C\left(B_{C^0([0,T];L^2(^2,))}^2+B_t_{L^2(0,T;H^{\frac{1}{2}}(^2,))}^2\right)`$
$`+ϵ\left(w_{L^2(0,T;H^3(_+^3;^3))}^2+p_{L^2(0,T;H^2(_+^3;))}^2\right).`$ (7.78)
Let $`\mathrm{\Xi }(T)`$ equal the right-hand-side of (7.78). Since $`_3_3_\alpha w^3=_1_\alpha _3w^1_2_\alpha _3w^2`$, we see that

$$_\alpha \mathrm{}w^3_{L^2(0,T;L^2(_+^3;))}^2\mathrm{\Xi }(T);$$

hence, from (7.77a),

$$_\alpha _3p_{L^2(0,T;L^2(_+^3;))}^2c(\mathrm{\Xi }(T)+w_t_{L^2(0,T;H^1(_+^3;^3))}^2)C\mathrm{\Xi }(T),$$

where we used (7.50) for the second inequality. From (7.77a), we see that $`\nu _3_3_3w^\alpha =_3w_t^\alpha \nu _3\mathrm{}_0w^\alpha +_3_\alpha p`$, so that

$$_3_3_3w^\alpha _{L^2(0,T;L^2(_+^3;))}^2C\mathrm{\Xi }(T).$$

Next, setting $`f=g=0`$ in (7.66) and again using the estimate (7.50) we see that

$$_\alpha p_{L^2(0,T;L^2(_+^3;^3))}^2C\mathrm{\Xi }(T).$$

Since $`\nu _i_3_3w^\beta =\nu _i_\gamma _\gamma w^\beta +_iw_t^\beta +_i_\beta p`$, and $`w^3,_{333}=w^1,_{331}w^2,_{332}`$, we see that

$$w_{L^2(0,T;H^3(_+^3;^3))}+p_{L^2(0,T;H^2(_+^3;))}C\mathrm{\Xi }(T).$$

Choosing $`ϵ>0`$ sufficiently small in (7.78) we obtain the estimate

$`w_{L^2(0,T;H^3(_+^3;^3))}+p_{L^2(0,T;H^2(_+^3;))}`$
$`C\left(B_{C^0([0,T];L^2(^2,))}^2+B_t_{L^2(0,T;H^{\frac{1}{2}}(^2,))}^2\right).`$ (7.79)
Combining (7.50),(7.64), (7.68), and (7.79), it follows that

$`w_{L^2(0,T;H^3(_+^3;^3))}^2+w_t_{L^2(0,T;H^1(_+^3;^3))}^2+p_{L^2(0,T;H^2(_+^3;))}^2`$
$`+p_t_{L^2(0,T;L^2(_+^3;))}^2`$
$`C(T)[w_0_{H^2(_+^3;^3)}^2+f(0)_{L^2(_+^3;^3)}^2+g(0)_{H^{\frac{1}{2}}(^2;^3)}^2`$
$`+f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}^2+B_{C^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2`$
$`+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2+g_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}^2+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}^2],`$
where $`C(T)`$ stays bounded as $`T0`$.

3. We next want to prove that

$$w_tL^2(0,T;H^{\frac{1}{2}}(^2;^9)),p_tL^2(0,T;H^{\frac{1}{2}}(^2;))$$

with the required bounds. Let $`\varphi H^{\frac{1}{2}}(^2;)`$ and for $`\alpha =1,2`$ consider the duality pairing

$`{\displaystyle _0^T}_\alpha w_t,\varphi _{\mathrm{\Gamma }_0}𝑑t`$ $`={\displaystyle _0^T}w_t,_\alpha \varphi _{\mathrm{\Gamma }_0}𝑑t`$
$`w_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}^2_\alpha \varphi _{L^2(0,T;H^{\frac{1}{2}}(^2;))}^2`$
$`w_t_{L^2(0,T;H^1(_+^3;^3))}^2\varphi _{L^2(0,T;H^{\frac{1}{2}}(^2;))}^2,`$
where we have used the trace theorem for the last inequality. Thus,

$$_\alpha w_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}^2w_t_{L^2(0,T;H^1(_+^3;^3))}^2.$$
(7.80)
Using the divergence-free condition $`_3w_t^3=_1w_t^1_2w_t^2`$, we see that

$$_3w_t^3_{L^2(0,T;H^{\frac{1}{2}}(^2;))}^2w_t_{L^2(0,T;H^1(_+^3;^3))}^2$$

as well. It remains to verify this bound for $`_3w_t^\beta `$ for $`\beta =1,2`$. This follows from the fact that

$$_3w_t^\beta =_\beta w_t^3+g_t^\beta $$

so that

$$w_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^9))}^2w_t_{L^2(0,T;H^1(_+^3;^3))}^2+g_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}^2.$$
(7.81)
Differentiating (7.77c) with respect to $`t`$, we see that on the boundary $`^2\times \{x^3=0\}`$,

$$p_t=2\nu _3w_t^3\sigma \mathrm{}_0w^3B_t,$$

so that using the estimate (7.76) we have verified the estimate (7.54), and have thus concluded the proof of the theorem. ∎

### 7.4. Regularity of weak solutions on $`\mathrm{\Omega }_0`$

For the remainder of the paper, we shall make use of the Gagliardo-Nirenberg inequality (): Suppose

$$\frac{1}{p}=\frac{i}{n}+a\left(\frac{1}{r}\frac{m}{n}\right)+(1a)\frac{1}{q}$$

where $`i/ma1`$ (if $`min/r`$ is an integer $`1`$, only $`a<1`$ is allowed). Then for $`f:\mathrm{\Omega }^n^k`$,

$$D^if_{L^p(\mathrm{\Omega };^k)}CD^mf_{L^r(\mathrm{\Omega };^k)}^af_{L^q(\mathrm{\Omega };^k)}^{1a}.$$
(7.82)
For an open subset $`U,V`$ in $`^3`$, we write

$$UV$$

if $`U\overline{U}V`$ and $`\overline{U}`$ is compact.

We shall need the following function spaces for the remainder of the paper.

###### Definition 7.3.

Let

$`X_T=\{`$ $`(u,p)V^3(T)\times V^2(T)|`$
$`(u_t,p_t)L^2(0,T;H^{\frac{1}{2}}(^2;^9))\times L^2(0,T;H^{\frac{1}{2}}(^2;))\},`$
endowed with its natural Hilbert norm

$`(u,p)_{X_T}^2=`$ $`u_{L^2(0,T;H^3(_+^3;^3))}^2+u_t_{L^2(0,T;H^1(_+^3;^3))}^2`$
$`+p_{L^2(0,T;H^2(_+^3;))}^2+p_t_{L^2(0,T;L^2(_+^3;))}^2`$
$`+u_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^9))}^2+p_t_{L^2(0,T;H^{\frac{1}{2}}(^2;))}^2,`$
and let

$`Y_T=\{`$ $`(u,p)V^2(T)\times V^1(T)|`$
$`(u_t,p_t)L^2(0,T;H^1(_+^3;^3))\times L^2(0,T;L^2(_+^3;^3))`$
$`(u_t,p_t)L^2(0,T;H^{\frac{1}{2}}(^2;^9))\times L^2(0,T;H^{\frac{1}{2}}(^2;))\},`$
endowed with its natural Hilbert norm

$`(u,p)_{Y_T}^2=`$ $`u_{L^2(0,T;H^2(_+^3;^3))}^2+u_t_{L^2(0,T;H^1(_+^3;^3))}^2`$
$`+p_{L^2(0,T;H^1(_+^3;))}^2+p_t_{L^2(0,T;L^2(_+^3;))}^2`$
$`+u_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^9))}^2+p_t_{L^2(0,T;H^{\frac{1}{2}}(^2;))}^2.`$
###### Theorem 7.5 (Regularity on $`\mathrm{\Omega }_0`$).

Let the data satisfy

$$\begin{array}{c}fV^1(T),gL^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0,^3)),g_tL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0,^3)),\\ BC^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0,)),B_tL^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0,)),\end{array}$$

and $`B(0,)=0`$,

$$g(0,)_{\mathrm{tan}}=0,$$
(7.83)
and let $`w_0H^2(\mathrm{\Omega }_0,^3)𝒱`$ satisfy the associated compatibility condition

$$(\mathrm{Def}(w_0)N)_{\mathrm{tan}}=0\text{on}\mathrm{\Gamma }_0.$$
(7.84)
Then the unique weak solution $`w`$ to (7.10) satisfying the estimate (7.50) has the regularity $`wV_{\mathrm{div}}^3(T)`$, $`pV^2(T)`$, with the following estimate:

$`w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}+N\mathrm{}_0{\displaystyle _0^{}}w(s)𝑑s_{C^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+p_{L^2(0,T;H^2(\mathrm{\Omega }_0;))}`$
$`+w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+N\mathrm{}_0w_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+p_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}`$
$`+w_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9))}+p_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`C(T)(w_0_{H^2(\mathrm{\Omega }_0;^3)}+f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+f(0,)_{L^2(\mathrm{\Omega }_0;^3)}+B_{C^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`+g(0,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+g_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}),`$ (7.85)
where $`C(T)`$ remains bounded as $`T0`$.

###### Proof.

1. Interior regularity. Choose an open set $`U\mathrm{\Omega }_0`$ and an open set $`W`$ such that $`UW\mathrm{\Omega }_0`$. Let $`\zeta `$ be a smooth cutoff function satisfying

$$\{\begin{array}{c}\zeta 1\text{ on }U,\zeta 0\text{ on }^3W,\hfill \\ 0\zeta 1.\hfill \end{array}$$

Let $`w`$ denote the weak solution of (7.10), and set

$$\chi =\zeta ^3w,\theta =\zeta ^3p$$
(7.86)
Then $`\chi `$ is a solution of

$`\chi _t\nu \mathrm{}\chi +\theta `$ $`=\zeta ^3f6\nu \zeta ^2w\zeta 3\nu \left[2\zeta |\zeta |^2+\zeta ^2\mathrm{}\zeta \right]w+3\zeta ^2\zeta p`$
$`\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (7.87a)
$`\mathrm{div}\chi `$ $`=3\zeta ^2\zeta w\text{on}(0,T)\times \mathrm{\Omega }_0,`$ (7.87b)
$`\chi `$ $`=\zeta ^3w_0\text{on}\mathrm{\Omega }_0\times \{t=0\}.`$ (7.87c)
It follows that (7.87) is an initial-boundary value problem on $`(0,T]\times W`$ with boundary value $`\chi =0`$ on $`[0,T]\times W`$. This is the classical Stokes problem for $`(\chi ,\theta )`$ with Dirichlet boundary conditions, and is well-known to have regularity properties. We bootstrap applying a new cut-off function whose support is contained strictly inside the support of $`\zeta `$. Since initially, $`wL^2(0,T;H^1(\mathrm{\Omega }_0;^3))`$, we find that $`\chi L^2(0,T;H^2(\mathrm{\Omega }_0;^3))`$ so that by (7.86), $`wL^2(0,T;H^2(\mathrm{\Omega }_0;^3))`$; this in turn, shows that $`\chi L^2(0,T;H^3(\mathrm{\Omega }_0;^3))`$ and satisfies the estimate (7.54) with all of the boundary terms set to zero.

2: Boundary regularity. We will localize our analysis by employing a partition of unity which is subordinate to a specific collection of coordinate neighborhoods. We begin the analysis by constructing one such coordinate patch for a neighborhood of the boundary $`\mathrm{\Gamma }_0:=\mathrm{\Omega }_0`$.

###### Definition 7.4 (Exponential map).

For $`x^{}^2`$ and $`r>0`$, let $`D(0,r)`$ denote the open disc of radius $`r`$ in $`^2`$ centered at $`x`$. With the induced metric $`g_0`$, the pair $`(\mathrm{\Gamma }_0,g_0)`$ is a compact, smooth, Riemannian manifold. For $`x_0\mathrm{\Gamma }_0`$, we denote the exponential map

$$\mathrm{exp}_{x_0}:D(0,r)T_{x_0}\mathrm{\Gamma }_0\mathrm{\Gamma }_0$$

by $`\mathrm{exp}_{x_0}(v)=\gamma (1,x_0,v)`$, where $`\gamma (1,x_0,v)`$ is the time one geodesic eminating from $`x_0\mathrm{\Gamma }_0`$ with velocity vector $`v^2`$.

Using this definition, we can cover $`\mathrm{\Omega }_0`$ with finitely many normal or geodesic balls which are images of $`D(0,r)`$ under the exponential map. In particular, for $`x_0\mathrm{\Gamma }_0`$, we set

$$𝒟(x_0,r):=\mathrm{exp}_{x_0}(D(0,r)),$$

where $`r>0`$ is taken small enough to ensure that $`\mathrm{exp}_{x_0}:D(0,r)𝒟(x_0,r)`$ is a smooth diffeomorphism, and that

$$N(x^{})⟂̸N(x_0)x^{}𝒟(x_0,r).$$
(7.88)
Next, with $`B(0,r)`$ denoting the open ball in $`^3`$ of radius $`r`$, let

$$B^+(0,r):=\{xB(0,r)|x^3>0\}$$

denote the upper hemisphere.

###### Definition 7.5 (Coordinate map).

With $`x^{}=(x^1,x^2)`$ and $`x=(x^{},x^3)`$, let $`\mathrm{\Phi }:B^+(0,r)^3`$ be given by

$$\mathrm{\Phi }(x^{},x^3)=\mathrm{exp}_{x_0}(x^{})+x^3N(\mathrm{exp}_{x_0}(x^{})).$$

###### Definition 7.6 (Coordinate neighborhood).

Let

$$U(x_0,r):=\mathrm{\Phi }(B^+(0,r))$$

denote the local coordinate neighborhood of the boundary point $`x_0\mathrm{\Gamma }_0`$. We let $`(\stackrel{~}{x}^1,\stackrel{~}{x}^2,\stackrel{~}{x}^3):=(\mathrm{\Phi }^1,\mathrm{\Phi }^2,\mathrm{\Phi }^3)`$ represent the coordinates on $`U(x_0,r)`$.

Since $`\mathrm{exp}_{x_0}(0)=x_0`$ and $`\mathrm{exp}_{x_0}(0)=\text{Id}`$, we can immediately record the following

###### Lemma 7.7.

$`\mathrm{\Phi }(0)=x_0`$ and $`\mathrm{\Phi }(0,0)=\mathrm{Id}`$. Furthermore, for $`xU(x_0,r)`$,

$$\mathrm{Det}\mathrm{\Phi }(x)=\mathrm{Det}\mathrm{exp}_{x_0}(x).$$
(7.89)
Let us use $`\stackrel{~}{x}^i`$ as our Cartesian coordinates on $`\mathrm{\Omega }_0`$; we now localize the problem to $`U(x_0,r)`$. Let $`\zeta `$ be a smooth cutoff function satisying

$$\{\begin{array}{c}\zeta 1\text{ on }U(x_0,\frac{r}{4}),\zeta 0\text{ on }U(x_0,\frac{r}{2})^c,\hfill \\ 0\zeta 1.\hfill \end{array}$$

With $`w(\stackrel{~}{x})`$ denoting the solution of (7.10), and once again setting $`\chi =\zeta ^3w`$ and $`\theta =\zeta ^3p`$ as in (7.86), we see that the pair ($`\chi (t,\stackrel{~}{x}),\theta (t,\stackrel{~}{x}))`$ solves

$`\chi _t\nu \mathrm{}\chi +\theta `$ $`=𝔉(\zeta ,w,w)\text{ in }(0,T)\times U(x_0,r),`$ (7.90a)
$`\mathrm{div}\chi `$ $`=𝔄(\zeta ,w)\text{ in }(0,T)\times U(x_0,r),`$ (7.90b)
$`\nu (\chi ^i,_j+\chi ^j,_i)N^j\theta N^i`$ $`\sigma N^k\mathrm{}_0{\displaystyle _0^t}\chi ^k(r)𝑑rN^i`$
$`=\sigma 𝔅(\zeta ,w,_0w)N^i+𝔊^i\text{ on }(0,T)\times U(x_0,r),`$ (7.90c)
$`\chi `$ $`=\zeta ^3w_0\text{ on }U(x_0,r)\times \{t=0\},`$ (7.90d)
where

$`𝔉^i(\zeta ,w,w)`$ $`=\zeta ^3f^i3\zeta ^2\zeta ,_ip+\nu [6\zeta \zeta ,_j\zeta ,_jw^i+3\zeta ^2\zeta ,_{jj}w^i+3\zeta ^2\zeta ,_jw^i,_j]`$ (7.91a)
$`𝔄(\zeta ,w)`$ $`=3\zeta ^2\zeta ,_k)w^k`$ (7.91b)
$`𝔅(\zeta ,w,_0w)`$ $`=N^ig_0^{\alpha \beta }{\displaystyle _0^t}[6\zeta \zeta ,_\alpha \zeta ,_\beta w^i+3\zeta ^2\zeta ,_\alpha w^i,_\beta +3\zeta ^2w^i\zeta ,_{\alpha \beta }`$
$`3\zeta ^2(\mathrm{\Gamma }_0)_{\alpha \beta }^\gamma \zeta ,_\gamma w^i]dr+\zeta ^3B`$ (7.91c)
$`𝔊^i(\zeta ,w)`$ $`=\zeta ^3g^i+3\nu \zeta ^2[(wN)\zeta ,_i+(\zeta N)w^i],`$ (7.91d)
and where we continue to use the notation $`g_0`$ and $`\mathrm{\Gamma }_0`$ to denote the metric and connection on $`\mathrm{\Gamma }_0`$, respectively, at time $`t=0`$ when $`\eta (0,)=\mathrm{Id}`$ (see (3.4)). The problem (7.90) is localized to $`U(x_0,r)`$.

We next transfer the problem (7.90) from $`(U(x_0,r),\{\stackrel{~}{x}\})`$ to $`(B^+(0,r),\{x^i\})`$. We set

$$W(t,x)=\chi (t,\stackrel{~}{x}),Q(t,x)=\theta (t,\stackrel{~}{x}),$$

where $`\stackrel{~}{x}=\mathrm{\Phi }(x)`$. With

$$\begin{array}{c}A(x)=[\mathrm{\Phi }(x)]^1xB^+(0,r),\\ 𝒜(x^{})=[\mathrm{exp}_{x_0}(x^{})]^1x^{}D(0,r),\end{array}$$

the pair $`(W(t,x),Q(t,x))`$ satisfies, in the weak sense, the following system of equations:

$`W_t^i\nu A_k^s(A_k^rW^i,_r),_s+A^k,_iQ,_k`$ $`=𝔉^i(\mathrm{\Phi })\text{ in }(0,T)\times B^+(0,r),`$ (7.92a)
$`A_i^jW^i,_j`$ $`=𝔄(\mathrm{\Phi })\text{ on }(0,T)\times B^+(0,r),`$ (7.92b)
$`[\nu (W^i,_rA_j^r+W^j,_rA_i^r)N_j(\mathrm{\Phi })QN_i(\mathrm{\Phi })]|Ae_3|`$
$`=\sigma N_k(\mathrm{\Phi })𝔤^1[𝔤g_0^{\alpha \beta }`$ $`{\displaystyle _0^t}W^k,_\gamma (r)dr𝒜_\beta ^\gamma ],_\delta 𝒜^\delta _\alpha N_i(\mathrm{\Phi })`$
$`+\sigma [𝔅N^i](\mathrm{\Phi })`$ $`+𝔊^i(\mathrm{\Phi })\text{ on }(0,T)\times B^+(0,r),`$ (7.92c)
$`W`$ $`=\zeta ^3w_0(\mathrm{\Phi })\text{ on }B^+(0,r)\times \{t=0\},`$ (7.92d)
where $`𝔤=det(g_0)`$. Our notation $`f(\mathrm{\Phi })`$ denotes $`f(t,\mathrm{\Phi }(x))`$. We have made use of (7.89) to remove the Jacobian factors in the boundary condition (7.92c). Note that $`N(\mathrm{\Phi }(x_0))=e_3`$.

###### Remark 7.

Since $`\zeta `$ has compact support in $`B^+(0,r)`$, and since the forcing functions in (7.92) vanish on the complement of $`B^+(0,r)`$, we can extend $`W`$ and $`Q`$ to the entire half-space $`_+^3`$, and consider (7.92) as a system of PDE on $`[0,T]\times _+^3`$.

The next step is to show that there exists a unique solution in $`X_T`$ to (7.92) (after first proving that it belongs to $`Y_T`$). Since it is readily seen that the existence and uniqueness of a weak solution to (7.92), extended to $`_+^3`$, can be established exactly in the same fashion as we established Theorem 7.3, our weak solution $`(W,Q)`$ will thus be in $`X_T`$, which will establish the desired result.

We initiate an iteration sequence starting with $`(v_0,q_0)`$, where $`q_0=0`$ and $`v_0`$ is the solution of the parabolic problem

$`_tv_0\nu \mathrm{}v_0`$ $`=0\text{in}(0,T)\times ^3,`$ (7.93a)
$`v_0`$ $`=\overline{(\zeta ^3w_0)(\mathrm{\Phi })}\text{on}^3\times \{t=0\},`$ (7.93b)
where $`\overline{(\zeta ^3w_0)(\mathrm{\Phi })}`$ denotes an $`H^2`$-extension of $`(\zeta ^3w_0)(\mathrm{\Phi })`$ to $`^3`$. We set the problem on $`^3`$ so as to avoid any compatibility condition at time $`t=0`$.

By using the same techniques on this problem as we developed in the previous section (which is easier since the problem is set on the full space $`^3`$), we find that

$$(v_0,0)_{X_T}Cw_0_{H^2(\mathrm{\Omega }_0;^3)}.$$
(7.94)
Then, setting

$$G=\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })\left[\sigma 𝔅N(\mathrm{\Phi })+𝔊(\mathrm{\Phi })\right]+e_3\left[\sigma 𝔅N(\mathrm{\Phi })+𝔊(\mathrm{\Phi })\right]e_3,$$
(7.95)
given $`(v_n,q_n)X_T`$, we define $`(v_{n+1},q_{n+1})`$ to be the solution of

$`_tv_{n+1}\nu \mathrm{}v_{n+1}+q_{n+1}`$ $`=𝔉(\mathrm{\Phi })+\overline{F}(v_n,q_n)\text{in}(0,T)\times _+^3,`$ (7.96a)
$`\mathrm{div}(v_{n+1})`$ $`=\overline{A}(v_n)+𝔄(\mathrm{\Phi })\text{in}(0,T)\times _+^3,`$ (7.96b)
$`S(v_{n+1},q_{n+1})e_3\sigma e_3`$ $`[g_0^{\alpha \beta }(x_0)_{\alpha \beta }^2{\displaystyle _0^t}v_{n+1}(r)𝑑r]e_3`$
$`=G+\overline{G}_1(v_n)+[\overline{G}_2(v_n)+\sigma \overline{B}(v_n)]e_3`$
$`\text{on}(0,T)\times [^2\times \{0\}],`$ (7.96c)
$`v_{n+1}`$ $`=(\zeta ^3w_0)(\mathrm{\Phi })\text{on}_+^3\times \{t=0\},`$ (7.96e)
where $`S(v,q)=\nu \mathrm{Def}vqN`$, $`\mathrm{\Pi }_2`$ denotes the tangential projection onto $`^2\times \{0\}`$, $`\mathrm{\Pi }_0`$ continues to denote the projection onto the tangent plane of $`\mathrm{\Gamma }_0`$, and

$`\overline{F}(v_n,q_n)`$ $`=\nu (\mathrm{}v_n\mathrm{div}[v_nAA^T])+q_nA^Tq_n\text{in}(0,T)\times _+^3,`$ (7.97a)
$`\overline{A}(v_n)`$ $`=\mathrm{div}(v_n)A_i^j{\displaystyle \frac{v_{n}^{}{}_{}{}^{i}}{x^j}}\text{in}(0,T)\times _+^3,`$ (7.97b)
$`\overline{G}_1(v_n)`$ $`=\mathrm{\Pi }_2\left[S(v_n,q_n)e_3\right]\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })\left(\nu \left(v_nA+[v_nA]^T\right)N(\mathrm{\Phi })|Ae_3|\right)`$
$`+\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })\left(q_nN(\mathrm{\Phi })|Ae_3|\right)\text{in}(0,T)\times ^2\times \{0\},`$ (7.97c)
$`\overline{G}_2(v_n)`$ $`=e_3\left(S(v_n,q_n)e_3\right)e_3\left(\nu \left(v_nA+[v_nA]^T\right)N(\mathrm{\Phi })|Ae_3|\right)`$
$`+e_3\left(q_nN(\mathrm{\Phi })|Ae_3|\right)\text{in}(0,T)\times ^2\times \{0\},`$ (7.97d)
$`\overline{B}(v_n)`$ $`=N^i(\mathrm{\Phi })𝔤^1_\delta \left[𝔤g_0^{\alpha \beta }{\displaystyle _0^t}_\gamma v_n^i(r)dr𝒜_\beta ^\gamma \right]𝒜_\alpha ^\delta N(\mathrm{\Phi })e_3`$
$`e_3g_0^{\alpha \beta }(x_0){\displaystyle _0^t}_{\alpha \beta }^2v_n(r)dr\text{on}(0,T)\times ^2\times \{0\}.`$ (7.97e)
###### Remark 8.

Note the presence of the projector $`\mathrm{\Pi }_0`$ in the forcing functions $`G`$ defined in (7.95) and $`\overline{G}_1`$ defined in (7.97b). This projector is used to remove the less regular terms, such as $`B`$ and $`𝔅`$, from the tangential component of the forcing.

For each $`n1`$, we define

$$\begin{array}{c}\delta v_n=v_{n+1}v_n\hfill \\ \delta q_n=q_{n+1}q_n\hfill \end{array}\begin{array}{c}\text{(difference of velocities)}\hfill \\ \text{(difference of pressures)\hspace{0.17em} . }\hfill \end{array}$$

Since for each iteration $`n0`$, the problem (7.96) is linear, the pair $`(\delta v_{n+1},\delta q_{n+1})`$ satisfies

$`_t\delta v_{n+1}\nu \mathrm{}\delta v_{n+1}+\delta q_{n+1}`$ $`=\overline{F}(\delta v_n,\delta q_n)\text{in}(0,T)\times _+^3,`$ (7.98a)
$`\mathrm{div}(\delta v_{n+1})`$ $`=\overline{A}(\delta v_n)\text{in}(0,T)\times _+^3,`$ (7.98b)
$`S(\delta v_{n+1},\delta q_{n+1})e_3\sigma e_3`$ $`(g_0^{\alpha \beta }(x_0){\displaystyle _0^t}_{\alpha \beta }^2\delta v_{n+1}(r)dr)e_3`$
$`=\overline{G}_1(\delta v_n)+(\overline{G}_2(\delta v_n)+\sigma \overline{B}(\delta v_n))e_3`$
$`\text{on}(0,T)\times ^2\times \{0\},`$ (7.98c)
$`\delta v_{n+1}`$ $`=0\text{on}_+^3\times \{t=0\},`$ (7.98d)
where the forcing terms appearing on the right-hand-side of this system are defined by the same relations as (7.97) with $`(\delta v_n,\delta q_n)`$ replacing $`(v_n,q_n)`$.

For each $`n1`$, the initial data satisfies the compatibility condition

$$\mathrm{\Pi }_2(\mathrm{Def}\left(\delta v_{n+1}(0,)\right)N)=0\text{on}^2\times \{0\},$$

associated to $`\overline{G_1}(\delta v_n)(0,)=0`$, $`\overline{G_2}(\delta v_n)(0,)=0`$ and $`\overline{B}(\delta v_n)(0,)=0`$. Thus, (7.98) satisfies all the assumptions of the basic linear problem (7.52), with the elliptic operator $`v^3,_{\alpha \alpha }`$ replaced by the constant coefficient elliptic operator $`g_0^{\alpha \beta }(x_0)v^3,_{\alpha \beta }`$ (which is also coercive); thus, using the $`H^2`$-type estimates of the previous section, we find that

$`(\delta v_{n+1},\delta q_{n+1})_{Y_T}`$
$`C(\overline{F}(\delta v_n,\delta q_n)_{L^2(0,T;L^2(_+^3;^3))}+\overline{F}(\delta v_n,\delta q_n)_t_{L^2(0,T;H^1(_+^3;^3)^{})}`$
$`+\overline{A}(\delta v_n)_{L^2(0,T;H^1(_+^3;^9))}+\overline{A}(\delta v_n)_t_{L^2(0,T;H^1(_+^3;^9)^{})}`$
$`+\overline{B}(\delta v_n)_{L^2(0,T;H^{\frac{1}{2}}(^2;))}+\overline{B}(\delta v_n)_t_{L^2(0,T;H^{\frac{1}{2}}(^2;))}`$
$`+\overline{G}_1(\delta v_n,\delta q_n)_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}+\overline{G}_1(\delta v_n,\delta q_n)_t_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}`$
$`+\overline{G}_2(\delta v_n,\delta q_n)_{L^2(0,T;H^{\frac{1}{2}}(^2;))}+\overline{G}_2(\delta v_n,\delta q_n)_t_{L^2(0,T;H^{\frac{1}{2}}(^2;))}).`$
Consequently, taking the support of $`\zeta `$ in a small enough neighborhood of $`x_0`$, $`\mathrm{\Phi }`$ is sufficiently close to Id in $`L^{\mathrm{}}`$, so that the differences between quantities appearing in (7.97), which are evaluated at $`x`$ and at $`0`$, are sufficiently small so as to allow us to deduce that

$$(\delta v_{n+1},\delta q_{n+1})_{Y_T}\frac{1}{2}(\delta v_n,\delta q_n)_{Y_T};$$
(7.99)
by the contraction mapping principle, the sequence $`(v_n,q_n)_n`$ is convergent in $`Y_T`$ to a limit $`(\overline{w},r)`$ which is also the unique solution of the extension of (7.92) to $`_+^3`$. To see this (which is not completely straightforward at first sight), we first notice that $`(\overline{w},r)`$ is the unique solution in $`X_T`$ of the problem

$`_t\overline{w}\nu \mathrm{}\overline{w}+r`$ $`=𝔉(\mathrm{\Phi })+\overline{F}(\overline{w},r)\text{in}(0,T)\times _+^3,`$ (7.100a)
$`\mathrm{div}(\overline{w})`$ $`=\overline{A}(\overline{w})+𝔄(\mathrm{\Phi })\text{in}(0,T)\times _+^3,`$ (7.100b)
$`S(\overline{w},r)e_3\sigma e_3`$ $`({\displaystyle _0^t}g_0^{\alpha \beta }(x_0)\overline{w},_{\alpha \beta }dt^{})e_3`$
$`=G+\overline{G}_1(\overline{w})+(\overline{G}_2(\overline{w})+\sigma \overline{B}(\overline{w}))e_3`$
$`\text{on}(0,T)\times [^2\times \{0\}],`$ (7.100c)
$`\overline{w}`$ $`=(\zeta ^3w_0)(\mathrm{\Phi })\text{on}_+^3\times \{t=0\},`$ (7.100e)
From the definitions of $`\overline{A}`$, $`\overline{F}`$, $`\overline{G}`$, $`\overline{B}`$, $`𝔄(\mathrm{\Phi })`$, $`𝔉(\mathrm{\Phi })`$, and $`G`$, we have that

$`_t\overline{w}\nu \mathrm{div}[\overline{w}AA^T]+A^Tr`$ $`=𝔉(\mathrm{\Phi })\text{in}(0,T)\times _+^3,`$ (7.101a)
$`A_i^j{\displaystyle \frac{\overline{w}^i}{x^j}}`$ $`=𝔄(\mathrm{\Phi })\text{in}(0,T)\times _+^3,`$ (7.101b)
$`\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })(\mathrm{\Sigma })+(\mathrm{\Sigma }e_3)e_3+\lambda (N(\mathrm{\Phi })e_3)e_3`$ $`=0\text{on}(0,T)\times [^2\times \{0\}],`$ (7.101c)
$`\overline{w}`$ $`=(\zeta ^3w_0)(\mathrm{\Phi })\text{on}_+^3\times \{t=0\},`$ (7.101d)
where

$`\mathrm{\Sigma }=`$ $`\left(\nu \left(\overline{w}A+[\overline{w}A]^T\right)N(\mathrm{\Phi })rN(\mathrm{\Phi })\right)|Ae_3|𝔊(\mathrm{\Phi })\sigma 𝔅(\mathrm{\Phi }),`$
and

$$\lambda =\sigma N^i(\mathrm{\Phi })𝔤^1_\delta [𝔤g_0^{\alpha \beta }_0^t_\gamma \overline{w}^i(r)dr𝒜_\beta ^\gamma ]𝒜_\alpha ^\delta N(\mathrm{\Phi })e_3.$$

By (7.88), $`N(\mathrm{\Phi })`$ and $`e_3=N(x_0)`$ are not orthogonal, so that

$$\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })(\mathrm{\Sigma })=0\text{and}\mathrm{\Sigma }e_3+\lambda (N(\mathrm{\Phi })e_3)=0\text{on}(0,T)\times [^2\times \{0\}],$$

which in turn implies that

$$\mathrm{\Pi }_0(\mathrm{\Phi })(\mathrm{\Sigma })=\kappa e_3(\kappa )\text{and}\mathrm{\Sigma }e_3+\lambda (N(\mathrm{\Phi })e_3)=0\text{on}(0,T)\times [^2\times \{0\}].$$

Again, since $`N(\mathrm{\Phi })`$ and $`e_3`$ are not orthogonal,

$$\mathrm{\Pi }_0(\mathrm{\Phi })(\mathrm{\Sigma })=0\text{and}\mathrm{\Sigma }e_3+\lambda (N(\mathrm{\Phi })e_3)=0\text{on}(0,T)\times [^2\times \{0\}],$$

which provides us with

$$\mathrm{\Sigma }=\kappa ^{}N(\mathrm{\Phi })(\kappa ^{})\text{and}\mathrm{\Sigma }e_3+\lambda (N(\mathrm{\Phi })e_3)=0\text{on}(0,T)\times [^2\times \{0\}],$$

and finally,

$$\mathrm{\Sigma }=\lambda N(\mathrm{\Phi })\text{on}(0,T)\times [^2\times \{0\}],$$
(7.102)
By using the definitions of $`\mathrm{\Sigma }`$ and $`\lambda `$ in (7.102), we find that the limit of our contractive sequence $`(\overline{w},r)`$ is the unique solution of (7.92), extended to the half-space $`_+^3`$.

Since $`(W,Q)`$ is the unique weak solution of (7.92), we have shown that $`(W,Q)=(\overline{w},r)`$. We can then estimate the norms of $`(W,Q)`$ in $`Y_T`$ and $`X_T`$ as follows. By summing the inequalities (7.99) from $`n=1`$ to $`\mathrm{}`$ we see that

$$(W,Q)_{Y_T}(v_1,q_1)_{Y_T}+(v_0,0)_{Y_T},$$

which, thanks to (7.94), shows that

$$(W,Q)_{Y_T}(v_1,q_1)_{Y_T}+Cw_0_{H^2(\mathrm{\Omega }_0;^3)}.$$
(7.103)
To estimate the right-hand-side of (7.103), we apply our previous estimate again on the system

$`_tv_1\nu \mathrm{}v_1+q_1`$ $`=𝔉(\mathrm{\Phi })+\overline{F}(v_0,0)\text{in}(0,T)\times ^3,`$
$`\mathrm{div}(v_1)`$ $`=𝔄(\mathrm{\Phi })+\overline{A}(v_0)\text{in}(0,T)\times ^3,`$
$`S(v_1,q_1)e_3\sigma (e_3{\displaystyle _0^t}g_0^{\alpha \beta }(x_0)v_1,_{\alpha \beta })e_3`$ $`=G+\overline{G_1}(v_0)+(\overline{G_2}(v_0)+\sigma \overline{B}(v_0))e_3`$
$`\text{on}(0,T)\times ^2\times \{0\},`$
$`v_1`$ $`=(\zeta ^3w_0)(\mathrm{\Phi })\text{on}_+^3\times \{t=0\},`$
whose initial data satisfy the compatibility condition at time $`t=0`$, given by

$$\nu \mathrm{\Pi }_2(\mathrm{Def}\left(v_1(0,)\right)e_3)=\mathrm{\Pi }_2\left(G(0,)+\overline{G_1}(v_0(0,))\right)\text{on}^2\times \{0\}.$$
(7.104)
To see that (7.104) indeed holds, let us start from the condition

$$\mathrm{\Pi }_0(\mathrm{Def}(w_0))=0\text{on}\mathrm{\Gamma }_0.$$

Since $`W_0=(\zeta ^3w_0)(\mathrm{\Phi })`$, the previous condition is equivalent to

$`\mathrm{\Pi }_0(\mathrm{\Phi })\left(|Ae_3|\nu \left(W_0A+[W_0A]^T\right)N(\mathrm{\Phi })\right)`$
$`=\mathrm{\Pi }_0(\mathrm{\Phi })\left(3\nu \zeta ^2(\mathrm{\Phi })[(w_0N)\zeta +(\zeta N)w_0](\mathrm{\Phi })\right)`$
$`\text{ on }(0,T)\times ^2\times \{0\}.`$ (7.105)
Since $`W_0=v_0`$ at $`t=0`$,

$$\mathrm{\Pi }_2\left(G(0,)+\overline{G_1}(v_0(0,))\right)=\mathrm{\Pi }_2(G(0,)+\overline{G_1}(W_0)).$$

Using the definitions of $`G`$ and $`\overline{G_1}`$ together with the condition (7.83), we have that

$`\mathrm{\Pi }_2(G+\overline{G_1}(v_0(0,))`$ $`=\mathrm{\Pi }_2\left(S(W_0,0)e_3\right)`$
$`\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })\left(|Ae_3|\nu \left(W_0A+[W_0A]^T\right)N(\mathrm{\Phi })\right)`$
$`+\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })\left(3\nu \zeta ^2(\mathrm{\Phi })[(w_0N)\zeta +(\zeta N)w_0](\mathrm{\Phi })\right),`$
which allows us to infer from (7.105) that

$$\mathrm{\Pi }_2\left(G(0,)+\overline{G_1}(v_0(0,))\right)=\mathrm{\Pi }_2\left(S(W_0,0)e_3\right),$$

so that the compatibility condition (7.104) is satisfied.

It follows that

$`(v_1,q_1)_{Y_T}`$
$`C((\zeta ^3w_0)(\mathrm{\Phi })_{H^1(_+^3;^3)}+𝔉(\mathrm{\Phi })+\overline{F}(v_0)_{L^2(0,T;L^2(_+^3;^3))}`$
$`+(𝔉(\mathrm{\Phi }))_t+\overline{F}(v_0,0)_t_{L^2(0,T;H^1(_+^3;^3)^{})}+𝔄(\mathrm{\Phi })+\overline{A}(v_0)_{L^2(0,T;H^1(_+^3;^3))}`$
$`+(𝔉(\mathrm{\Phi }))_t+\overline{A}(v_0)_t_{L^2(0,T;H^1(_+^3;^3)^{})}`$
$`+\stackrel{~}{G}(0,)+\overline{G_1}(v_0)(0,)+\overline{G_2}(v_0)(0,)e_3_{H^{\frac{1}{2}}(^2;^3)}`$
$`+\stackrel{~}{G}+\overline{G_1}(v_0)+\overline{G_2}(v_0)e_3_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}`$
$`+\stackrel{~}{G}_t+\overline{G_1}(v_0)_t+\overline{G_2}(v_0)_te_3_{L^2(0,T;H^{\frac{1}{2}}(^2;^3))}`$
$`+\stackrel{~}{B}_{L^2(0,T;H^{\frac{1}{2}}(^2;))}+\stackrel{~}{B}_t_{L^2(0,T;H^{\frac{1}{2}}(^2;))}),`$ (7.106)
with

$`\stackrel{~}{B}`$ $`=\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })(\sigma 𝔅(\mathrm{\Phi })N(\mathrm{\Phi }))+e_3\sigma 𝔅(\mathrm{\Phi })N(\mathrm{\Phi })e_3,`$
$`\stackrel{~}{G}`$ $`=\mathrm{\Pi }_2\mathrm{\Pi }_0(\mathrm{\Phi })(𝔊(\mathrm{\Phi }))+e_3𝔊(\mathrm{\Phi })e_3,`$
so that $`\stackrel{~}{B}(0,)=0`$ and $`G=\stackrel{~}{B}+\stackrel{~}{G}`$. Thanks to this splitting of the tangential forcing, we may infer from (7.103) and (7.4) that

$`(W,Q)_{Y_T}`$ $`C(w_0_{H^2(\mathrm{\Omega }_0;^3)}+f_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+g(0,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+f(0,)_{L^2(\mathrm{\Omega }_0;^3)}+B_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`+w_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+w_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}`$
$`+_\alpha w_{L^2(0,T;L^2(\mathrm{\Gamma }_0;^3))}+(v_0,0)_{Y_T}).`$ (7.107)
Since $`w`$ and $`w_t`$ satisfy the estimate

$`w_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+w_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}+_\alpha w_{L^2(0,T;L^2(\mathrm{\Gamma }_0;^3))}`$
$`C(w_0_{L^2(\mathrm{\Omega }_0;^3)}+f_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+g(0,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+f(0,)_{L^2(\mathrm{\Omega }_0;^3)}+B_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}),`$
we then get from (7.4) and (7.94) that

$`(W,Q)_{Y_T}`$ $`C(w_0_{H^2(\mathrm{\Omega }_0;^3)}+f_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+g(0,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+f(0,)_{L^2(\mathrm{\Omega }_0;^3)}+B_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}).`$
Thus,

$`\zeta ^3(\mathrm{\Phi })(w,q)(\mathrm{\Phi })_{Y_T}`$ $`C(w_0_{H^2(\mathrm{\Omega }_0;^3)}+g(0,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+f(0,)_{L^2(\mathrm{\Omega }_0;^3)}`$
$`+f_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+g_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+B_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}).`$ (7.108)
We will now bootstrap, using the gain in regularity of $`(w,q)`$ in the system (7.92) to deduce the appropriate regularity gain for $`(W,Q)`$. The problem occurs in the region where $`\zeta =0`$, wherein (7.4) introduces singular terms of the type $`\frac{\zeta }{\zeta }`$. To avoid this singular behavior, we localize the problem to an even smaller neighborhood of $`x_0`$ by introducing another smooth cutoff function $`\zeta ^{}`$ satisfying the same properties as $`\zeta `$ but whose support is strictly included in the support of $`\zeta `$. We then introduce $`(W^{},Q^{})=\zeta ^3(w,q)`$ which exactly satisfies the same problem as $`(W,Q)`$ in (7.92), with $`\zeta `$ replaced by $`\zeta ^{}`$. Next, we introduce a sequence $`(v_n^{},q_n^{})`$ defined exactly in the same manner as the sequence $`(v_n,q_n)`$ with $`\zeta ^{}`$ replacing $`\zeta `$. Our compatibility conditions are still satisfied , which allows us to use our basic energy estimates, but now in $`X_T`$, to get a contractive sequence in $`X_T`$ (assuming, of course, that the support of $`\zeta ^{}`$ is chosen to be in a sufficiently small neighborhood of $`x_0`$), together with the estimate

$$(W^{},Q^{})_{X_T}(v_{}^{}{}_{1}{}^{},q_{}^{}{}_{1}{}^{})_{X_T}.$$
(7.109)
We proceed to estimate the right-hand-side of (7.109) in the same way as we did for $`(v_1,q_1)`$, but now in the space $`X_T`$ since our forcing terms have the additional regularity. We arrive at the estimate

$`(W^{},Q^{})_{X_T}`$
$`C(w_0_{H^2(\mathrm{\Omega }_0;^3)}+f_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+g(0,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+g_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+g_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+f(0,)_{L^2(\mathrm{\Omega }_0;^3)}+B_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+B_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}).`$ (7.110)
Since $`\zeta ^{}=1`$ in a neighborhood of $`x_0`$, we may emply a finite-covering argument and deduce, using (7.4) and the interior regularity result, that the basic linear estimate (7.85) is satisfied. ∎

### 7.5. Proof of the a priori estimate for the basic linear problem

To finish the proof of Theorem 6.1, it remains only to include the dependence on $`\overline{a}`$ in the a priori estimate (7.85).

From (7.2) and (7.5), we need only substitute $`w=\overline{w}r`$ into (7.85). From (7.1), we have that

$$v=r=(\mathrm{})^1\overline{a}.$$

Thus, it is clear that

$`v_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3)}^2`$ $`=\overline{a}_{L^2(0,T;H^2(\mathrm{\Omega }_0;)}^2`$
and that
$`v_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)}^2`$ $`=\overline{a}_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;)}^2.`$
Also,

$`N\mathrm{}_0{\displaystyle _0^{}}v(s,)𝑑s_{C^0([0,T];H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}^2`$ $`C(T)\mathrm{}_0(\mathrm{})^1\overline{a}_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}^2`$
$`C(T)(\mathrm{})^1\overline{a}_{L^2(0,T;H^3(\mathrm{\Omega }_0;)}^2`$
$`C(T)\overline{a}_{L^2(0,T;H^2(\mathrm{\Omega }_0;)}^2,`$
where we have made use of the trace theorem. The term $`N\mathrm{}_0v_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Omega }_0;)}^2`$ has a similar estimate, so we have finished the proof.

## 8. The fixed-point scheme for the nonlinear problem

We will make use of the Tychonoff Fixed-Point Theorem in our procedure (see, for example, ). Recall that this states that for a reflexive separable Banach space $`X`$, and $`CX`$ a closed, convex, bounded subset, if $`F:CC`$ is weakly sequentially continuous into $`X`$, then $`F`$ has at least one fixed-point.

Our analysis will be performed using the function space $`X_T`$, but this time on the domain $`\mathrm{\Omega }_0`$.

###### Definition 8.1.

Let

$`X_T=\{`$ $`(u,p)V^3(T)\times V^2(T)|`$
$`(u_t,p_t)L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9))\times L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))\},`$
endowed with its natural Hilbert norm

$`(u,p)_{X_T}^2=`$ $`u_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}^2+u_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^2`$
$`+p_{L^2(0,T;H^2(\mathrm{\Omega }_0;))}^2+p_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}^2`$
$`+u_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9))}^2+p_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}^2.`$
We define a mapping $`\mathrm{\Theta }_T`$ from $`X_T`$ into itself, which to a given pair $`(v,q)X_T`$ associates the pair $`(\stackrel{~}{v},\stackrel{~}{q})X_T`$, a solution of a linear problem defined as follows. Let $`\eta V^3(T)C([0,T];H^3(\mathrm{\Omega }_0;^3))`$ denote the Lagrangian flow map of the velocity $`v`$, defined by

$$\eta _t=v\text{in}(0,T)\times \mathrm{\Omega }_0\text{ with }\eta =\text{Id}\text{on}\mathrm{\Omega }_0\times \{t=0\},$$
(8.1)
let $`a`$ be given by (3.1), and define $`(\stackrel{~}{v},\stackrel{~}{q})\{(u,p)X_T|u(0)=u_0\}`$ to be the solution of

$`\stackrel{~}{v}_t^i\nu (a_l^ja_l^k\stackrel{~}{v}^i,_k),_j+a_i^k\stackrel{~}{q},_k`$ $`=F^i\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.2a)
$`a_i^k\stackrel{~}{v}^i,_k`$ $`=0\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.2b)
$`\mathrm{\Pi }_0\left(\mathrm{\Pi }_\eta D_\eta (\stackrel{~}{v})\right)a^TN`$ $`=0\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (8.2c)
$`N(S_\eta (\stackrel{~}{v},\stackrel{~}{q})a^TN)\sigma N\mathrm{}_{g(t)}({\displaystyle _0^t}\stackrel{~}{v}(t^{},)𝑑t^{})`$ $`=\sigma N\mathrm{}_{g(t)}(\text{Id})`$
$`\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (8.2d)
$`\stackrel{~}{v}`$ $`=u_0\text{on}\mathrm{\Omega }_0\times \{t=0\},`$ (8.2e)
where $`N`$ denotes the outward-pointing unit normal to $`\mathrm{\Gamma }_0`$, $`\mathrm{\Pi }_0`$ and $`\mathrm{\Pi }_\eta `$ are, respectively, the projectors onto the tangent planes to the surfaces $`\mathrm{\Gamma }_0`$ and $`\eta (\mathrm{\Gamma }_0)`$,

$`D_\eta (\stackrel{~}{v})_l^i`$ $`=(\stackrel{~}{v}^i,_ka_l^k+\stackrel{~}{v}^l,_ka_i^k)\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.3a)
$`S_\eta (\stackrel{~}{v},\stackrel{~}{q})`$ $`=\nu D_\eta (\stackrel{~}{v})\stackrel{~}{q}\text{Id}\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.3b)
and $`\mathrm{}_{g(t)}`$ denotes the Laplacian with respect to the induced metric $`g(t)`$ defined by the equations (3.3) and (3.4). Clearly, $`D_\eta (\stackrel{~}{v})_i^l=D_\eta (\stackrel{~}{v})_l^i`$. $`D_\eta `$ is the Lagrangian version of the deformation tensor, and $`S_\eta `$ is Lagrangian version of the stress tensor.

In the following, we will prove that (8.2) has a unique solution for a short time $`T`$ by using an iteration scheme founded upon the basic linear problem (6.1); this will establish that the mapping $`\mathrm{\Theta }_T`$ is well-defined. Using the Tychonoff fixed point theorem, we will then establish that the map $`\mathrm{\Theta }_T:(v,q)(\stackrel{~}{v},\stackrel{~}{q})`$ has a fixed point, and that this fixed point is indeed the unique solution of the system (3.2). This will prove our main theorem.

In order to do so, let us consider a given element $`(v,q)\{X_T|u(0)=u_0\}`$. To apply our fixed point procedure, we shall define the following closed convex subset of $`X_T`$.

###### Definition 8.2 (The convex subset).

Let

$$C_T=\{(u,p)X_T|u(0)=u_0\text{and}(u,p)_{X_T}M(T)\}$$

with

$`M(T)=2C_m[`$ $`|f(0,)_{L^2(^3;^3)}+f_{L^2(0,T;H^1(^3;^3))}(1+c_6c_3u_0_{H^1(\mathrm{\Omega }_0;^3)})`$
$`+f_t_{L^2(0,T;H^1(^3;^3)^{})}+u_0_{H^2(\mathrm{\Omega }_0;^3)}+\mathrm{}_0\mathrm{Id}N_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}],`$
where we fix $`T_m>0`$ with $`TT_m`$ and let $`C_m`$ denotes the function $`C(T)`$ in the estimate (7.85) with $`T_m`$ replacing $`T`$. (Note that $`C_m`$ is an increasing function of time, so that we can replace $`C`$ by $`C_m`$ in the estimate (7.85).) In this definition, $`c_3`$ and $`c_6`$ are the Sobolev constants satisfying for any $`vH^1(\mathrm{\Omega }_0;^3)`$ the inequalities

$$v_{L^3(\mathrm{\Omega }_0;^3)}c_3v_{H^1(\mathrm{\Omega }_0;^3)},$$
(8.4)
$$v_{L^6(\mathrm{\Omega }_0;^3)}c_6v_{H^1(\mathrm{\Omega }_0;^3)}.$$
(8.5)
We note that of course, $`C_T`$ is well defined since $`V^3(T)\times V^2(T)`$ is continuously embedded into $`C([0,T];H^2(\mathrm{\Omega }_0;^3)\times H^1(\mathrm{\Omega }_0;))`$ (see, for example, ). We will solve (8.2) for a short time by an iteration procedure and obtain a unique solution $`(\stackrel{~}{v},\stackrel{~}{q})`$ belonging to $`C_T`$. Note that this short time restriction is necessary not only in order to get a solution in $`C_T`$, but also to ensure the very existence of a solution of (8.2) in $`X_T`$.

###### Remark 9.

It is somewhat surprising, given that (8.2) is a linear problem, that we obtain only a short-time solution; nevertheless, this restriction arises from the iteration scheme we must employ. We use this type of procedure since, due to the (non-natural) boundary conditions (8.2c) and (8.2d), we cannot write the variational form of (8.2c).

In the following, $`C`$ denotes a generic constant which may depend on $`\mathrm{\Omega }_0`$ and the coefficients of (3.2). The following lemma concerns the $`L^{\mathrm{}}`$ control of $`a`$, and asserts that $`a`$ remains near the identity in an appropriate norm, and that the unit normal $`N`$ to $`\mathrm{\Gamma }_0`$ at $`x\mathrm{\Gamma }_0`$ and the unit normal $`n`$ to $`\mathrm{\Gamma }(t)=\eta (t,\mathrm{\Gamma }_0)`$ at $`\eta (t,x)`$ are not orthogonal for at least a short time.

###### Lemma 8.1.

There exists $`K>0`$, $`T_0>0`$ such that if $`0<TT_0`$, then, for any $`(v,q)C_T`$, we have that

$`a^T\text{Id}_{L^{\mathrm{}}(0,T;C^0(\overline{\mathrm{\Omega }_0};^9))}`$ $`K\sqrt{T},`$ (8.6)
$`{\displaystyle \frac{a^TN}{|a^TN|}}N`$ $`{\displaystyle \frac{1}{2}},\mathrm{in}[0,T]\times \mathrm{\Gamma }_0,`$ (8.7)
$`\mathrm{det}a`$ $`{\displaystyle \frac{1}{2}},\mathrm{in}[0,T]\times \mathrm{\Omega }_0,`$ (8.8)
###### Proof.

Using (8.1), we have that

$$\eta (t,)\text{Id}_{H^3(\mathrm{\Omega }_0;^3)}=_0^tv(t^{},)𝑑t^{}_{H^3(\mathrm{\Omega }_0;^3)},$$

which shows by Jensen’s inequality for the Bochner integral that

$$\eta (t,)\text{Id}_{H^3(\mathrm{\Omega }_0;^3)}_0^tv(t^{},)_{H^3(\mathrm{\Omega }_0;^3)}𝑑t^{},$$

and thus from the Cauchy-Schwarz inequality,

$$\eta \text{Id}_{L^{\mathrm{}}(0,T;H^3(\mathrm{\Omega }_0;^3))}C\sqrt{T}v_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}C\sqrt{T}(v,q)_{X_T},$$

and since $`(v,q)C_T`$,

$$\eta \text{Id}_{L^{\mathrm{}}(0,T;H^3(\mathrm{\Omega }_0;^3))}C\sqrt{T}M(T)C\sqrt{T}M(T_0).$$
(8.9)
From the continuity of the embedding of $`H^3(\mathrm{\Omega }_0)`$ into $`C^1(\overline{\mathrm{\Omega }_0})`$, we infer that

$$\eta \text{Id}_{L^{\mathrm{}}(0,T;C^0(\overline{\mathrm{\Omega }_0};^9))}C\sqrt{T}M(T_0),$$

which implies that there exists $`T_0>0`$ such that for $`TT_0`$, $`\eta `$ is invertible and is in a neighborhood of the identity, and thus from the $`C^{\mathrm{}}`$ regularity of the mapping $`MM^1`$ from a neighborhood of Id in $`H^2(\mathrm{\Omega }_0;^9)`$ into $`H^2(\mathrm{\Omega }_0;^9)`$, we have that

$$a^T\text{Id}_{L^{\mathrm{}}(0,T;C^0(\overline{\mathrm{\Omega }_0};^9))}C\sqrt{T}M(T_0)$$

which proves (8.6). Since $`a`$ is close to Id in $`L^{\mathrm{}}(0,T;C^0(\overline{\mathrm{\Omega }_0};^9))`$, we then easily deduce (8.7) and (8.8) for $`T_0>0`$ sufficiently small; this is due to the fact that when $`a=\text{Id}`$, we have that both $`a^TN/|a^TN|N=1`$ and $`\mathrm{det}a=1`$. ∎

Henceforth, we take $`T<T_0`$, and we allow our generic constant $`C`$ to depend on $`T_0`$. With this convention, (8.9) reads

$$\eta \text{Id}_{L^{\mathrm{}}(0,T;H^3(\mathrm{\Omega }_0;^3))}C\sqrt{T}(v,q)C_T.$$
(8.10)
We next state the following lemma about the $`L^{\mathrm{}}`$-in-time control of elements of $`C_T`$.

###### Lemma 8.2.

There exists a constant $`C`$ such that for any $`(w,r)C_T`$ we have

$$w_{L^{\mathrm{}}(0,T;H^2(\mathrm{\Omega }_0;^3))}C.$$
(8.11)
###### Proof.

From the standard interpolation inequality (see  for instance)

$`w_{L^{\mathrm{}}(0,T;H^2(\mathrm{\Omega }_0;^3))}`$ $`u_0_{H^2(\mathrm{\Omega }_0;^3)}`$
$`+C\left(w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}\right),`$
we infer that

$$w_{L^{\mathrm{}}(0,T;H^2(\mathrm{\Omega }_0;^3))}C[u_0_{H^2(\mathrm{\Omega }_0;^3)}+M(T)],$$

which finishes the proof of the lemma, using the fact that $`M(T)M(T_0)`$ (and again allowing $`C`$ to depend on $`T_0`$). ∎

We will also need the following

###### Lemma 8.3.

There exists a constant $`C`$ such that for any $`(v,q)C_T`$,

$$a_t_{L^{\mathrm{}}(0,T;H^1(\mathrm{\Omega }_0;^3))}C.$$
(8.12)
###### Proof.

We first need a few estimates on $`a`$ and its time derivative. From (8.10), we infer that

$$\eta \text{Id}_{L^{\mathrm{}}(0,T;H^2(\mathrm{\Omega }_0;^9))}C\sqrt{T},$$

and by the Sobolev embeddings

$$\eta \text{Id}_{L^{\mathrm{}}(0,T;C^0(\overline{\mathrm{\Omega }_0};^9))}C\sqrt{T}.$$

Thus $`\eta `$ stays in a neighborhood of Id in $`^9`$ on $`[0,T]\times \overline{\mathrm{\Omega }_0}`$. From the $`C^{\mathrm{}}`$ regularity of the mapping $`MM^1`$ from a neighborhood of Id in $`H^2(\mathrm{\Omega }_0;^9)`$ into $`H^2(\mathrm{\Omega }_0;^9)`$, we infer from (8.10) that

$$a\text{Id}_{L^{\mathrm{}}(0,T;H^2(\mathrm{\Omega }_0;^9))}C\sqrt{T}.$$
(8.13)
Now, since $`a_t=a\eta _ta=ava`$, we see from the Cauchy-Schwarz inequality that

$`a_t(t,)_{H^1(\mathrm{\Omega }_0;^9)}`$ $`a(t,)_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}^2v(t,)_{H^1(\mathrm{\Omega }_0;^9)}`$
$`+a(t,)_{W^{1,4}(\mathrm{\Omega }_0;^9)}^2v(t,)_{L^4(\mathrm{\Omega }_0;^9)}.`$
Thus by the Sobolev embedding theorem,

$$a_t(t,)_{H^1(\mathrm{\Omega }_0;^9)}Ca(t,)_{H^2(\mathrm{\Omega }_0;^9)}^2v(t,)_{H^2(\mathrm{\Omega }_0;^9)},$$

and consequently from (8.13),

$$a_t(t,)_{H^1(\mathrm{\Omega }_0;^9)}Cv(t,)_{H^2(\mathrm{\Omega }_0;^9)}.$$
(8.14)
We then conclude from (8.14) and (8.11) that

$$a_t_{L^{\mathrm{}}(0,T;H^1(\mathrm{\Omega }_0;^3))}C.$$
(8.15)
We will also need to estimate the following boundary forcing terms:

###### Lemma 8.4.

We have for any $`(v,q)C_T`$,

$`Ng^{\alpha \beta }{\displaystyle \frac{^2\text{Id}}{y^\alpha y^\beta }}_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}+`$ $`_t(Ng^{\alpha \beta }{\displaystyle \frac{^2\text{Id}}{y^\alpha y^\beta }})_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`ϵ(T)M(T),`$ (8.16)
where $`ϵ(T)0`$ as $`T0`$.

###### Proof.

For the first term of this inequality, we have that

$`Ng^{\alpha \beta }{\displaystyle \frac{^2\text{Id}}{y^\alpha y^\beta }}_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}`$ $`N(g^{\alpha \beta }g^{\alpha ,\beta }(0,)){\displaystyle \frac{^2\text{Id}}{y^\alpha y^\beta }}_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}`$
$`+Ng^{\alpha \beta }(0,){\displaystyle \frac{^2\text{Id}}{y^\alpha y^\beta }}_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}.`$
Since $`\eta (0,)=\text{Id}`$, we infer from (8.10) that

$$Ng^{\alpha \beta }\frac{^2\text{Id}}{y^\alpha y^\beta }_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}C\sqrt{T}.$$
(8.17)
For the second term on the left-hand-side of (8.16), the smoothness of $`\mathrm{\Gamma }_0`$ implies that

$$_t(Ng^{\alpha \beta }\frac{^2\text{Id}}{y^\alpha y^\beta })_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}C_tg^{\alpha \beta }_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))},$$

and from (8.10) and Lemma 8.5 that we prove next,

$$_t(Ng^{\alpha \beta }\frac{^2\text{Id}}{y^\alpha y^\beta })_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}C_0v_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9))}.$$

Since there is only a surface gradient involved in the right-hand-side of this inequality, from the same type of duality argument as we used for the proof of (7.80), we find that

$$_t(Ng^{\alpha \beta }\frac{^2\text{Id}}{y^\alpha y^\beta })_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}Cv_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))},$$

and from (8.11), we then have in turn that

$$_t(Ng^{\alpha \beta }\frac{^2\text{Id}}{y^\alpha y^\beta })_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}C\sqrt{T}.$$
(8.18)
Form (8.17) and (8.18), we then deduce the desired inequality (8.16).

We next have the following simple result concerning the $`H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)`$ norm of a product.

###### Lemma 8.5.

For any $`\alpha H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)`$ and $`\beta `$ which is the trace of an element of $`\beta W^{1,4}(\mathrm{\Gamma }_0;)`$, we have that

$$\alpha \beta _{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}C\alpha _{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}\beta _{W^{1,4}(\mathrm{\Omega }_0;)}.$$
(8.19)
###### Proof.

Let $`\varphi H^{\frac{1}{2}}(\mathrm{\Omega }_0;)`$ and let $`R`$ be a linear and continuous mapping from $`H^{\frac{1}{2}}(\mathrm{\Omega }_0;)`$ into $`H^1(\mathrm{\Omega }_0;)`$ such that $`\varphi `$ is the trace of $`R(\varphi )`$.

We then have

$$\alpha \beta ,\varphi _{\mathrm{\Gamma }_0}=\alpha ,\beta \varphi _{\mathrm{\Gamma }_0},$$

where $`,_{\mathrm{\Gamma }_0}`$ denotes the duality product between $`H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)`$ and $`H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)`$. By the trace theorem,

$$\alpha \beta ,\varphi _{\mathrm{\Gamma }_0}C\alpha _{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}\beta R(\varphi )_{H^1(\mathrm{\Omega }_0;)}.$$

Since by the Cauchy-Schwarz inequality

$$\beta R(\varphi )_{H^1(\mathrm{\Omega }_0;)}\beta _{L^{\mathrm{}}(\mathrm{\Omega }_0;)}\varphi _{H^1(\mathrm{\Omega }_0;)}+\beta _{W^{1,4}(\mathrm{\Omega }_0;)}R(\varphi )_{L^4(\mathrm{\Omega }_0;)},$$

we then have by the Sobolev embedding theorem,

$$\beta R(\varphi )_{H^1(\mathrm{\Omega }_0;)}C\beta _{W^{1,4}(\mathrm{\Omega }_0;)}R(\varphi )_{H^1(\mathrm{\Omega }_0;)},$$

and thus

$$\alpha \beta ,\varphi _{\mathrm{\Gamma }_0}\alpha _{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}C\beta _{W^{1,4}(\mathrm{\Omega }_0;)}\varphi _{H^{\frac{1}{2}}(\mathrm{\Omega }_0;)},$$

which proves the lemma. ∎

For the uniqueness of the solution to (3.2), we will need the following

###### Lemma 8.6.

For any $`(v,q)C_T`$ and $`(\stackrel{~}{v},\stackrel{~}{q})C_T`$,

$$a\stackrel{~}{a}_{L^{\mathrm{}}(0,T;H^2(\mathrm{\Omega }_0;^9)}C\sqrt{T},$$
(8.20)
where our notation means that $`a`$ and $`\stackrel{~}{a}`$ are formed from the Lagrangian flow maps of $`v`$ and $`\stackrel{~}{v}`$, respectively.

###### Proof.

Note that from (8.8), $`a`$ and $`\stackrel{~}{a}`$ are invertible, so that we may use the decomposition

$$a(t,)\stackrel{~}{a}(t,)=\stackrel{~}{a}(t,)[\stackrel{~}{a}^1(t,)a(t,)\text{Id}],$$

and thus, since $`H^2(\mathrm{\Omega }_0;^9)`$ is a Banach algebra, (8.13) enables us to assert that

$$a(t,)\stackrel{~}{a}(t,)_{H^2(\mathrm{\Omega }_0;^9)}C\stackrel{~}{a}^1(t,)a(t,)\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}.$$

Hence,

$`a(t,)\stackrel{~}{a}(t,)_{H^2(\mathrm{\Omega }_0;^9)}`$ $`C\stackrel{~}{a}^1(t,)_{H^2(\mathrm{\Omega }_0;^9}a(t,)\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+C\stackrel{~}{a}^1(t,)\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}.`$ (8.21)
Since $`\stackrel{~}{a}^1(t,)=\stackrel{~}{\eta }`$, we infer from (8.13) that

$$\stackrel{~}{a}^1(t,)\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}C\sqrt{T},$$

and consequently, with (8), we obtain the desired inequality. ∎

With regards to the forcing $`F=f\eta `$, we have the following

###### Lemma 8.7.

For any $`(v,q)C_T`$,

$`F_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+F_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`(1+ϵ(T))\left((1+c_6c_3u_0_{H^1(\mathrm{\Omega }_0;^3)})f_{L^2(0,T;H^1(^3;^3))}+f_t_{L^2(0,T;H^1(^3;^3)^{})}\right),`$ (8.22)
where $`ϵ(T)0`$ as $`T0`$ and $`c_3`$ and $`c_6`$ are the Sobolev constants defined in (8.4) and (8.5).

###### Proof.

From the chain rule,

$$F=[f\eta ]\eta .$$

The estimate (8.10) provides us with $`L^{\mathrm{}}`$ spacetime control of both $`\eta `$ and $`\eta ^1`$ for $`TT_0`$, so that we obtain

$$F_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}f_{L^2(0,T;H^1(^3;^3))}(1+ϵ(T)),$$
(8.23)
where $`ϵ(T)0`$ as $`T0`$.

The chain rule also shows that

$$F_t=f_t\eta +[f\eta ]v.$$

By duality,

$$F_t(t,)_{H^1(\mathrm{\Omega }_0;^3)^{}}[f_t\eta ](t,)_{H^1(\mathrm{\Omega }_0;^3)^{}}+c_6[f\eta ](t,)v(t,)_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}.$$
(8.24)
From Hölder’s inequality and the Sobolev embedding theorem,

$`F_t(t,)_{H^1(\mathrm{\Omega }_0;^3)^{}}`$ $`[f_t\eta ](t,)_{H^1(\mathrm{\Omega }_0;^3)^{}}`$
$`+c_6c_3[f\eta ](t,)_{L^2(\mathrm{\Omega }_0;^3)}v(t,)_{H^1(\mathrm{\Omega }_0;^3)}.`$
Next, note that

$$v(t,)_{H^1(\mathrm{\Omega }_0;^3)}u_0_{H^1(\mathrm{\Omega }_0;^3)}+_0^tv_t(t^{},)_{H^1(\mathrm{\Omega }_0;^3)}𝑑t^{},$$

which by means of the Cauchy-Schwarz inequality and the fact that $`(v,q)C_T`$ leads us to

$$v(t,)_{L^{\mathrm{}}(0,T;H^1(\mathrm{\Omega }_0;^3))}u_0_{H^1(\mathrm{\Omega }_0;^3)}+\sqrt{T}M(T).$$

Again using (8.10), we arrive at the estimate

$`F_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$ $`f_t_{L^2(0,T;H^1(^3;^3)^{})}(1+ϵ(T))`$
$`+c_6c_3f_{L^2(0,T;H^1(^3;^3))}u_0_{H^1(\mathrm{\Omega }_0;^3)}(1+ϵ(T)),`$
where $`ϵ(T)0`$ as $`T0`$. Together with (8.23), the lemma is proved. ∎

For the proof of the uniqueness result, which relies on the Lipschitz condition (5.3), we will need the following

###### Lemma 8.8.

Suppose that $`f`$ satisfies (5.3) with $`T`$ replacing $`\overline{T}`$. Then, there exists $`C>0`$ such that for any $`(v,q)`$ and $`(\stackrel{~}{v},\stackrel{~}{q})`$ both in $`C_T`$,

$`f\eta f\stackrel{~}{\eta }_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+`$ $`(f\eta f\stackrel{~}{\eta })_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`CT^{\frac{1}{8}}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T}.`$ (8.25)
###### Proof.

We first notice that

$$\eta (t,)\stackrel{~}{\eta }(t,)_{H^3(\mathrm{\Omega }_0;^3)}=_0^t(v\stackrel{~}{v})(t^{},)𝑑t^{}_{H^3(\mathrm{\Omega }_0;^3)},$$

which shows by Jensen’s inequality that

$$\eta (t,)\stackrel{~}{\eta }(t,)_{H^3(\mathrm{\Omega }_0;^3)}_0^t(v\stackrel{~}{v})(t^{},)_{H^3(\mathrm{\Omega }_0;^3)}𝑑t^{},$$

and thus from the Cauchy-Schwarz inequality,

$$\eta \stackrel{~}{\eta }_{L^{\mathrm{}}(0,T;H^3(\mathrm{\Omega }_0;^3))}C\sqrt{T}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T}.$$
(8.26)
On the other hand, since $`v(0,)=\stackrel{~}{v}(0,)`$, a standard interpolation argument (see ) yields

$$v\stackrel{~}{v}_{L^{\mathrm{}}(0,T;H^2(\mathrm{\Omega }_0;^3))}C(v\stackrel{~}{v}_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}+v_t\stackrel{~}{v}_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}),$$

and thus

$$v\stackrel{~}{v}_{L^{\mathrm{}}(0,T;H^2(\mathrm{\Omega }_0;^3))}C(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T}.$$
(8.27)
By the Cauchy-Schwarz inequality we also have that

$$v\stackrel{~}{v}_{L^{\mathrm{}}(0,T;H^1(\mathrm{\Omega }_0;^3))}C\sqrt{T}v_t\stackrel{~}{v}_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))},$$

so that

$$v\stackrel{~}{v}_{L^{\mathrm{}}(0,T;H^1(\mathrm{\Omega }_0;^3))}C\sqrt{T}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T}.$$
(8.28)
We may interpolate between (8.27) and (8.28) using the Gagliardo-Nirenberg inequality to find that

$$v\stackrel{~}{v}_{L^{\mathrm{}}(0,T;L^{\mathrm{}}(\mathrm{\Omega }_0;^3))}CT^{\frac{1}{8}}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T}.$$
(8.29)
Since

$$f(\eta )\eta f(\stackrel{~}{\eta })\stackrel{~}{\eta }=f(\eta )(\eta \stackrel{~}{\eta })+(f(\eta )f(\stackrel{~}{\eta }))\stackrel{~}{\eta },$$
(8.30)
using (8.26) and (8.10) together with (5.3) for the second term on the right-hand-side of (8.30), we obtain

$`f(\eta )\eta f(\stackrel{~}{\eta })\stackrel{~}{\eta }_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))}`$
$`C\sqrt{T}(K+f_{L^2(0,T;L^2(^3;^9))})(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T}.`$
The Lipschitz continuity of $`f`$ from (5.3) together with (8.26) provides us with the simple estimate

$$f\eta f\stackrel{~}{\eta }_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}CK\sqrt{T}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T},$$

from which it follows that

$$f\eta f\stackrel{~}{\eta }_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}CT^{\frac{1}{2}}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T}.$$
(8.31)
To estimate the time-derivative term, we have that

$$(f\eta f\stackrel{~}{\eta })_t=f_t(\eta )f_t(\stackrel{~}{\eta })+f(\eta )vf(\stackrel{~}{\eta })\stackrel{~}{v}.$$

By using the Lipschitz condition (5.3) on $`f_t`$ and $`f`$ together with (8.10) and (8.29) we see that

$$(f\eta f\stackrel{~}{\eta })_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}C(K\sqrt{T}+T^{\frac{1}{8}}f_{L^2(0,T;L^2(^3;^9))})(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T},$$

and hence that

$$(f\eta f\stackrel{~}{\eta })_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}CT^{\frac{1}{8}}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T},$$
(8.32)
which together with (8.31) completes the proof. ∎

We next have the following existence and uniqueness result which shows that the convex subset $`C_T`$ is closed under the map $`\mathrm{\Theta }_T`$.

###### Lemma 8.9.

There exists $`\overline{T}_0(0,T_0)`$ such that for $`0<T\overline{T}_0`$ and for any $`(v,q)C_T`$, there exists a unique solution $`(\stackrel{~}{v},\stackrel{~}{q})C_T`$ to the problem (8.2).

###### Proof.

The linear problem (8.2) will be solved by the following sequence of problems: We initiate the iteration with $`(v_0,q_0)=(0,0)`$; then, given $`(v_n,q_n)X_T`$ we define $`(v_{n+1},q_{n+1})`$ as the solution of

$`(v_{n+1})_t\nu \mathrm{}v_{n+1}+q_{n+1}`$ $`=F+\overline{f}(v_n,q_n)\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.33a)
$`\mathrm{div}(v_{n+1})`$ $`=\overline{a}(v_n)\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.33b)
$`\mathrm{\Pi }_0\left(\mathrm{Def}(v_{n+1})N\right)`$ $`=\overline{g}_1(v_n)\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (8.33c)
$`N(S(v_{n+1},q_{n+1})N)`$ $`=\sigma N\mathrm{}_0({\displaystyle _0^t}v_{n+1})+\overline{g}_2(v_n,q_n)+\sigma \overline{B}(v_n)`$
$`+\sigma N\mathrm{}_{g(t)}(x)\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (8.33d)
$`v_{n+1}`$ $`=u_0\text{on}\mathrm{\Omega }_0\times \{t=0\},`$ (8.33e)
where

$`\overline{f}(v_n,q_n)`$ $`=\nu (\mathrm{}v_n(a_l^ja_l^kv_n,_k),_j)+q_na^Tq_n\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.34a)
$`\overline{a}(v_n)`$ $`=\mathrm{div}(v_n)a_i^kv_{n}^{i}{}_{,k}{}^{}\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.34b)
$`\overline{g}_1(v_n)`$ $`=\mathrm{\Pi }_0\left(\mathrm{Def}(v_n)N\mathrm{\Pi }_{\eta (t,)}(D_{\eta (t,)}(v_n)a^TN)\right)\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (8.34c)
$`\overline{g}_2(v_n,q_n),`$ $`=N(S(v_n,q_n)N)N(S_{\eta (t,)}(v_n,q_n)a^TN)\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (8.34d)
$`\overline{B}(v_n)`$ $`=N(\mathrm{}_{g(t)}\mathrm{}_0)({\displaystyle _0^t}v_n)\text{on}(0,T)\times \mathrm{\Gamma }_0.`$ (8.34e)
We note that the system (8.33) is well defined since by construction $`\overline{g}_1(v_n)`$ belongs to the tangent plane to the surface $`\mathrm{\Gamma }_0`$. This is precisely the reason why the iteration proposed by Tani  fails, since the analogue of $`g_1(v_n)`$ in equation (4.3) on page 319 does not necessarily belong to this tangent plane as it must.

For each $`n1`$ define

$$\begin{array}{c}\delta v_n=v_{n+1}v_n\hfill \\ \delta q_n=q_{n+1}q_n\hfill \end{array}\begin{array}{c}\text{(difference of velocities)}\hfill \\ \text{(difference of pressures)\hspace{0.17em} . }\hfill \end{array}$$

Since for each iteration $`n0`$, the problem (8.33) is linear, the pair $`(\delta v_{n+1},\delta q_{n+1})`$ satisfies

$`(\delta v_{n+1})_t\nu \mathrm{}\delta v_{n+1}+\delta q_{n+1}`$ $`=\overline{f}(\delta v_n,\delta q_n)\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.35a)
$`\mathrm{div}(\delta v_{n+1})`$ $`=\overline{a}(\delta v_n)\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (8.35b)
$`\mathrm{\Pi }_0(\mathrm{Def}\left(\delta v_{n+1}\right)N)`$ $`=\overline{g}_1(\delta v_n)\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (8.35c)
$`N(S(\delta v_{n+1},\delta q_{n+1})N)`$ $`=\sigma N\mathrm{}_0\left({\displaystyle _0^t}\delta v_{n+1}\right)`$
$`+\overline{g}_2(\delta v_n,\delta q_n)+\sigma \overline{B}(\delta v_n)\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (8.35d)
$`\delta v_{n+1}`$ $`=0\text{on}\{t=0\}\times \mathrm{\Omega }_0,`$ (8.35e)
where the forcing appearing in the right-hand-side of this system are defined by the same relations as (8.34) with $`(\delta v_n,\delta q_n)`$ replacing $`(v_n,q_n)`$. We note also that $`\delta q_n(0,)=0`$ for any $`n1`$.

For each $`n1`$, the initial boundary forcings $`\overline{g_1}(\delta v_n)(0,)`$, $`\overline{g_2}(\delta v_n)(0,)`$ and $`\overline{B}(\delta v_n)(0,)`$ satisfy the condition (7.83) since they are all zero (from (8.35e) and the initial velocity satisfies the compatibility condition

$$\mathrm{\Pi }_0(\mathrm{Def}\left(\delta v_{n+1}(0,)\right)N)=0\text{on}\mathrm{\Gamma }_0.$$

Thus, (8.35) satisfies all of the assumptions of the basic linear problem (6.1), and so we can use estimate (6.3) to find that

$`(\delta v_{n+1},\delta q_{n+1})_{X_T}`$
$`C(\overline{f}(\delta v_n,\delta q_n)_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+\overline{f}(\delta v_n,\delta q_n)_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+\overline{a}(\delta v_n)_{L^2(0,T;H^2(\mathrm{\Omega }_0;^9))}+\overline{a}(\delta v_n)_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))}`$
$`+\overline{B}(\delta v_n)_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+\overline{B}(\delta v_n)_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`+\overline{g}_1(\delta v_n,\delta q_n)_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+\overline{g}_1(\delta v_n,\delta q_n)_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+\overline{g}_2(\delta v_n,\delta q_n)_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}+\overline{g}_2(\delta v_n,\delta q_n)_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}.)`$
Hence, as a consequence of Lemma 8.10 (which directly follows this proof), we infer that there exists $`T_1(0,T_0)`$ such that for any $`T(0,T_1)`$

$$(\delta v_{n+1},\delta q_{n+1})_{X_T}CT^{\frac{1}{16}}(v,q)_{X_T}(\delta v_n,\delta q_{n+1})_{X_T}.$$

Since $`vC_T`$, we see from the previous inequality that there exists $`T_2(0,T_1)`$ such that for $`TT_2`$, we have

$$(\delta v_{n+1},\delta q_{n+1})_{X_T}\frac{1}{2}T^{\frac{1}{32}}(\delta v_n,\delta q_n_{X_T}.$$

which by the contraction mapping principle (since we can assume $`T_2(0,1)`$) shows that the sequence $`(v_n,q_n)_n`$ is convergent in $`X_T`$ to a limit $`(\stackrel{~}{v},\stackrel{~}{q})`$ which is the unique solution in $`X_T`$ of (8.2). By summing the previous inequalities from $`n=1`$ to $`\mathrm{}`$, and taking into account that the first iterate $`(v_0,q_0)=(0,0)`$, we see that

$$(\stackrel{~}{v},\stackrel{~}{q})_{X_T}\frac{\frac{1}{2}T^{\frac{1}{32}}}{1\frac{1}{2}T^{\frac{1}{32}}}(v_1,q_1)_{X_T}+(v_1,q_1)_{X_T}.$$
(8.36)
In local coordinates $`y^\alpha `$, $`\alpha =1,2`$, on $`\mathrm{\Gamma }_0`$, we have that

$$N\mathrm{}_g\text{Id}=Ng^{\alpha \beta }\left(\frac{^2\text{Id}}{y^\alpha y^\beta }\mathrm{\Gamma }_{\alpha \beta }^\gamma \frac{\text{Id}}{y^\gamma }\right);$$

since $`N`$ is the unit normal to $`\mathrm{\Gamma }_0`$, and $`\frac{\text{Id}}{y^\alpha }`$ is tangent to $`\mathrm{\Gamma }_0`$, we have that

$$N\frac{\text{Id}}{y^\gamma }=0\text{on}\mathrm{\Gamma }_0.$$
(8.37)
Now, to estimate the right-hand side of (8.36), we simply apply our basic energy estimate (7.85) to the following system, with zero initial tangential boundary forcing and an initial normal boundary forcing in $`H^{\frac{3}{2}}(\mathrm{\Gamma }_0;)`$, whose initial data satisfies the initial compatibility condition

$$\mathrm{\Pi }_0(\mathrm{Def}\left(v_1(0,)\right)N)=0\text{on}\mathrm{\Gamma }_0,$$

(since $`v_1(0,)=u_0`$):

$`_tv_1\nu \mathrm{}v_1+q_1`$ $`=F\text{in}(0,T)\times \mathrm{\Omega }_0,`$
$`\mathrm{div}(v_1)`$ $`=0\text{in}(0,T)\times \mathrm{\Omega }_0,`$
$`\mathrm{\Pi }_0(\mathrm{Def}(v_1)N)`$ $`=0\text{on}(0,T)\times \mathrm{\Gamma }_0,`$
$`N(S(v_1,q_1)N)\sigma N\mathrm{}_0({\displaystyle _0^t}v_1)`$ $`=\sigma N\mathrm{}_{g(t)}(\text{Id})\text{on}(0,T)\times \mathrm{\Gamma }_0,`$
$`v_1`$ $`=u_0\text{on}\mathrm{\Omega }_0\times \{t=0\},`$ (8.38a)
to get

$`(v_1,q_1)_{X_T}`$
$`C_m(u_0_{H^2(\mathrm{\Omega }_0;^3)}+F_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+F_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+\mathrm{}_0\text{Id}N_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}+Ng^{\alpha \beta }{\displaystyle \frac{^2\text{Id}}{y^\alpha y^\beta }}_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}`$
$`+F(0,)_{L^2(\mathrm{\Omega }_0;^3)}+_t(Ng^{\alpha \beta }{\displaystyle \frac{^2\text{Id}}{y^\alpha y^\beta }})_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}),`$ (8.39)
where $`C_m`$ is defined in Definition 8.2.

Then, combining (8.16), (8.36), (8) and (8.22), we find that

$$(\stackrel{~}{v},\stackrel{~}{q})_{X_T}\frac{1}{2}\left(1+\frac{T^{\frac{1}{32}}}{1\frac{1}{2}T^{\frac{1}{32}}}\right)M(T)(1+ϵ(T)),$$

where $`ϵ(T)0`$ as $`T0`$. Thus, choosing $`\overline{T}_0(0,T_2)`$, such that $`0<T\overline{T}_0`$, implies that

$$(\stackrel{~}{v},\stackrel{~}{q})_{X_T}M(T).$$

so that $`(\stackrel{~}{v},\stackrel{~}{q})C_T`$, which proves the stability lemma. ∎

We now prove the following estimate which was used to prove Lemma 8.9.

###### Lemma 8.10.

There exists $`T_1(0,T_0)`$ such that for any $`(v,q)C_T`$, and $`(w,r)X_T`$ such that $`(w(0),r(0))=(0,0)`$, we have that

$`\overline{f}(w,r)_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+\overline{f}(w,r)_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+\overline{a}(w)_{L^2(0,T;H^2(\mathrm{\Omega }_0;^3))}+\overline{a}(w)_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}`$
$`+\overline{B}(w)_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+\overline{B}(w)_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`+\mathrm{\Sigma }_{\alpha =1}^2\left(\overline{g}_\alpha (w,r)_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}+\overline{g}_\alpha (w,r)_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}\right)`$
$`CT^{\frac{1}{16}}(v,q)_{X_T}(w,r)_{X_T}`$
where

$`\overline{f}(w,r)`$ $`=\nu (\mathrm{}w(a_l^ja_l^kw,_k),_j)+ra^Tr\mathrm{in}(0,T)\times \mathrm{\Omega }_0,`$
$`\overline{a}(w)`$ $`=\mathrm{div}(w)a_k^iw_{,i}^k\mathrm{in}(0,T)\times \mathrm{\Omega }_0,`$
$`\overline{g}_1(w)`$ $`=\mathrm{\Pi }_0\left(\mathrm{Def}(w)N\mathrm{\Pi }_{\eta (t,)}\left(D_{\eta (t,)}(w)a^TN\right)\right)\mathrm{on}(0,T)\times \mathrm{\Gamma }_0,`$
$`\overline{g}_2(w,r)`$ $`=N(S(w,r)N)N(S_{\eta (t,)}(w,r)a^TN)\mathrm{on}(0,T)\times \mathrm{\Gamma }_0,`$
$`\overline{B}(w)`$ $`=N(\mathrm{}_{g(t)}\mathrm{}_0)({\displaystyle _0^t}w)\mathrm{on}(0,T)\times \mathrm{\Gamma }_0.`$
###### Proof.

In order to simplify the notation, we shall omit the explicit dependence on time $`t(0,T)`$ when we evaluate certain Sobolev norms. For instance, letting $`t`$ denote a generic element of $`(0,T)`$, $`w_{H^3(\mathrm{\Omega }_0;^3)}`$ will stand for $`w(t,)_{H^3(\mathrm{\Omega }_0;^3)}`$. For the sake of clarity, we divide the proof into ten steps.

1. Estimate of $`\overline{a}`$: Since $`\overline{a}(w)=(\delta _k^ia_k^i)w^k,_i`$, we have that

$`\overline{a}(w)_{H^2(\mathrm{\Omega }_0;^9)}`$
$`C(\delta _k^ia_k^i_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}w^k,_i_{H^2(\mathrm{\Omega }_0;^9)}+\delta _k^ia_k^i_{H^2(\mathrm{\Omega }_0;^9)}w^k,_i_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}),`$ (8.40)
which by the continuous embedding of $`H^2`$ into $`L^{\mathrm{}}`$ shows that

$$\overline{a}(w)_{H^2(\mathrm{\Omega }_0;^9)}C\delta _k^ia_k^i_{H^2(\mathrm{\Omega }_0;^9)}w^k,_i_{H^2(\mathrm{\Omega }_0;^9)},$$

and consequently from (8.13),

$$\overline{a}(w)_{L^2(0,T;H^2(\mathrm{\Omega }_0;^3))}C\sqrt{T}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}.$$
(8.41)
2. Estimate of $`\overline{a}_t`$: Since $`\overline{a}(w)=(\delta _k^ia_k^i)w^k,_i`$, we have by time differentiation,

$$\overline{a}(w)_t=(\delta _k^ia_k^i)(w^k,_i)_t+(a_k^i)_tw^k,_i,$$

which together with (8.13) and (8.12) shows that

$`\overline{a}(w)_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))}`$ $`C\sqrt{T}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}`$
$`+a_tw_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))}.`$ (8.42)
Now, we notice that

$$a_tw_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))}a_t_{L^{\mathrm{}}(0,T;L^2(\mathrm{\Omega }_0;^9))}w_{L^2(0,T;L^{\mathrm{}}(\mathrm{\Omega }_0;^9))}.$$
(8.43)
From the Sobolev embedding theorem, we have for all $`t`$,

$$w(t,)_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}w(t,)_{W^{1,4}(\mathrm{\Omega }_0;^9)},$$

and thus the Gagliardo-Nirenberg inequality (7.82) show that

$$w(t,)_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9))}Cw(t,)_{L^2(\mathrm{\Omega }_0;^9))}^{\frac{1}{8}}w(t,)_{H^2(\mathrm{\Omega }_0;^9))}^{\frac{7}{8}}.$$
(8.44)
Since $`w(0)=0`$, we have $`w(t,)=_0^tw_t(t^{},)𝑑t^{}`$, and thus from the Cauchy-Schwarz inequality and Fubini’s theorem,

$$w(t,)_{L^2(\mathrm{\Omega }_0;^9)}\sqrt{t}w_t_{L^2(0,t;L^2(\mathrm{\Omega }_0;^9)},$$

and then

$$w(t,)_{L^2(\mathrm{\Omega }_0;^9)}\sqrt{T}w_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))}.$$
(8.45)
From (8.44), and (8.45), we deduce that

$$w_{L^2(0,T;L^{\mathrm{}}(\mathrm{\Omega }_0;^9))}CT^{\frac{1}{16}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^9))}^{\frac{1}{8}}\left(_0^Tw(t,)_{H^3(\mathrm{\Omega }_0;^9))}^{\frac{7}{4}}𝑑t\right)^{\frac{1}{2}},$$

and from Hölder’s inequality,

$$w_{L^2(0,T;L^{\mathrm{}}(\mathrm{\Omega }_0;^9))}CT^{\frac{1}{8}}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}^{\frac{7}{8}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{1}{8}}.$$
(8.46)
From (8.12), (8.43) and (8.46), and Young’s inequality we infer that

$`a_tw`$ $`_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}`$
$`CD(T)T^{\frac{1}{8}}\left(w(t,)_{L^2(H^3(\mathrm{\Omega }_0;^3))}+w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}\right).`$
From this inequality and (8.42), we then deduce the existence of $`T_{\overline{a}_t}(0,T_0)`$ such that for any $`T(0,T_{\overline{a}_t})`$,

$$a(w)_t_{X_T}CT^{\frac{1}{8}}(w,r)_{X_T}.$$
(8.47)
3. Estimate of $`\overline{f}`$: On $`(0,T)`$,

$$\overline{f}(w,r)_{H^1(\mathrm{\Omega }_0;^3)}\nu \mathrm{div}(w(\text{Id}aa^T))_{H^1(\mathrm{\Omega }_0;^3)}+(\text{Id}a)r_{H^1(\mathrm{\Omega }_0;^3)}.$$
(8.48)
From the usual product formula for the derivatives and the Cauchy-Schwarz inequality we see that

$`(\text{Id}a)r_{H^1(\mathrm{\Omega }_0;^3)}C`$ $`\text{Id}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}r_{L^4(\mathrm{\Omega }_0;^3)}`$
$`+C\text{Id}a_{L^4(\mathrm{\Omega }_0;^9)}r_{W^{1,4}(\mathrm{\Omega }_0;^3)},`$
which by the continuity of the embedding of $`H^2`$ into $`W^{1,4}`$ shows that

$$(\text{Id}a)r_{H^1(\mathrm{\Omega }_0;^9)}C\text{Id}a_{H^2(\mathrm{\Omega }_0;^9)}r_{H^2(\mathrm{\Omega }_0;)},$$

and consequently from (8.13),

$$(\text{Id}a)r_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}C\sqrt{T}r_{L^2(0,T;H^2(\mathrm{\Omega }_0;^3))}).$$
(8.49)
For the other term on the right-hand-side of (8.48) we similarly have

$`\mathrm{div}(w(\text{Id}aa^T))_{H^1(\mathrm{\Omega }_0;^9)}C`$ $`\text{Id}aa^T_{L^{\mathrm{}}(\mathrm{\Omega }_0)}w_{H^3(\mathrm{\Omega }_0;^3)}`$
$`+C\text{Id}aa^T_{W^{1,4}(\mathrm{\Omega }_0;^9)}r_{W^{2,4}(\mathrm{\Omega }_0;)},`$
which by the continuity of the embeddings of $`H^2`$ into $`W^{1,4}`$, of $`H^3`$ into $`W^{2,4}`$ and of $`H^2`$ into $`L^{\mathrm{}}`$ shows that

$$\mathrm{div}(w(\text{Id}aa^T))_{H^1(\mathrm{\Omega }_0;^9)}C\text{Id}aa^T_{H^2(\mathrm{\Omega }_0;^9)}w_{H^3(\mathrm{\Omega }_0;^3)}.$$
(8.50)
Now, from (8.13) and the fact that $`H^2`$ is a Banach algebra, we deduce that

$$aa^T\text{Id}_{L^{\mathrm{}}(0,T;H^2(\overline{\mathrm{\Omega }_0};^9))}C\sqrt{T},$$

which combined with (8.50) gives us the estimate

$$\mathrm{div}(w(\text{Id}aa^T))_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}C\sqrt{T}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;))}.$$
(8.51)
Thus, (8.48), (8.49) and (8.51) show that

$$\overline{f}(w,r)_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}C\sqrt{T}\left(w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}+r_{L^2(0,T;H^2(\mathrm{\Omega }_0;))}\right).$$
(8.52)
4. Estimate of $`\overline{f}_t`$: We have

$`\overline{f}(w,r)_t_{H^1(\mathrm{\Omega }_0;^3)^{}}`$ $`\nu \mathrm{div}(w_t(\text{Id}aa^T))_{H^1(\mathrm{\Omega }_0;^3)^{}}`$
$`+\nu \mathrm{div}(w(\text{Id}aa^T)_t)_{H^1(\mathrm{\Omega }_0;^3)^{}}`$
$`+(\text{Id}a^T)r_t_{H^1(\mathrm{\Omega }_0;^3)^{}}+(\text{Id}a^T)_tr_{H^1(\mathrm{\Omega }_0;^3)^{}}.`$ (8.53)
Now, we see that for any $`\varphi H^1(\mathrm{\Omega }_0;^3)`$,

$$(\text{Id}a^T)r_t,\varphi _1=r_t,(\text{Id}a)\varphi _1$$

where $`,_1`$ denotes the duality product between $`H^1(\mathrm{\Omega }_0;^3)`$ and $`H^1(\mathrm{\Omega }_0;^3)^{}`$. Consequently,

$`|(\text{Id}a^T)r_t,\varphi _1|`$ $`(\text{Id}a)\varphi _{H^1(\mathrm{\Omega }_0;^3)}r_t_{H^1(\mathrm{\Omega }_0;^3)^{}}`$
$`C\text{Id}a_{H^2(\mathrm{\Omega }_0;^3)}r_t_{H^1(\mathrm{\Omega }_0;^3)^{}}\varphi _{H^1(\mathrm{\Omega }_0;^3)},`$
which shows that

$$(\text{Id}a^T)r_t_{H^1(\mathrm{\Omega }_0;^3)^{}}C\text{Id}a_{H^2(\mathrm{\Omega }_0;^3)}r_t_{H^1(\mathrm{\Omega }_0;^3)^{}},$$

and thus from (8.13),

$$(\text{Id}a^T)r_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}C\sqrt{T}r_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}.$$
(8.54)
For the fourth term on the right-hand-side of (8), we notice that for any $`\varphi H^1(\mathrm{\Omega }_0;^3)`$,

$$(\text{Id}a^T)_tr,\varphi _1=_\mathrm{\Omega }a_t^Tr\varphi .$$

Thus,

$$|(\text{Id}a^T)_tr,\varphi _1|a_t_{L^2(\mathrm{\Omega }_0;^9)}r_{L^4(\mathrm{\Omega }_0;;^3)}\varphi _{L^4(\mathrm{\Omega }_0;^3)},$$

and by Sobolev’s embedding theorem and the Gagliardo-Nirenberg inequality, we find that

$$|(\text{Id}a^T)_tr,\varphi _1|Ca_t_{L^2(\mathrm{\Omega }_0;^3)}r_{H^2(\mathrm{\Omega }_0;)}^{}{}_{}{}^{\frac{7}{8}}r_{L^2(\mathrm{\Omega }_0;)}^{}{}_{}{}^{\frac{1}{8}}\varphi _{H^1(\mathrm{\Omega }_0;^3)},$$

which shows that

$$(\text{Id}a^T)_tr_{H^1(\mathrm{\Omega }_0;^9)^{}}Ca_t_{L^2(\mathrm{\Omega }_0;^9)}r_{H^2(\mathrm{\Omega }_0;)}^{}{}_{}{}^{\frac{7}{8}}r_{L^2(\mathrm{\Omega }_0;)}^{}{}_{}{}^{\frac{1}{8}}.$$

and consequently from (8.12),

$$(\text{Id}a^T)_tr_{H^1(\mathrm{\Omega }_0;^3)^{}}Cr_{H^2(\mathrm{\Omega }_0;)}^{}{}_{}{}^{\frac{7}{8}}r_{L^2(\mathrm{\Omega }_0;)}^{}{}_{}{}^{\frac{1}{8}}.$$
(8.55)
Since $`r(0)=0`$, we have $`r(t,)=_0^tr_t(t^{},)𝑑t^{}`$, and thus from the Cauchy-Schwarz inequality and Fubini’s theorem,

$$r(t,)_{L^2(\mathrm{\Omega }_0;))}\sqrt{t}r_t_{L^2(0,t;L^2(\mathrm{\Omega }_0;))},$$

and thus

$$r(t,)_{L^2(\mathrm{\Omega }_0;))}\sqrt{T}r_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))},$$

which with (8.55) gives

$`(\text{Id}a^T)_tr`$ $`_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$``$ $`CT^{\frac{1}{16}}r_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}^{\frac{1}{8}}\left({\displaystyle _0^T}r(t,)_{H^2(\mathrm{\Omega }_0;))}^{\frac{7}{4}}𝑑t\right)^{\frac{1}{2}}.`$
Now, from Hölder’s inequality,

$$(\text{Id}a^T)_tr_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}CT^{\frac{1}{8}}r_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}^{\frac{1}{8}}r_{L^2(0,T;H^2(\mathrm{\Omega }_0;))}^{\frac{7}{8}},$$

and Young’s inequality finally give us the estimate

$$(\text{Id}a^T)_tr_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}CT^{\frac{1}{8}}[r_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}+r_{L^2(0,T;H^2(\mathrm{\Omega }_0;))}].$$
(8.56)
For the first term on the right-hand-side of (8), we first notice that for any $`\varphi H^1(\mathrm{\Omega }_0;^3)`$ we have

$`\mathrm{div}(w_t(\text{Id}aa^T)),\varphi _1=`$ $`{\displaystyle _{\mathrm{\Omega }_0}}(\text{Id}aa^T)_k^j_kw_t_j\varphi dx`$
$`+_jw_t,(\text{Id}aa^T)_k^jN_j\varphi _{\mathrm{\Gamma }_0},.`$
Consequently,

$`\mathrm{div}(w_t(\text{Id}aa^T)),\varphi _1`$ $`\text{Id}aa^T_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}w_t_{L^2(\mathrm{\Omega }_0;^9)}\varphi _{H^1(\mathrm{\Omega }_0;^3)}`$
$`+_jw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}(\text{Id}aa^T)_k^jN_j\varphi _{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}.`$
If $`\stackrel{~}{N}`$ denotes a smooth extension of $`N`$ to $`\mathrm{\Omega }_0`$, we infer that

$`\mathrm{div}(w_t(\text{Id}aa^T)),\varphi _1`$ $`\text{Id}aa^T_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}w_t_{L^2(\mathrm{\Omega }_0;^9)}\varphi _{H^1(\mathrm{\Omega }_0;^3)}`$
$`+C_jw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}(\text{Id}aa^T)_k^j\stackrel{~}{N}_j\varphi _{H^1(\mathrm{\Omega }_0;^3)},`$
and by the Cauchy-Schwarz inequality,

$`\mathrm{div}(w_t(\text{Id}`$ $`aa^T)),\varphi _1`$
$``$ $`\text{Id}aa^T_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}w_t_{L^2(\mathrm{\Omega }_0;^3)}\varphi _{H^1(\mathrm{\Omega }_0;^3)}`$
$`+C_jw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}\text{Id}aa^T_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}\varphi _{H^1(\mathrm{\Omega }_0;^3)}`$
$`+C_jw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}\text{Id}aa^T_{W^{1,4}(\mathrm{\Omega }_0;^9)}\varphi _{L^4(\mathrm{\Omega }_0;^3)},`$
followed by Sobolev’s embedding theorem,

$`\mathrm{div}(w_t`$ $`(\text{Id}aa^T)),\varphi _1`$
$``$ $`\text{Id}aa^T_{H^2(\mathrm{\Omega }_0;^9)}w_t_{L^2(\mathrm{\Omega }_0;^3)}\varphi _{H^1(\mathrm{\Omega }_0;^3)}`$
$`+C_jw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}\text{Id}aa^T_{H^2(\mathrm{\Omega }_0;^9)}\varphi _{H^1(\mathrm{\Omega }_0;^3)}.`$
Consequently,

$`\mathrm{div}(w_t(\text{Id}aa^T))_{H^1(\mathrm{\Omega }_0;^3)^{}}`$ $`\text{Id}aa^T_{H^2(\mathrm{\Omega }_0;^9)}w_t_{L^2(\mathrm{\Omega }_0;^3)}`$
$`+C_jw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}\text{Id}aa^T_{H^2(\mathrm{\Omega }_0;^9)}.`$
From (8.13), we then deduce that

$`\mathrm{div}(w_t(\text{Id}aa^T))_{H^1(\mathrm{\Omega }_0;^3)^{}}`$ $`C\sqrt{T}w_t_{L^2(\mathrm{\Omega }_0;^3)}`$
$`+C\sqrt{T}_jw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)},`$
from which it follows that

$`\mathrm{div}(w_t(\text{Id}aa^T))_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$ $`C\sqrt{T}w_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}`$
$`+C\sqrt{T}w_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}.`$ (8.57)
Similarly, for the second term on the right-hand-side of (8), we notice that for any $`\varphi H^1(\mathrm{\Omega }_0;^3)`$ we have that

$$\mathrm{div}(w(\text{Id}aa^T)_t),\varphi _1=_{\mathrm{\Omega }_0}\left((a_ta^T+aa_t^T)_k^jw,_k\right),_j\varphi dx.$$

Then, by Hölder’s inequality,

$$\mathrm{div}(w(\text{Id}aa^T)_t),\varphi _1\left((a_ta^Taa_t^T)_k^jw,_k\right),_j_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}\varphi _{L^6(\mathrm{\Omega }_0;^3)}.$$

Consequently, by the continuity of the embedding of $`H^1(\mathrm{\Omega }_0;^3)`$ into $`L^6(\mathrm{\Omega }_0;^3)`$, we have that

$$\mathrm{div}(w(\text{Id}aa^T)_t)_{H^1(\mathrm{\Omega }_0;^3)^{}}\left((a_ta^T+aa_t^T)_k^jw,_k\right),_j_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}.$$
(8.58)
On the one hand, we have from Hölder’s inequality that

$$(a_ta^T+aa_t^T)_k^jw,_{kj}_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}(a_ta^T+aa_t^T)_k^j_{L^2(\mathrm{\Omega }_0;^3)}w,_{kj}_{L^3(\mathrm{\Omega }_0;^3)},$$

and by (8.13), we deduce that

$$(a_ta^T+aa_t^T)_k^jw,_{kj}_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}Ca_t_{L^2(\mathrm{\Omega }_0;^9)}w,_{kj}_{L^3(\mathrm{\Omega }_0;^3)}.$$

With (8.12) and the Gagliardo-Nirenberg inequality, we then obtain the estimate

$$(a_ta^T+aa_t^T)_k^jw,_{kj}_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}Cw_{H^1(\mathrm{\Omega }_0;^3)}^{\frac{1}{4}}w_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{3}{4}},$$

which with (8.45) provides

$$(a_ta^T+aa_t^T)_k^jw,_{kj}_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}CT^{\frac{1}{8}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{1}{4}}w_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{3}{4}}.$$
(8.59)
On the other hand, from Hölder’s inequality

$$((a_ta^T+aa_t^T)_k^j),_jw,_k_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}((a_ta^T+aa_t^T)_k^j),_j_{L^2(\mathrm{\Omega }_0;^3)}w,_k_{L^3(\mathrm{\Omega }_0;^3)},$$

(8.13) allows us to assert that

$`((a_ta^T+aa_t^T)_k^j),_jw,_k_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}`$ $`C(a_t_{L^2(\mathrm{\Omega }_0;^{27})}w,_k_{L^3(\mathrm{\Omega }_0;^3)}`$
$`+a_{L^4(\mathrm{\Omega }_0;^{27})}a_t_{L^4(\mathrm{\Omega }_0;^9)}w,_k_{L^3(\mathrm{\Omega }_0;^3)}),`$
and thus from the Sobolev embedding theorem, and another use of (8.13), we find that

$$((a_ta^T+aa_t^T)_k^j),_jw,_k_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}Ca_t_{L^2(\mathrm{\Omega }_0;^{27})}w,_k_{L^3(\mathrm{\Omega }_0;^3)}.$$

From the Gagliardo-Nirenberg inequalities, and (8.45), we then get

$`((a_ta^T+aa_t^T)_k^j),_jw,_k_{L^{\frac{6}{5}}(\mathrm{\Omega }_0;^3)}`$
$`Ca_t_{L^2(\mathrm{\Omega }_0;^{27})}T^{\frac{3}{8}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{3}{4}}w_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{1}{4}}.`$ (8.60)
Consequently, from (8.58), (8.59) and (8), we infer that

$`\mathrm{div}(w(\text{Id}aa^T)_t)_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`CT^{\frac{1}{8}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{1}{4}}\left({\displaystyle _0^T}w(t,)_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{3}{2}}𝑑t\right)^{\frac{1}{2}}`$
$`+CT^{\frac{3}{8}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{3}{4}}\left({\displaystyle _0^T}w(t,)_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{1}{2}}a_t(t,)_{L^2(\mathrm{\Omega }_0;^3)}^2𝑑t\right)^{\frac{1}{2}}.`$
From Hölder’s inequality and (8.12), we then have that

$`\mathrm{div}(w(\text{Id}aa^T)_t)_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`CT^{\frac{1}{4}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{1}{4}}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}^{\frac{3}{4}}`$
$`+CT^{\frac{3}{4}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{3}{4}}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}^{\frac{1}{4}},`$
which by Young’s inequalities gives

$`\mathrm{div}(w(\text{Id}aa^T)_t)_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`CT^{\frac{1}{4}}\left(w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}\right).`$ (8.61)
Finally, from (8), (8.54), (8.56), (8), and (8), we see that there exists $`T_{\overline{f_t}}(0,T_0)`$ such that for any $`T(0,T_{\overline{f_t}})`$ we have that

$$f_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3)^{})}CT^{\frac{1}{8}}(w,r)_{X_T}.$$
(8.62)
Let us define $`\overline{g}=\overline{g}_1+\overline{g}_2N`$. We next estimate $`\overline{g}`$ and its time derivative.

5. Estimate of $`\overline{g}`$:

By definition,

$`\overline{g}(w,r)=`$ $`S(w,r)NS_{\eta (t,)}(w,r)a^TN+`$
$`\mathrm{\Pi }_0\left((a^TN)(S_{\eta (t,)}(w,r)a^TN){\displaystyle \frac{a^TN}{|a^TN|^2}}\right).`$ (8.63)
Letting $`\stackrel{~}{N}`$ denote a smooth extension of $`N`$ to $`\mathrm{\Omega }_0`$, we have that

$$S(w,r)NS_{\eta (t,)}(w,r)a^TN_{H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3)}CS(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)a^T\stackrel{~}{N}_{H^2(\mathrm{\Omega }_0;^3)}.$$

From

$`S(w,r)\stackrel{~}{N}`$ $`S_{\eta (t,)}(w,r)a^T\stackrel{~}{N}`$
$`=((w)+(w)^T)\stackrel{~}{N}r\stackrel{~}{N}(a^Tw+(a^Tw)^T)a^T\stackrel{~}{N}+ra^T\stackrel{~}{N},`$ (8.64)
we infer that

$`S(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)a^T\stackrel{~}{N}_{H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3)}Cr(\text{Id}a^T)\stackrel{~}{N}_{H^2(\mathrm{\Omega }_0;^3)}`$
$`+Cw(\text{Id}a^T)\stackrel{~}{N}_{H^2(\mathrm{\Omega }_0;^3)}+C(\text{Id}a^T)wa^T\stackrel{~}{N}_{H^2(\mathrm{\Omega }_0;^3)}`$
$`+C(w)^T(\text{Id}a)\stackrel{~}{N}_{H^2(\mathrm{\Omega }_0;^3)}+C(w)^Ta(\text{Id}a^T)\stackrel{~}{N}_{H^2(\mathrm{\Omega }_0;^3)},`$
and since $`H^2(\mathrm{\Omega }_0;^3)`$ is a Banach algebra,

$`S(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)`$ $`a^T\stackrel{~}{N}_{H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3)}`$
$``$ $`C\text{Id}a^T_{H^2(\mathrm{\Gamma }_0;^9)}w_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Ca_{H^2(\mathrm{\Omega }_0;^9)}\text{Id}a^T_{H^2(\mathrm{\Gamma }_0;^9)}w_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Cr_{H^2(\mathrm{\Omega }_0;)}\text{Id}a^T_{H^2(\mathrm{\Omega }_0;^9)}.`$
From (8.13) we then get

$`S(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)a^T\stackrel{~}{N}_{H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C\sqrt{T}(w_{H^3(\mathrm{\Omega }_0;^3)}+r_{H^2(\mathrm{\Omega }_0;)}),`$
and by integrating in time

$`S(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)a^T\stackrel{~}{N}_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`C\sqrt{T}\left(w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}+r_{L^2(0,T;H^2(\mathrm{\Omega }_0;))}\right).`$ (8.65)
On the other hand, we also have

$`\mathrm{\Pi }_0\left((a^TN)(S_{\eta (t,)}(w,r)a^TN)a^TN\right)`$
$`=(a^TN)(S_{\eta (t,)}(w,r)a^TN)a^TN`$
$`(a^TN)(S_{\eta (t,)}(w,r)a^TN)(a^TN)(N)N,`$
and thus,

$`\mathrm{\Pi }_0\left((a^TN)(S_{\eta (t,)}(w,r)a^TN)a^TN\right)`$
$`=(a^TN)(S_{\eta (t,)}(w,r)a^TN)(a^T((a^TN)N)\text{Id})N.`$
Since

$$a^T(a^TNN)\text{Id}=a^T\text{Id}+((\text{Id}a^T)NN)\text{Id},$$

we have in turn that

$`\mathrm{\Pi }_0\left((a^TN)(S_{\eta (t,)}(w,r)a^TN)a^TN\right)`$
$`=(a^TN)(S_{\eta (t,)}(w,r)a^TN)(a^T\text{Id})N`$
$`+(a^TN)(S_{\eta (t,)}(w,r)a^TN)((\text{Id}a^T)N)(N)N.`$ (8.66)
From the trace properties, we then find that

$`\mathrm{\Pi }_0((a^TN)(S_{\eta (t,)}(w,r)a^TN){\displaystyle \frac{a^TN}{|a^TN|^2}})_{H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)(a^T\text{Id})N_{H^2(\mathrm{\Omega }_0;^3)}`$
$`+{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)((\text{Id}a^T)N)(N)N_{H^2(\mathrm{\Gamma }_0;^3)}.`$ (8.67)
To estimate the first term on the right-hand-side of (8), we notice that since $`H^2(\mathrm{\Omega }_0;^3)`$ is a Banach algebra, we have that

$`{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)(a^T\text{Id})N_{H^2(\mathrm{\Omega }_0;^3)}`$
$`C{\displaystyle \frac{1}{|a^TN|^2}}_{H^2(\mathrm{\Omega }_0;)}a_{H^2(\mathrm{\Omega }_0;^9)}S_{\eta (t,)}(w,r)a_{H^2(\mathrm{\Omega }_0;^9)}\text{Id}a^T_{H^2(\mathrm{\Gamma }_0;^9)}.`$
From (8.13) and (8.7), we infer that

$`{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)(a^T\text{Id})N_{H^2(\mathrm{\Omega }_0;^3)}`$
$`C\sqrt{T}S_{\eta (t,)}(w,r)a^T_{H^2(\mathrm{\Omega }_0;^9)}.`$ (8.68)
Once again using that $`H^2(\mathrm{\Omega }_0;^3)`$ is a Banach algebra we can conclude that

$$S_{\eta (t,)}(w,r)a^T_{H^2(\mathrm{\Omega }_0;^9)}Ca^Tw+(a^Tw)^T_{H^2(\mathrm{\Omega }_0;^9)}a_{H^2(\mathrm{\Omega }_0;^9)},$$

and that

$$S_{\eta (t,)}(w,r)a^T_{H^2(\mathrm{\Omega }_0;^9)}C(w_{H^3(\mathrm{\Omega }_0;^3)}+r_{H^2(\mathrm{\Omega }_0;^3)})a_{H^2(\mathrm{\Omega }_0;^9)}^2,$$

which with (8.13), provides us with the estimate

$$S_{\eta (t,)}(w,r)a^T_{H^2(\mathrm{\Omega }_0;^9)}C(w_{H^3(\mathrm{\Omega }_0;^3)}+r_{H^2(\mathrm{\Omega }_0;^3)}).$$
(8.69)
Thus, from (8.68) and (8.69), we find that

$`{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)(a^T\text{Id})N_{H^2(\mathrm{\Omega }_0;^3)}`$
$`C\sqrt{T}(w_{H^3(\mathrm{\Omega }_0;^3)}+r_{H^2(\mathrm{\Omega }_0;^3)}).`$ (8.70)
In an identical fashion, we also have that

$`{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)((\text{Id}a^T)N)(N)N_{H^2(\mathrm{\Omega }_0;^3)}`$
$`C\sqrt{T}(w_{H^3(\mathrm{\Omega }_0;^3)}+r_{H^2(\mathrm{\Omega }_0;^3)}).`$ (8.71)
From (8.63), (8) and (8.71), we may finally conclude that

$$\overline{g}_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}C\sqrt{T}(w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}+r_{L^2(0,T;H^2(\mathrm{\Omega }_0;^3))}).$$
(8.72)
6. Estimate of $`g_t`$: We next estimate the time derivatives of the terms in (8.63). First we have that

$`(S(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)a^T\stackrel{~}{N})_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`Cr_t(\text{Id}a^T)\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+Cra_t^T\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+Cw_t(\text{Id}a^T)\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+Cwa_t^T\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+C(\text{Id}a^T)wa_t^T\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+C(\text{Id}a^T)w_ta^T\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+Ca_t^Twa^T\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+C(w_t)^T(\text{Id}a)\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+C(w)^Ta_t\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+C(w_t)^Ta(\text{Id}a^T)\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+C(w)^Ta_t(\text{Id}a^T)\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+C(w)^Taa_t^T\stackrel{~}{N}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}.`$
From (8.19), we find that

$`(S(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)a^T\stackrel{~}{N})_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`Cr_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}\text{Id}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}+Ca_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}r_{W^{1,4}(\mathrm{\Omega }_0;)}`$
$`+Cw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}\text{Id}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}+Ca_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}w_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+Ca_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}w_{W^{1,4}(\mathrm{\Omega }_0;^9)}\text{Id}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+Cw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}\text{Id}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+Ca_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}w_{W^{1,4}(\mathrm{\Omega }_0;^9)},`$
and with the Sobolev embedding theorem and the Gagliardo-Nirenberg inequality, we obtain

$`(S(w,r)\stackrel{~}{N}`$ $`S_{\eta (t,)}(w,r)a^T\stackrel{~}{N})_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$``$ $`Cr_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}\text{Id}a_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Ca_t_{H^1(\mathrm{\Omega }_0;^9)}r_{L^2(\mathrm{\Omega }_0;)}^{\frac{1}{8}}r_{H^2(\mathrm{\Omega }_0;)}^{\frac{7}{8}}`$
$`+Cw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}\text{Id}a_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Ca_t_{H^1(\mathrm{\Omega }_0;^9)}w_{H^1(\mathrm{\Omega }_0;^9)}^{\frac{1}{4}}w_{H^2(\mathrm{\Omega }_0;^9)}^{\frac{3}{4}}`$
$`+Ca_t_{H^1(\mathrm{\Omega }_0;^9)}w_{H^3(\mathrm{\Omega }_0;^3)}\text{Id}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+Cw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a_{H^2(\mathrm{\Omega }_0;^9)}\text{Id}a_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Ca_t_{H^1(\mathrm{\Omega }_0;^9)}a_{H^2(\mathrm{\Omega }_0;^9)}w_{H^1(\mathrm{\Omega }_0;^9)}^{\frac{1}{4}}w_{H^2(\mathrm{\Omega }_0;^9)}^{\frac{3}{4}}.`$
From (8.13), (8.12), and the fact that $`r(0)=0`$ and $`w(0)=0`$, we then infer that

$`(S(w,r)\stackrel{~}{N}`$ $`S_{\eta (t,)}(w,r)a^T\stackrel{~}{N})_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C\sqrt{T}r_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}+C\sqrt{T}w_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}`$
$`+CT^{\frac{1}{16}}r_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}^{\frac{1}{8}}r_{H^2(\mathrm{\Omega }_0;)}^{\frac{7}{8}}`$
$`+CT^{\frac{1}{8}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^9))}^{\frac{1}{4}}w_{H^2(\mathrm{\Omega }_0;^9)}^{\frac{3}{4}}`$
$`+C\sqrt{T}w_{H^3(\mathrm{\Omega }_0;^3)}+C\sqrt{T}w_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}`$
$`+CT^{\frac{1}{8}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^9))}^{\frac{1}{4}}w_{H^2(\mathrm{\Omega }_0;^9)}^{\frac{3}{4}},`$
and from Young’s inequality,

$`(S(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)a^T)\stackrel{~}{N})_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C\sqrt{T}r_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}+C\sqrt{T}w_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}`$
$`+CT^{\frac{1}{16}}\left(r_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;))}+r_{H^2(\mathrm{\Omega }_0;)}\right)`$
$`+CT^{\frac{1}{8}}\left(w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^9))}+w_{H^2(\mathrm{\Omega }_0;^9)}\right)`$
$`+C\sqrt{T}w_{H^3(\mathrm{\Omega }_0;^3)}+C\sqrt{T}w_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}`$
$`+CT^{\frac{1}{8}}\left(w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^9))}+w_{H^2(\mathrm{\Omega }_0;^9)}\right),`$
Then, we see that there exists $`T_1^{}(0,T_0)`$ such that if $`0<T<T_1^{}`$, we have that

$$(S(w,r)\stackrel{~}{N}S_{\eta (t,)}(w,r)a^T\stackrel{~}{N})_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}CT^{\frac{1}{16}}(w,r)_{X_T}.$$
(8.73)
To estimate the remaining term in (8.63), we use (8) to obtain the estimate

$`\left(\mathrm{\Pi }_0\left({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)a^TN\right)\right)_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN))_t(a^T\text{Id})N)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)a_t^TN_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+\left({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)\right)_t((\text{Id}a^T)NN)N_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`+{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)(a_t^TN)(N)N_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}.`$
From (8.19), we then find that

$`\left(\mathrm{\Pi }_0\left({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)a^TN\right)\right)_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C\left({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)\right)_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+C{\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)_{W^{1,4}(\mathrm{\Omega }_0;)}a_tN_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}.`$
Using (8.19) for the first term on the right-hand-side of the previous inequality together with the fact that $`W^{1,4}(\mathrm{\Omega }_0;^3)`$ is a Banach algebra, provides us with the inequality

$`\left(\mathrm{\Pi }_0\left({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)a^TN\right)\right)_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}{\displaystyle \frac{1}{|a^TN|^2}}_{W^{1,4}(\mathrm{\Omega }_0;)}^1`$
$`C(S_{\eta (t,)}(w,r))_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}^2a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+CS_{\eta (t,)}(w,r)_{W^{1,4}(\mathrm{\Omega }_0;^9)}a_{W^{1,4}(\mathrm{\Gamma }_0;^9)}a_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+C(a^TN)(S_{\eta (t,)}(w,r)a^TN)_{W^{1,4}(\mathrm{\Omega }_0;)}a_t^TN_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}.`$
By taking into account (8.19), we deduce that

$`\left(\mathrm{\Pi }_0\left({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)a^TN\right)\right)_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}{\displaystyle \frac{1}{|a^TN|^2}}_{W^{1,4}(\mathrm{\Omega }_0;)}^1`$
$`Cw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}^3a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+Cr_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}^2a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+Ca_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}w_{W^{1,4}(\mathrm{\Omega }_0;^9)}a_{W^{1,4}(\mathrm{\Gamma }_0;^9)}^2a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^3)}`$
$`+Ca_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}r_{W^{1,4}(\mathrm{\Omega }_0;)}a_{W^{1,4}(\mathrm{\Gamma }_0;^9)}a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+Cw_{W^{1,4}(\mathrm{\Omega }_0;^9)}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}^2a_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^3)}`$
$`+Cr_{W^{1,4}(\mathrm{\Omega }_0;)}a_{W^{1,4}(\mathrm{\Omega }_0;^9)}a_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a\text{Id}_{W^{1,4}(\mathrm{\Omega }_0;^9)}`$
$`+Ca_{W^{1,4}(\mathrm{\Omega }_0;^9)}^3w_{W^{1,4}(\mathrm{\Omega }_0;^9)}a_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}`$
$`+Ca_{W^{1,4}(\mathrm{\Omega }_0;^9)}^2r_{W^{1,4}(\mathrm{\Omega }_0;)}a_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)},`$
and by the Sobolev embedding theorem and the Gagliardo-Nirenberg inequality,

$`\left(\mathrm{\Pi }_0\left({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)a^TN\right)\right)_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}{\displaystyle \frac{1}{|a^TN|^2}}_{W^{1,4}(\mathrm{\Omega }_0;)}^1`$
$`Cw_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}a_{H^2(\mathrm{\Omega }_0;^9)}^3a\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Cr_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}a_{H^2(\mathrm{\Omega }_0;^9)}^2a\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Ca_t_{H^1(\mathrm{\Omega }_0;^9)}w_{H^3(\mathrm{\Omega }_0;^3)}a_{H^2(\mathrm{\Omega }_0;^3)}^2a\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Ca_t_{H^1(\mathrm{\Omega }_0;^9)}r_{H^2(\mathrm{\Omega }_0;)}a_{H^2(\mathrm{\Omega }_0;^9)}a\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Cw_{H^3(\mathrm{\Omega }_0;^3))}a_{H^2(\mathrm{\Omega }_0;^9)}^2a_t_{H^1(\mathrm{\Omega }_0;^9)}a\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Cr_{H^2(\mathrm{\Omega }_0;))}a_{H^2(\mathrm{\Omega }_0;^9))}a_t_{H^1(\mathrm{\Omega }_0;^9)}a\text{Id}_{H^2(\mathrm{\Omega }_0;^9)}`$
$`+Ca_{H^2(\mathrm{\Omega }_0;^9)}^3w_{H^1(\mathrm{\Omega }_0;^3)}^{\frac{1}{8}}w_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{7}{8}}a_t_{H^1(\mathrm{\Omega }_0;^9)}`$
$`+Ca_{H^2(\mathrm{\Omega }_0;^9)}^2r_{L^2(\mathrm{\Omega }_0;)}^{\frac{1}{8}}r_{H^2(\mathrm{\Omega }_0;)}^{\frac{7}{8}}a_t_{H^1(\mathrm{\Omega }_0;^9)}.`$
Finally, from (8.7), (8.13) and (8.12), we infer that

$`\left(\mathrm{\Pi }_0\left({\displaystyle \frac{a^TN}{|a^TN|^2}}(S_{\eta (t,)}(w,r)a^TN)a^TN\right)\right)_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C\sqrt{T}\left(w_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^9)}+r_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}+w_{H^3(\mathrm{\Omega }_0;^3)}\right)`$
$`+C\sqrt{T}\left(r_{H^2(\mathrm{\Omega }_0;)}+w_{H^3(\mathrm{\Omega }_0;^3)}+r_{H^2(\mathrm{\Omega }_0;)}\right)`$
$`+CT^{\frac{1}{8}}\left(w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{1}{8}}w_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{7}{8}}+r_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^3))}^{\frac{1}{8}}r_{H^2(\mathrm{\Omega }_0;^3)}^{\frac{7}{8}}\right).`$
We may thus conclude that there exists $`T_2^{}(0,T_0)`$ such that for any $`T(0,T_2^{})`$ we have

$$\left(\mathrm{\Pi }_0\left(\frac{a^TN}{|a^TN|^2}(S_{\eta (t,)}(w,r)a^TN)a^TN\right)\right)_t_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}CT^{\frac{1}{8}}(w,r)_{X_T}.$$
(8.74)
From (8.73) and (8.74), we have that for all $`0<T<T_{\overline{g}_t}=\mathrm{min}(T_1^{},T_2^{})`$,

$$\overline{g}_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}CT^{\frac{1}{16}}(w,r)_{X_T}.$$
(8.75)
7. Estimates of $`g_1`$, $`g_2`$,$`_tg_1`$, and $`_tg_2`$: Since $`\overline{g}_2=\overline{g}N`$ and $`\overline{g}_1=\overline{g}(\overline{g}N)N`$, we infer from (8.72), (8.75), and (8.19) that for any $`0<T<\mathrm{min}(T_{\overline{g}},T_{\overline{g}_t})`$,

$`\overline{g}_1(w,r)_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+\overline{g}_1(w,r)_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+\overline{g}_2(w,r)_{L^2(0,T;H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}+\overline{g}_2(w,r)_t_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`CT^{\frac{1}{16}}(w,r)_{X_T}.`$ (8.76)
8. Estimate of $`(\overline{B})_t`$: As we defined in (3.3),

$$\mathrm{}_gw(t,x)=g^{\alpha \beta }\left(\frac{^2w}{y^\alpha y^\beta }(t,x)\mathrm{\Gamma }_{\alpha \beta }^\gamma \frac{w}{y^\gamma }(t,x)\right).$$

Consequently,

$`\overline{B}_t=`$ $`(g^{\alpha \beta }(t,x)g^{\alpha \beta }(0,x)){\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t,x)`$
$`(g^{\alpha \beta }(t,x)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,x)g^{\alpha \beta }(0,x)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,x)){\displaystyle \frac{w}{y^\gamma }}(t,x)`$
$`+_t(g^{\alpha \beta })(t,x){\displaystyle _0^t}{\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t^{},x)𝑑t^{}`$
$`_t(g^{\alpha \beta }(t,x)\mathrm{\Gamma }_{\alpha \beta }^\gamma )(t,x){\displaystyle _0^t}{\displaystyle \frac{w}{y^\gamma }}(t^{},x)𝑑t^{}.`$ (8.77)
It follows that

$`(g^{\alpha \beta }(t,)g^{\alpha \beta }(0,)){\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)^3}`$
$`C|\eta |^2|w|_{L^2(\mathrm{\Omega }_0;^3)}+C|\eta ||\eta ||w|_{L^2(\mathrm{\Omega }_0;^3)},`$
and from (8.10), and the Cauchy-Schwarz inequality,

$`(g^{\alpha \beta }(t,)g^{\alpha \beta }(0,)){\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t,))_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C\sqrt{T}w_{H^3(\mathrm{\Omega }_0;^3)}+C|\eta ||\eta |_{L^4(\mathrm{\Omega }_0;)}|w|_{L^4(\mathrm{\Omega }_0;)}.`$
From the Sobolev embedding theorem and the Gagliardo-Nirenberg inequality, we then have that

$`(g^{\alpha \beta }(t,)g^{\alpha \beta }(0,)){\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C\sqrt{T}w_{H^3(\mathrm{\Omega }_0;^3)}+C\eta _{H^3(\mathrm{\Omega }_0;^3)}^2w_{H^1(\mathrm{\Omega }_0;^3)}^{\frac{1}{8}}w_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{7}{8}}.`$
Since $`w(0)=0`$, we use (8.10) to deduce that

$`(g^{\alpha \beta }(t,)g^{\alpha \beta }(0,)){\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}`$
$`C\sqrt{T}w_{H^3(\mathrm{\Omega }_0;^3)}+CT^{\frac{1}{16}}w_t_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}^{\frac{1}{8}}w_{H^3(\mathrm{\Omega }_0;^3)}^{\frac{7}{8}},`$
and from Young’s inequality,

$`(g^{\alpha \beta }`$ $`g^{\alpha \beta }(0,)){\displaystyle \frac{^2w}{y^\alpha y^\beta }}_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0^i;))}`$
$`C\sqrt{T}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}`$
$`+CT^{\frac{1}{16}}\left(w_t|_{L^2(0,T;H^1(\mathrm{\Omega }_0;^3))}+w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}\right).`$ (8.78)
Similarly,

$`(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)g^{\alpha \beta }(0,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (0,)){\displaystyle \frac{w}{y^\gamma }}(t,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)g^{\alpha \beta }(0,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (0,))|w|_{L^2(\mathrm{\Omega }_0;)}`$
$`+C|(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)g^{\alpha \beta }(0,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (0,))||w|_{L^2(\mathrm{\Omega }_0;)},`$
and thus,

$`(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)g^{\alpha \beta }(0,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (0,)){\displaystyle \frac{w}{y^\gamma }}(t,)_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`Cg^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)g^{\alpha \beta }(0,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (0,)_{L^{\mathrm{}}(0,T;L^4(\mathrm{\Omega }_0;))}w_{W^{2,4}(\mathrm{\Omega }_0;^3)}`$
$`+C(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)g^{\alpha \beta }(0,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (0,))_{L^{\mathrm{}}(0,T;L^2(\mathrm{\Omega }_0;))}w_{H^3(\mathrm{\Omega }_0;^3)}.`$
From (8.10), we see that

$`(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)g^{\alpha \beta }(0,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (0,)){\displaystyle \frac{w}{y^\gamma }}(t,)`$ $`_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0^i;^3)}`$
$`C\sqrt{T}w_{H^3(\mathrm{\Omega }_0;^3)}.`$
Consequently,

$`(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)g^{\alpha \beta }(0,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (0,))`$ $`{\displaystyle \frac{w}{y^\gamma }}(t,)_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$``$ $`C\sqrt{T}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}.`$ (8.79)
Next, we have that

$`_tg^{\alpha \beta }(t,){\displaystyle _0^t}{\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t^{},)`$ $`dt^{}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C|v||\eta |\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;^3)}`$
$`+C|v||\eta |\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;^3)}`$
$`+C|v||\eta |\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;^3)}.`$
From (8.10), and the Cauchy-Schwarz inequality, we then find that

$`_tg^{\alpha \beta }(t,)`$ $`{\displaystyle _0^t}{\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t^{},)𝑑t^{}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`Cv_{L^4(\mathrm{\Omega }_0;^{27})}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^4(\mathrm{\Omega }_0;^{27})}`$
$`+Cv_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^4(\mathrm{\Omega }_0;^{27})}`$
$`+Cv_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^2(\mathrm{\Omega }_0;^{27})}.`$
By the Sobolev embedding theorem and Jensen’s inequality, we deduce from the previous inequality that

$`_tg^{\alpha \beta }(t,)`$ $`{\displaystyle _0^t}{\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t^{},)𝑑t^{}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;)}`$
$`Cv_{H^3(\mathrm{\Omega }_0;^3)}{\displaystyle _0^t}w(t^{},)_{L^4(\mathrm{\Omega }_0;^{27})}𝑑t^{}`$
$`+Cv_{H^3(\mathrm{\Omega }_0;^3)}{\displaystyle _0^t}w(t^{},)_{H^3(\mathrm{\Omega }_0;^3)}𝑑t^{},`$
and from another use of the Sobolev embedding theorem together with the Cauchy-Schwarz inequality,

$`_tg^{\alpha \beta }(t,)`$ $`{\displaystyle _0^t}{\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t^{},)𝑑t^{}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`Cv_{H^3(\mathrm{\Omega }_0;^3)}\sqrt{T}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}.`$
Consequently,

$`_tg^{\alpha \beta }(t,)`$ $`{\displaystyle \frac{^2w}{y^\alpha y^\beta }}(t,)_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`Cv_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}\sqrt{T}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}`$
$`C\sqrt{T}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))},`$ (8.80)
where we have used that $`v_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}M(T)M(T_0)`$ (since $`(v,q)C_T`$) for the last inequality. Recall that we allow $`C`$ to depend on $`T_0`$.

Now, to estimate the last term of the right-hand-side of (8), we note that

$`_t(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)){\displaystyle _0^t}{\displaystyle \frac{w}{y^\gamma }}(t^{},)𝑑t^{}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`C|\eta |^3|v|\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;)}`$
$`+C|\eta |^2|\eta ||v|\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;)}`$
$`+C|\eta |^2|\eta ||v|\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;)}`$
$`+C|\eta |^3|v|\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;)}`$
$`+C|\eta |^2|\eta ||v|\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;)}`$
$`+C|\eta ||\eta |^2|v|\left|{\displaystyle _0^t}w(t^{},)𝑑t^{}\right|_{L^2(\mathrm{\Omega }_0;)}.`$
From (8.10), the Sobolev embedding theorem, and the Cauchy-Schwarz inequality, we then deduce that

$`_t(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,x)){\displaystyle _0^t}{\displaystyle \frac{w}{y^\gamma }}(t^{})dt^{}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`Cv_{H^3(\mathrm{\Omega }_0;^3)}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}`$
$`+Cv_{L^4(\mathrm{\Omega }_0;^{27})}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}`$
$`+Cv_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}`$
$`+Cv_{L^4(\mathrm{\Omega }_0;^{27})}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^4(\mathrm{\Omega }_0;^{27})}`$
$`+Cv_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^4(\mathrm{\Omega }_0;^{27})}`$
$`+Cv_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}{\displaystyle _0^t}w(t^{},)𝑑t^{}_{L^{\mathrm{}}(\mathrm{\Omega }_0;^9)}.`$
By the Sobolev embedding theorem and Jensen’s inequality, the previous inequality yields

$`_t(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)){\displaystyle _0^t}{\displaystyle \frac{w}{y^\gamma }}(t^{},)𝑑t^{}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3)}`$
$`Cv_{H^3(\mathrm{\Omega }_0;^3)}{\displaystyle _0^t}w(t^{},)_{H^3(\mathrm{\Omega }_0;^3)}𝑑t^{}.`$
Consequently, by the Cauchy-Schwarz inequality,

$`_t(g^{\alpha \beta }(t,)\mathrm{\Gamma }_{\alpha \beta }^\gamma (t,)){\displaystyle _0^t}{\displaystyle \frac{w}{y^\gamma }}(t^{},)𝑑t^{}_{H^{\frac{1}{2}}(\mathrm{\Gamma }_0^i;^3)}`$
$`C\sqrt{T}v_{H^3(\mathrm{\Omega }_0;^3)}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))},`$
which leads us to

$`_t(g^{\alpha \beta }\mathrm{\Gamma }_{\alpha \beta }^\gamma ){\displaystyle _0^{}}{\displaystyle \frac{w}{y^\gamma }}(t^{},)𝑑t^{}_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`C\sqrt{T}v_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}`$
$`C\sqrt{T}w_{L^2(0,T;H^3(\mathrm{\Omega }_0;^3))}.`$ (8.81)
where we have used that $`(v,q)C_T`$ for the last inequality.

Finally, combining (8), (8), (8), (8.80), and (8.81), there exists $`T_{\overline{B}_t}(0,T_0)`$ such that for any $`T(0,T_{\overline{B}_t})`$ we have the estimate

$$\overline{B}_t(w)_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}CT^{\frac{1}{16}}(w,r)_{X_T}.$$
(8.82)
9. Estimate of $`\overline{B}`$: Since $`\overline{B}(0)=0`$, we then deduce from (8) that for any $`T(0,T_{\overline{B}_t})`$,

$`\overline{B}(w)_{L^2(0,T;H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}CT^{\frac{9}{16}}(w,r)_{X_T}.`$ (8.83)
10. End of proof of Lemma 8.10. Using the results of the first nine steps, we have that

$$T_1=\mathrm{min}(T_{\overline{a}_t},T_{\overline{f}_t},T_{\overline{g}_t},T_{\overline{B}_t})$$

satisfies the statement of Lemma 8.10.

We next have the following weak continuity result.

###### Lemma 8.11.

For $`0<T\overline{T}_0`$ the mapping $`\mathrm{\Theta }_T`$ associating $`(\stackrel{~}{v},\stackrel{~}{q})`$ to $`(v,q)C_T`$ is weakly continuous from $`C_T`$ into $`C_T`$.

###### Proof.

Let Let $`(v_p,q_p)_p`$ be a given sequence of elements of $`C_T`$ weakly convergent (in $`X_T`$) towards a given element $`(v,q)C_T`$ ( $`C_T`$ is sequentially weakly closed as a closed convex set) and let $`(v_{\sigma (p)},q_{\sigma (p)})_p`$ be any subsequence of this sequence.

Since $`V^3(T)`$ is compactly embedded into $`L^2((0,T);W^{2,5}(\mathrm{\Omega };^3))`$ (see ), we deduce the following strong convergence results in $`L^2((0,T);L^2(\mathrm{\Omega };^3))`$ as $`p`$ goes to $`\mathrm{}`$:

$`(a_l^j)_p(a_l^k)_p`$ $`a_l^ja_l^k,`$ (8.84a)
$`[(a_l^j)_p(a_l^k)_p]_{,j}`$ $`(a_l^ja_l^k)_{,j},`$ (8.84b)
$`(a_i^k)_p`$ $`a_i^k.`$ (8.84c)
Since $`(q_{\sigma (p)})_p`$ is bounded in $`V^2(T)`$, let $`(q_{\sigma ^{}(p)})_p`$ be a subsequence of $`(q_{\sigma (p)})_p`$, weakly convergent in $`V^2(T)`$ to a limit $`\stackrel{~}{q}V^2(T)`$. Since $`(v_{\sigma ^{}(p)})_p`$ is a bounded sequence in $`V^3(T)`$, let $`(v_{\sigma ^{\prime \prime }(p)})_p`$ be a subsequence weakly convergent in $`V^3(T)`$ to an element $`\stackrel{~}{v}V^3(T)`$.

From the strong convergence results (8.84), we obtain the weak convergence results in $`L^2((0,T);L^2(\mathrm{\Omega };^3))`$:

$`_t\stackrel{~}{v}_{\sigma ^{\prime \prime }(p)}^i\nu (a_l^j(\sigma ^{\prime \prime }(p))a_l^k(\sigma ^{\prime \prime }(p))\stackrel{~}{v}_{\sigma ^{\prime \prime }(p)}^i,_k),_j`$ $`+a_i^k(\sigma ^{\prime \prime }(p))\stackrel{~}{q}_{\sigma ^{\prime \prime }(p)},_k`$
$`\stackrel{~}{v}_t^i\nu (a_l^ja_l^k\stackrel{~}{v}^i,_k),_j+a_i^k\stackrel{~}{q},_k,`$
$`a_i^k(\sigma ^{\prime \prime }(p))\stackrel{~}{v_{\sigma ^{\prime \prime }(p)}}^i,_k`$ $`a_i^k\stackrel{~}{v}^i,_k,`$
and thus we have that

$$\stackrel{~}{v}_t^i\nu (a_l^ja_l^k\stackrel{~}{v}^i,_k),_j+a_i^k\stackrel{~}{q},_k=F^i,$$
(8.85a)
$$a_i^k\stackrel{~}{v}^i,_k=0.$$
(8.85b)
in $`L^2((0,T);L^2(\mathrm{\Omega };^3))`$.

Moreover, the continuity of the embedding of $`V^3(T)`$ into $`C([0,T];H^2(\mathrm{\Omega };^3))`$ ensures us that in $`H^2(\mathrm{\Omega };^3)\}`$

$$\stackrel{~}{v}(0)=u_0.$$
(8.86)
By the trace theorem,

$`(v_{\sigma ^{\prime \prime }(p)})_p`$ $`\text{is bounded in }L^2((0,T);H^{2.5}(\mathrm{\Gamma }_0;^3)),`$
$`(_tv_{\sigma ^{\prime \prime }(p)})_p`$ $`\text{is bounded in }L^2((0,T);H^{0.5}(\mathrm{\Gamma }_0;^3)).`$
Then, we infer that $`(v_{\sigma ^{\prime \prime }(p)})_p`$ strongly converges in $`L^2((0,T);H^2(\mathrm{\Gamma }_0;^3))`$ to $`\stackrel{~}{v}`$; furthermore, the compactness of the embedding of $`V^2(T)`$ into $`L^2((0,T);H^1(\mathrm{\Omega }_0;^3))`$ provides the strong convergence of $`(q_{\sigma ^{\prime \prime }(p)})_p`$ to $`\stackrel{~}{q}`$ in $`L^2((0,T);H^1(\mathrm{\Omega }_0;^3))`$. We can then easily deduce that in $`L^2((0,T);L^2(\mathrm{\Gamma }_0;^3))`$, we have as $`p\mathrm{}`$,

$`\mathrm{\Pi }_0\mathrm{\Pi }_{\eta _{\sigma ^{\prime \prime }(p)}}\left(D_{\eta _{\sigma ^{\prime \prime }(p)}}(\stackrel{~}{v})a^T(\sigma ^{\prime \prime }(p))N\right)`$ $`\mathrm{\Pi }_0\mathrm{\Pi }_\eta \left(D_\eta (\stackrel{~}{v})a^TN\right),`$
$`NS_{\eta _{\sigma ^{\prime \prime }(p)}}(\stackrel{~}{v}_{\sigma ^{\prime \prime }(p)},\stackrel{~}{q}_{\sigma ^{\prime \prime }(p)})a^T(\sigma ^{\prime \prime }(p))N`$ $`\sigma N\mathrm{}_{g_{\sigma ^{\prime \prime }(p)}(t)}({\displaystyle _0^t}\stackrel{~}{v}_{\sigma ^{\prime \prime }(p)})`$
$`N(S_\eta (\stackrel{~}{v},\stackrel{~}{q})a^TN)\sigma N\mathrm{}_{g(t)}({\displaystyle _0^t}\stackrel{~}{v}),`$
and thus in $`L^2((0,T);L^2(\mathrm{\Gamma }_0;^3))`$,

$`\mathrm{\Pi }_0\mathrm{\Pi }_\eta D_\eta (\stackrel{~}{v})a^TN`$ $`=0,`$ (8.87a)
$`N(S_\eta (\stackrel{~}{v},\stackrel{~}{q})a^TN)\sigma N\mathrm{}_{g(t)}({\displaystyle _0^t}\stackrel{~}{v})`$ $`=\sigma N\mathrm{}_{g(t)}(\text{Id}).`$ (8.87b)
Concerning the forcings, we obviously have the strong convergence in the space $`L^2(0,T;L^2(\mathrm{\Omega }_0;^3))`$ of $`f\eta _{\sigma ^{\prime \prime }(p)}`$ to $`f\eta `$. Thus, with (8.85), (8.86) and (8.87), we then deduce that

$`\stackrel{~}{v}_t^i\nu (a_l^ja_l^k\stackrel{~}{v}^i,_k),_j+a_i^k\stackrel{~}{q},_k`$ $`=F^i\text{in}(0,T)\times \mathrm{\Omega }_0,`$
$`a_i^k\stackrel{~}{v}^i,_k`$ $`=0\text{in}(0,T)\times \mathrm{\Omega }_0,`$
$`\mathrm{\Pi }_0\mathrm{\Pi }_\eta \left(D_\eta (\stackrel{~}{v})a^TN\right)`$ $`=0\text{on}(0,T)\times \mathrm{\Gamma }_0,`$
$`N(S_\eta (\stackrel{~}{v},\stackrel{~}{q})aN)\sigma N\mathrm{}_{g(t)}({\displaystyle _0^t}\stackrel{~}{v})`$ $`=\sigma N\mathrm{}_{g(t)}(\text{Id})\text{on}\mathrm{\Gamma }_0\times \{t=0\},`$
$`\stackrel{~}{v}`$ $`=u_0\text{on}\mathrm{\Omega }_0\times \{t=0\},`$
This precisely shows that

$$(\stackrel{~}{v},\stackrel{~}{q})=\mathrm{\Theta }_T(v,q).$$

Hence, we deduce that the whole sequence $`(\mathrm{\Theta }_T(v_n,q_n))_n`$ weakly converges in $`C_T`$ towards $`\mathrm{\Theta }_T(v,q)`$, which proves the lemma. ∎

## 9. Proof of the main theorem

### 9.1. Existence

Let $`T(0,\overline{T}_0)`$. The mapping $`\mathrm{\Theta }`$ being weakly continuous from the closed bounded convex set $`C_T`$ into itself from Lemmas 8.9 and 8.11, we infer from the Tychonoff fixed point theorem (see for instance ) that it admits (at least) one fixed point $`(v,q)=\theta (v,q)`$ in $`C_T`$. Hence, we have

$`v_t^i\nu (a_l^ja_l^kv^i,_k),_j+a_i^kq,_k`$ $`=F^i\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (9.1a)
$`a_i^kv^i,_k`$ $`=0\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (9.1b)
$`\mathrm{\Pi }_0\mathrm{\Pi }_\eta \left(D_\eta (v)a^TN\right)`$ $`=0\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (9.1c)
$`N\left(S_\eta (v,q)a^TN\right)\sigma N\mathrm{}_{g(t)}({\displaystyle _0^t}v)`$ $`=\sigma N\mathrm{}_{g(t)}(\text{Id})\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (9.1d)
$`v`$ $`=u_0\text{on}\mathrm{\Omega }_0\times \{t=0\},`$ (9.1e)
Condition (9.1d) also reads

$$N\left(S_\eta (v,q)a^TN\sigma \mathrm{}_{g(t)}(\eta )\right)=0\text{on}(0,T)\times \mathrm{\Gamma }_0.$$
(9.2)
On the other hand, (9.1c) is equivalent to

$$\mathrm{\Pi }_\eta \left(D_\eta (v)a^TN\right)=\lambda N\text{on}(0,T)\times \mathrm{\Gamma }_0,$$

where $`\lambda L^2((0,T);H^{0.5}(\mathrm{\Gamma }_0;^3))`$. From (8.7), $`N`$ and $`a^TN`$ are not orthogonal. The previous identity can then hold only if $`\lambda =0`$. Thus,

$$\mathrm{\Pi }_\eta \left(D_\eta (v)a^TN\right)=0\text{on}(0,T)\times \mathrm{\Gamma }_0.$$
(9.3)
Since the vectors $`qa^TN`$ and $`\mathrm{}_{g(t)}(\eta )`$ are also colinear to $`a^TN`$, the direction normal to $`\eta (\mathrm{\Gamma }_0)`$, (9.3) implies that

$$\mathrm{\Pi }_\eta \left(S_\eta (v,q)a^TN\sigma \mathrm{}_{g(t)}(\eta )\right)=0\text{on}(0,T)\times \mathrm{\Gamma }_0.$$
(9.4)
Adding together (9.2) and (9.4), we have that

$$S_\eta (v,q)a^TN\sigma \mathrm{}_{g(t)}(\eta )=0\text{on}(0,T)\times \mathrm{\Gamma }_0.$$
(9.5)
This finally shows that

$`v_t^i\nu (a_l^ja_l^kv^i,_k),_j+a_i^kq,_k`$ $`=F^i\text{in}(0,T)\times \mathrm{\Omega }_0,`$
$`a_i^kv^i,_k`$ $`=0\text{in}(0,T)\times \mathrm{\Omega }_0,`$
$`S_\eta (v,q)a^TN`$ $`=\sigma \mathrm{}_{g(t)}(\eta )\text{on}(0,T)\times \mathrm{\Gamma }_0,`$
$`v`$ $`=u_0\text{on}\mathrm{\Omega }_0\times \{t=0\},`$
so that $`v`$ is a solution of (3.2).

### 9.2. Uniqueness

Now, to prove the uniqueness of a solution to (3.2) in $`X_T`$, we use the Lipschitz condition (5.3). Let $`(\stackrel{~}{v},\stackrel{~}{q})`$ be another solution of (3.2). Then,

$`(v\stackrel{~}{v})_t^i\nu (a_l^ja_l^k(v^i,_k\stackrel{~}{v}^i,_k)),_j+a_i^k(q,_k\stackrel{~}{q},_k)`$ $`=\delta f\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (9.6a)
$`a_i^k(v\stackrel{~}{v})^i,_k`$ $`=\delta a\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (9.6b)
$`\mathrm{\Pi }_0\mathrm{\Pi }_\eta \left(D_\eta (v\stackrel{~}{v})a^TN\right)`$ $`=\delta g_1\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (9.6c)
$`N(S_\eta (v\stackrel{~}{v},q\stackrel{~}{q})a^TN)\sigma N\mathrm{}_{g(t)}`$ $`({\displaystyle _0^t}v\stackrel{~}{v})`$ (9.6d)
$`=\delta g_2+\sigma \delta B\text{on}(0,T)\times \mathrm{\Gamma }_0,`$ (9.6e)
$`v\stackrel{~}{v}`$ $`=0\text{on}\{0\}\times \mathrm{\Omega }_0,`$ (9.6f)
with

$`\delta f`$ $`=\nu ((a_l^ja_l^k\stackrel{~}{a}_l^j\stackrel{~}{a}_l^k)\stackrel{~}{v}^i,_k)),_j+f\eta f\stackrel{~}{\eta }\text{in}(0,T)\times \mathrm{\Omega }_0,`$ (9.7)
$`\delta a`$ $`=(\stackrel{~}{a}_i^ka_i^k)\stackrel{~}{v}^i,_k\text{in}(0,T)\times \mathrm{\Omega }_0,`$
$`\delta g_1`$ $`=\mathrm{\Pi }_0\left(\mathrm{\Pi }_{\stackrel{~}{\eta }}(D_{\stackrel{~}{\eta }}(\stackrel{~}{v})\stackrel{~}{a}^TN)\mathrm{\Pi }_\eta (D_\eta (\stackrel{~}{v})a^TN)\right)\text{on}(0,T)\times \mathrm{\Gamma }_0,`$
$`\delta g_2`$ $`=N\left(S_{\stackrel{~}{\eta }}(\stackrel{~}{v},\stackrel{~}{q})\stackrel{~}{a}^TNS_\eta (\stackrel{~}{v},\stackrel{~}{q})a^TN\right)\text{on}(0,T)\times \mathrm{\Gamma }_0,`$
$`\delta B`$ $`=\sigma N(\mathrm{}_{\stackrel{~}{g}(t)}\mathrm{}_{g(t)})({\displaystyle _0^t}\stackrel{~}{v})\text{on}(0,T)\times \mathrm{\Gamma }_0.`$ (9.8)
We note that these forcing terms are similar to those appearing in (8.34), with $`(v_n,q_n)`$ replaced by $`(\stackrel{~}{v},\stackrel{~}{q})`$, and Id replaced by $`\stackrel{~}{a}`$, and with the two addition terms on the right-hand-side of (9.7):

$$f\eta f\stackrel{~}{\eta }.$$
(9.9)
Since the initial boundary forcings satisfy $`\delta g_1(0,)=0`$, $`\delta g_1(0,)=0`$ and $`\delta B(0,)=0`$, and the initial data satisfies the compatibility condition

$$\mathrm{\Pi }_0\left(\mathrm{Def}(0)N\right)=0,$$

associated to the condition $`\delta g_1(0,)=0`$, we can apply the same type of iteration procedure that we used to establish the solvability of the linear problem in the proof of Lemma 8.9 to solve (9.6). We find that for any $`T^{}(0,T)`$,

$`(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T^{}}`$
$`C(\delta f_{L^2(0,T^{};H^1(\mathrm{\Omega }_0;^3))}+\delta f_t_{L^2(0,T^{};H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+\delta a_{L^2(0,T^{};H^2(\mathrm{\Omega }_0;^9))}+\delta a_t_{L^2(0,T^{};L^2(\mathrm{\Omega }_0;^9))}`$
$`+\delta g_1_{L^2(0,T^{};H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+\delta g_{1}^{}{}_{t}{}^{}_{L^2(0,T^{};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+\delta g_2_{L^2(0,T^{};H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}+\delta g_{2}^{}{}_{t}{}^{}_{L^2(0,T^{};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`+\delta B_{L^2(0,T^{};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+\delta B_t_{L^2(0,T^{};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}).`$ (9.10)
Now, by using (8.20) together with the remark made after (9.8), the same method as we used for proving Lemma 8.10 can be applied for estimating the right-hand-side of (9.10) (with (8.20) playing the role of (8.13) in the present case); we find that for any $`T^{}(0,T)`$,

$`\delta f_{L^2(0,T^{};H^1(\mathrm{\Omega }_0;^3))}+\delta f_t_{L^2(0,T^{};H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+\delta a_{L^2(0,T^{};H^2(\mathrm{\Omega }_0;^9))}+\delta a_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))}`$
$`+\delta g_1_{L^2(0,T^{};H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+\delta g_{1}^{}{}_{t}{}^{}_{L^2(0,T^{};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+\delta g_2_{L^2(0,T^{};H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}+\delta g_{2}^{}{}_{t}{}^{}_{L^2(0,T^{};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`+\delta B_{L^2(0,T^{};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+\delta B_t_{L^2(0,T^{};H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`CT^{\frac{1}{16}}(\stackrel{~}{v},\stackrel{~}{q})_{X_T^{}}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T^{}}.`$ (9.11)
Note that the additional terms (9.9) arising in (9.7) do not cause any difficulties because of the estimate (8.25).

Thus, from (9.10) and (9.2), we have that

$$(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T^{}}C(\stackrel{~}{v},\stackrel{~}{q})_{X_T^{}}T^{\frac{1}{16}}(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T^{}}.$$
(9.12)
Now, let $`T^{}(0,T)`$ be such that $`C(\stackrel{~}{v},\stackrel{~}{q})_{X_T}T^{\frac{1}{16}}<1`$. Then, from (9.12), we have $`(v\stackrel{~}{v},q\stackrel{~}{q})_{X_T^{}}=0`$ and thus $`(v\stackrel{~}{v},q\stackrel{~}{q})=0`$ on $`[0,T^{}]`$. Let us define

$$T_s=sup\{t(0,T)|t^{}t,(v\stackrel{~}{v},q\stackrel{~}{q})(t^{},)=0\}.$$

We have $`0<T^{}T_sT`$. let us assume that $`0<T_s<T`$. Since $`V^3(T)\times V^2(T)C([0,T];H^2(\mathrm{\Omega }_0;^3))\times C([0,T];H^1(\mathrm{\Omega }_0;^3))`$, we have by continuity

$$(v\stackrel{~}{v},q\stackrel{~}{q})(T_s,)=(0,0).$$

By an integration in time from 0 to $`T_s`$, one also immediately gets $`\eta (T_s,)=\stackrel{~}{\eta }(T_s,)`$ and as a consequence $`\delta g_1(T_s,)=0`$, $`\delta g_2(T_s,)=0`$, $`\delta B(T_s,)=0`$. Thus, we see that

$`(v\stackrel{~}{v})_t^i\nu (a_l^ja_l^k(v^i,_k\stackrel{~}{v}^i,_k)),_j+a_i^k(q,_k\stackrel{~}{q},_k)`$ $`=\delta f\text{in}(T_s,T)\times \mathrm{\Omega }_0,`$ (9.13a)
$`a_i^k(v\stackrel{~}{v})^i,_k`$ $`=\delta a\text{in}(T_s,T)\times \mathrm{\Omega }_0,`$ (9.13b)
$`\mathrm{\Pi }_0\mathrm{\Pi }_\eta \left(D_\eta (v\stackrel{~}{v})a^TN\right)`$ $`=\delta g_1\text{on}(T_s,T)\times \mathrm{\Gamma }_0,`$ (9.13c)
$`N(S_\eta (v\stackrel{~}{v},q\stackrel{~}{q})a^TN)\sigma N\mathrm{}_{g(t)}({\displaystyle _{T_s}^t}v\stackrel{~}{v})`$ $`=\delta g_2+\delta B\text{on}(T_s,T)\times \mathrm{\Gamma }_0,`$ (9.13d)
$`v\stackrel{~}{v}`$ $`=0\text{on}\mathrm{\Omega }_0\times \{t=T_s\}.`$ (9.13e)
Since the new initial data $`(v\stackrel{~}{v})(T_s,)=(0,0)`$ satisfies the compatibility condition

$$\mathrm{\Pi }_0\left(\mathrm{Def}((v\stackrel{~}{v})(T_s,))a^T(T_s,)N\right)=0,$$

associated to the conditions $`\delta g_1(T_s,)=0`$, $`\delta g_2(T_s,)=0`$ and $`\delta B(T_s,)=0`$, we can then use the same estimate as (9.10) for the system (9.13); thus, for any $`T^{\prime \prime }(0,T)`$,

$`(v\stackrel{~}{v},q\stackrel{~}{q})(T_s+,)_{X_{T^{\prime \prime }}}`$
$`C(\delta f_{L^2(T_s,T^{\prime \prime };H^1(\mathrm{\Omega }_0;^3))}+\delta f_t_{L^2(T_s,T^{\prime \prime };H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+\delta a_{L^2(T_s,T^{\prime \prime };H^2(\mathrm{\Omega }_0;^9))}+\delta a_t_{L^2(T_s,T^{\prime \prime };L^2(\mathrm{\Omega }_0;^9))}`$
$`+\delta g_1_{L^2(T_s,T^{\prime \prime };H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+\delta g_{1}^{}{}_{t}{}^{}_{L^2(T_s,T^{\prime \prime };H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+\delta g_2_{L^2(T_s,T^{\prime \prime };H^{\frac{3}{2}}(\mathrm{\Gamma }_0;))}+\delta g_{2}^{}{}_{t}{}^{}_{L^2(T_s,T^{\prime \prime };H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`+\delta B_{L^2(T_s,T^{\prime \prime };H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+\delta B_t_{L^2(T_s,T^{\prime \prime };H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}).`$ (9.14)
Since the same methods that we applied for proving Lemma 8.10 can also be used for estimating the right-hand-side of (9.2), we find that for any $`T^{\prime \prime }(T_s,T)`$,

$`\delta f_{L^2(T_s,T^{\prime \prime };H^1(\mathrm{\Omega }_0;^3))}+\delta f_t_{L^2(T_s,T^{\prime \prime };H^1(\mathrm{\Omega }_0;^3)^{})}`$
$`+\delta a_{L^2(T_s,T^{\prime \prime };H^2(\mathrm{\Omega }_0;^9))}+\delta a_t_{L^2(0,T;L^2(\mathrm{\Omega }_0;^9))}`$
$`+\delta g_1_{L^2(T_s,T^{\prime \prime };H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+\delta g_{1}^{}{}_{t}{}^{}_{L^2(T_s,T^{\prime \prime };H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+\delta g_2_{L^2(T_s,T^{\prime \prime };H^{\frac{3}{2}}(\mathrm{\Gamma }_0;^3))}+\delta g_{2}^{}{}_{t}{}^{}_{L^2(T_s,T^{\prime \prime };H^{\frac{1}{2}}(\mathrm{\Gamma }_0;^3))}`$
$`+\delta B_{L^2(T_s,T^{\prime \prime };H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}+\delta B_t_{L^2(T_s,T^{\prime \prime };H^{\frac{1}{2}}(\mathrm{\Gamma }_0;))}`$
$`C(T^{\prime \prime }T_s)^{\frac{1}{16}}(\stackrel{~}{v},\stackrel{~}{q})(T_s+,)_{X_{T^{\prime \prime }}}(v\stackrel{~}{v},q\stackrel{~}{q})(T_s+,)_{X_{T^{\prime \prime }}}.`$ (9.15)
Consequently, from (9.2) and (9.2), we have that

$`(v\stackrel{~}{v},q\stackrel{~}{q})(T_s+,)_{X_{T^{\prime \prime }}}`$
$`C(\stackrel{~}{v},\stackrel{~}{q})(T_s+,)_{X_{T^{\prime \prime }}}(T^{\prime \prime }T_s)^{\frac{1}{16}}(v\stackrel{~}{v},q\stackrel{~}{q})(T_s+,)_{X_{T^{\prime \prime }}}.`$
Now, we see from this inequality that for $`T^{\prime \prime }(T_s,T)`$ sufficiently close to $`T_s`$, $`(v\stackrel{~}{v},q\stackrel{~}{q})(t^{},)=0`$ in $`[T_s,T^{\prime \prime }]`$. Thus,

$$T^{\prime \prime }T_s,$$

so that we arrive at a contradiction, showing that $`T_s=T`$, i.e. the uniqueness of the solution to (3.2) in $`X_T`$.

## Acknowledgments

We are grateful to Ching-Hsiao Cheng for carefully reading the manuscript and correcting a number of typographical errors. SS and DC were partially supported by NSF ATM-98-73133. SS was partially supported by NSF DMS-0105004 and the Alfred P. Sloan Foundation Research Fellowship.