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Spray penetration for Diesel injectors, where injection pressure varies with time during the injection period, was calculated. In order to carry out this calculation, the discharge coefficients of the needle-seat opening passage and discharge hole in orifice-type Diesel nozzles were investigated separately. Simple empirical correlations were obtained between these coefficients and needle lift. Then, by introducing these correlations, the injection pressure, which is defined as the pressure in the sac chamber just upstream of the discharge hole, was either derived from measured fuel supply line pressure, or predicted by means of an injection system simulation. Finally, based on the transient injection pressure, spray tip penetration was calculated by taking the overall line which covers the trajectories of all fuel elements ejected during the injection period.