Error of the two-step BDF for the incompressible Navier-Stokes problem

The incompressible Navier-Stokes problem is discretized in time by the two-step backward differentiation formula. Error estimates are proved under feasible assumptions on the regularity of the exact solution avoiding hardly fulfillable compatibility conditions. Whereas the time-weighted velocity error is of optimal second order, the time-weighted error in the pressure is of first order. Suboptimal estimates are shown for a linearisation. The results cover both the two- and three-dimensional case.