LECTURE MECHANICS OF

MATERIALS
3 Torsion (扭轉)

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Drive Shaft

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Torsional Loads on Circular Shafts

• Interested in stresses and strains of

circular shafts subjected to twisting
couples or torques

• Turbine exerts torque T on the shaft

• Shaft transmits the torque to the

generator

• Generator creates an equal and

opposite torque T’

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Net Torque Due to Internal Stresses

• Net of the internal shearing stresses is an

internal torque, equal and opposite to the
applied torque,
T    dF     dA

• Although the net torque due to the shearing

stresses is known, the distribution of the stresses
is not.

• Distribution of shearing stresses is statically

indeterminate – must consider shaft
deformations.

• Unlike the normal stress due to axial loads, the

distribution of shearing stresses due to torsional
loads can not be assumed uniform.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Axial Shear Components

• Torque applied to shaft produces

shearing stresses on the faces
D F
C
perpendicular to the axis of the
A B E shaft.

• Conditions of equilibrium require the

existence of equal stresses on the
faces of the two planes containing the
axis of the shaft.

 ABCD   BEFC

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Shaft Deformations
• From observation, the angle of twist of the
shaft is proportional to the applied torque and
to the shaft length.
 T
L
• When subjected to torsion, every cross-section
of a circular shaft remains plane and
undistorted.

• Cross-sections for hollow and solid circular

shafts remain plane and undistorted because a
circular shaft is axisymmetric.

• Cross-sections of noncircular (non-

axisymmetric) shafts are distorted when
subjected to torsion.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Shearing Strain

• Consider an interior section of the shaft. As a

torsional load is applied, an element on the
interior cylinder deforms into a rhombus.
• Since the ends of the element remain planar,
the shear strain is equal to angle of twist.

• It follows that

L   or  
L

• Shear strain is proportional to twist and radius

c 
 max  and    max
L c

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Stresses in Elastic Range

• Multiplying the previous equation by the
shear modulus,

G  G max
c
From Hooke’s Law,   G , so

solid   max
c
The shearing stress varies linearly with the
J  12  c 4
radial position in the section.
• Recall that the sum of the moments from
the internal stress distribution is equal to
the torque on the shaft at the section,
 
T    dA  max   2 dA  max J
c c
where J is the polar moment of inertia.
hollow • The results are known as the elastic torsion
formulas,

J  12  c24  c14   max 
Tc
and  
T
J J
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Normal Stresses
• Elements with faces parallel and perpendicular
to the shaft axis are subjected to shear stresses
only. Normal stresses, shearing stresses or a
combination of both may be found for other
orientations.
• Consider an element at 45o to the shaft axis,
F  2 max A0  cos 45   max A0 2
F  max A0 2
 45o     max
A A0 2

• Element a is in pure shear.

• Element c is subjected to a tensile stress on
two faces and compressive stress on the other
two.
• Note that all stresses for elements a and c have
the same magnitude.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Torsional Failure Modes

fractured surface of ductile material
• Ductile materials generally fail when
the shear stress reaches the
maximum allowable value, while
brittle materials fail when tensile
stress reaches the maximum
allowable value.
• When subjected to torsion, a ductile
specimen breaks along a plane of
maximum shear, i.e., a plane
perpendicular to the shaft axis.

• When subjected to torsion, a brittle

fractured surface of brittle material specimen breaks along planes
perpendicular to the direction in
which tension is a maximum, i.e.,
along surfaces at 45o to the shaft axis.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB
and BC and perform static
equilibrium analyses to find
torque loadings.
• Apply elastic torsion formulas to
find minimum and maximum
stress on shaft BC.
Shaft BC is hollow with inner and outer
diameters of 90 mm and 120 mm,
• Given allowable shearing stress
respectively. Shafts AB and CD are solid and applied torque, invert the
of diameter d. For the loading shown, elastic torsion formula to find the
determine (a) the minimum and maximum required diameter.
shearing stress on the cross-section of
shaft BC, (b) the required diameter d of
shafts AB and CD if the allowable shearing
stress in these shafts is 65 MPa.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB and BC
and perform static equilibrium analysis
to find torque loadings.

 M x  0  6 kN  m   TAB  M x  0  6 kN  m   14 kN  m   TBC

TAB  6 kN  m  TCD TBC  20 kN  m

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Sample Problem 3.1

• Apply elastic torsion formulas to • Given allowable shearing stress and
find minimum and maximum applied torque, invert the elastic torsion
stress on shaft BC. formula to find the required diameter.

c24  c14   0.0604  0.0454 

  Tc Tc 6 kN  m
J  max   65MPa 
2 2 J  c4  c3
2 2
6 4
 13.92 10 m
c  38.9 103 m
TBC c2 20 kN  m 0.060 m 
 max   2   d  2c  77.8 mm
J 13.92  10 6 m 4
 86.2 MPa
 min c1  min 45 mm
 
 max c2 86.2 MPa 60 mm  max  86.2 MPa
 min  64.7 MPa  min  64.7 MPa
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Angle of Twist in Elastic Range

• Recall that the angle of twist and maximum
shearing strain are related,
c
 max 
L
• In the elastic range, the shearing strain and shear
are related by Hooke’s Law,
 max Tc
 max  
G JG
• Equating the expressions for shearing strain and
solving for the angle of twist,
TL (end-to-end relative angle of
f=
JG twist)
• If the torsional loading or shaft cross-section
changes along the length, the angle of rotation is
found as the sum of segment rotations
Ti Li
 
i J i Gi

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Statically Indeterminate Shafts

• Given the shaft dimensions and the applied torque,
we would like to find the torque reactions at A and
B.
• From a free-body analysis of the shaft,
TA  TB  120 N  m

which is not sufficient to find the end torques.

The problem is statically indeterminate.
• Divide the shaft into two components which
must have compatible deformations,
TA L1 TB L2 LJ
  1  2   0 TB  1 2 TA
J1G J 2G L2 J1
• Substitute into the original equilibrium equation,
L1 J 2
TA  TA  120 N  m
L2 J1

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Sample Problem 3.4

Two solid steel shafts are connected
by gears. Knowing that for each
shaft G = 77 GPa and that the
allowable shearing stress is 55 MPa,
determine (a) the largest torque T0
that may be applied to the end of
shaft AB, (b) the corresponding
angle through which end A of shaft
AB rotates.
SOLUTION:
• Apply a static equilibrium analysis on
the two shafts to find a relationship
between TCD and T0 .
• Apply a kinematic analysis to relate
the angular rotations of the gears.
• Find the maximum allowable torque
on each shaft – choose the smallest.
• Find the corresponding angle of twist
for each shaft and the net angular
rotation of end A.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Sample Problem 3.4

SOLUTION:
• Apply a static equilibrium analysis on • Apply a kinematic analysis to relate
the two shafts to find a relationship the angular rotations of the gears.
between TCD and T0 .

 0  F 22 mm   T0 rBB  rCC

M B

M  0  F 60 mm   TCD
rC 60 mm
C B  C  C
rB 20 mm
TCD  2.73T0
B  2.73C

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Sample Problem 3.4

• Find the T0 for the maximum • Find the corresponding angle of twist for each
allowable torque on each shaft – shaft and the net angular rotation of end A.
choose the smallest.

A/ B 
TAB L

61.8 Nm 0.6 m 
2 0.0095 m  77  10 Pa 
J AB G  4 9

 0.0376 rad  2.15o

2.73 61.8 Nm 0.6 m 
T0 9.5 103 m 
T L
C / D  CD 
 
T c
 max  AB 55 10 Pa  J CD G 2 0.0125 m 4 77 109 psi
6

J AB 
2 9.5 10 3
m
4

 0.0514 rad  2.95o

T0  74.1 Nm
T c 2.73T0 12.5 103 m 
B  2.73C  2.73 2.95o   8.05o
 max  CD 55 106 Pa 
J CD 
2 12.5 10 3
m
4  A  B   A / B  8.05o  2.15o
T0  61.8 N  m T0  61.8 N  m  A  10.2o

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Design of Transmission Shafts

• Principal transmission shaft • Determine torque applied to shaft at
performance specifications are: specified power P and speed w,
- power P  Tw  2fT
- speed P P
T 
w 2f
• Designer must select shaft
material and cross-section to • Find shaft cross-section which will not
meet performance specifications exceed the maximum allowable
without exceeding allowable shearing stress,
shearing stress.  max 
Tc
J
J  3 T
 c  solid shafts 
c 2  max
J

 4 4
c2 2c2

c2  c1 
T

 max
hollow shafts 

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek

Stress Concentrations
• The derivation of the torsion formula,
Tc
 max 
J
assumed a circular shaft with uniform
cross-section loaded through rigid end
plates.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways, and cross-section discontinuities
can cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
 max  K
J

Fig. 3.32 Stress-concentration factors

for fillets in circular shafts.

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