1

LECTURE 2.1
Torsion
2
10/29/2011
2
Introduction
Torsional Loads on Circular Shafts
Net Torque Due to Internal Stresses
Axial Shear Components
Shaft Deformations
Shearing Strain
Stresses in Elastic Range
Normal Stresses
Torsional Failure Modes
Sample Problem 3.1
Angle of Twist in Elastic Range
Statically Indeterminate Shafts
Sample Problems 3.4, 3, 4, and 5.
Contents
Reference: Ferdinand P. Beer, E. Russell Johnston, Jr. & John T. DeWolf,
"Mechanics of materials" 5
th
edition, McGraw-Hill, 2005. (Textbook).
3
Torsional Loads on Circular Shafts
Interested in stresses and
strains of circular shafts
subjected to twisting couples
or torques
Generator creates an equal and
opposite torque T
Shaft transmits the torque to
the generator
Turbine exerts torque T on the
shaft
4
Net Torque Due to Internal Stresses
Net of the internal shearing stresses is an
internal torque, equal and opposite to the
applied torque,
Although the net torque due to the shearing
stresses is known, the distribution of the stresses
is not.
Unlike the normal stress due to axial loads, the
distribution of shearing stresses due to torsional
loads can not be assumed uniform.
Distribution of shearing stresses is statically
indeterminate must consider shaft
deformations.
( )
} }
= = dA dF T t
5
Axial Shear Components
Torque applied to shaft produces shearing stresses on the faces
perpendicular to the axis.
Conditions of equilibrium require the existence of equal stresses
on the faces of the two planes containing the axis of the shaft.
6
The existence of the axial shear components is demonstrated
by considering a shaft made up of axial slats.
The slats slide with respect to each other when equal and
opposite torques are applied to the ends of the shaft.
Axial Shear Components (con.)
7
From observation, the angle of twist of the
shaft is proportional to the applied torque and
to the shaft length.
L
T

|
|
Shaft Deformations
When subjected to torsion, every cross-section
of a circular shaft remains plane and
undistorted.
Cross-sections for hollow and solid circular
shafts remain plain and undistorted because a
circular shaft is axisymmetric.
Cross-sections of noncircular (non-
axisymmetric) shafts are distorted when
subjected to torsion.
8
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.
Shear strain is proportional to twist
and radius
It follows that
Since the ends of the element remain planar,
the shear strain is equal to angle of twist.
Fig. 3.14
max max
and

c L
c
= =
L
L
|
| = = or
9
Stresses in Elastic Range
J
c
dA
c
dA T
max
2
max
t

t
t
}
=
}
= =
Recall that the sum of the moments from the
internal stress distribution is equal to the torque
on the shaft at the section,
and
max
J
T
J
Tc
t t = =
The results are known as the elastic torsion
formulas,
Multiplying the previous equation by the shear
modulus,
max

G
c
G =
max
t

t
c
=
From Hookes Law, t G = , so
The shearing stress varies linearly with the
radial position in the section.
4
2
1
c J t =
( )
4
1
4
2
2
1
c c J = t
10
Normal Stresses
Note that all stresses for elements a and c have
the same magnitude
Element c is subjected to a tensile stress on
two faces and compressive stress on the other
two.
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 45
o
to the shaft axis,
Element a is in pure shear.
( )
max
0
0 max
45
0 max 0 max
2
2
2 45 cos 2
o
t
t
o
t t
= = =
= =
A
A
A
F
A A F
11
Torsional Failure Modes
Ductile materials generally fail in
shear. Brittle materials are weaker in
tension than shear.
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
specimen breaks along planes
perpendicular to the direction in
which tension is a maximum, i.e.,
along surfaces at 45
o
to the shaft
axis.
12
Shaft BC is hollow with inner and outer
diameters of 90 mm and 120 mm,
respectively. Shafts AB and CD are solid
of diameter d. For the loading shown,
determine (a) the minimum and maximum
shearing stress in shaft BC, (b) the
required diameter d of shafts AB and CD
if the allowable shearing stress in these
shafts is 65 MPa.
Sample Problem 3.1
SOLUTION:
Cut sections through shafts AB
and BC and perform static
equilibrium analyses to find
torque loadings.
Given allowable shearing stress
and applied torque, invert the
elastic torsion formula to find the
required diameter.
Apply elastic torsion formulas to
find minimum and maximum
stress on shaft BC.
13
SOLUTION:
Cut sections through shafts AB and BC
and perform static equilibrium analysis
to find torque loadings.
( )
CD AB
AB x
T T
T M
= =
= =

m kN 6
m kN 6 0 ( ) ( )
m kN 20
m kN 14 m kN 6 0
=
+ = =

BC
BC x
T
T M
Sample Problem 3.1 (con.)
14
Apply elastic torsion formulas to
find minimum and maximum
stress on shaft BC.
( ) ( ) ( ) | |
4 6
4 4 4
1
4
2
m 10 92 . 13
045 . 0 060 . 0
2 2

=
= =
t t
c c J
( )( )
MPa 2 . 86
m 10 92 . 13
m 060 . 0 m kN 20
4 6
2
2 max
=

= = =

J
c T
BC
t t
MPa 7 . 64
mm 60
mm 45
MPa 2 . 86
min
min
2
1
max
min
=
= =
t
t
t
t
c
c
MPa 7 . 64
MPa 2 . 86
min
max
=
=
t
t
Given allowable shearing stress and
applied torque, invert the elastic torsion
formula to find the required diameter.
m 10 9 . 38
m kN 6
65
3
3
2
4
2
max

= = =
c
c
MPa
c
Tc
J
Tc
t t
t
mm 8 . 77 2 = = c d
Sample Problem 3.1 (con.)
15
Angle of Twist in Elastic Range
Recall that the angle of twist and maximum
shearing strain are related,
L
c|
=
max
In the elastic range, the shearing strain and shear
are related by Hookes Law,
JG
Tc
G
= =
max
max
t

Equating the expressions for shearing strain and

solving for the angle of twist,
JG
TL
= |
If the torsional loading or shaft cross-section
changes along the length, the angle of rotation is
found as the sum of segment rotations

=
i i i
i i
G J
L T
|
16
Given the shaft dimensions and the applied
torque, we would like to find the torque reactions
at A and B.
Statically Indeterminate Shafts
From a free-body analysis of the shaft,
which is not sufficient to find the end torques.
The problem is statically indeterminate.
m N 120 = +
B A
T T
m N 120
1 2
2 1
= +
A A
T
J L
J L
T
Substitute into the original equilibrium equation,
A B
B A
T
J L
J L
T
G J
L T
G J
L T
1 2
2 1
2
2
1
1
2 1
0 = = = + = | | |
Divide the shaft into two components which
must have compatible deformations,
17
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 T
0
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 T
CD
and T
0
.
Find the corresponding angle of twist
for each shaft and the net angular
rotation of end A.
Find the maximum allowable torque
on each shaft choose the smallest.
Apply a kinematic analysis to relate
the angular rotations of the gears.
18
SOLUTION:
Apply a static equilibrium analysis on
the two shafts to find a relationship
between T
CD
and T
0
.
( )
( )
0
0
73 . 2
mm 60 0
mm 22 0
T T
T F M
T F M
CD
CD C
B
=
= =
= =

Apply a kinematic analysis to relate

the angular rotations of the gears.
C B
C C
B
C
B
C C B B
r
r
r r
| |
| | |
| |
73 . 2
mm 20
mm 60
=
= =
=
Sample Problem 3.4 (con.)
19
Find the T
0
for the maximum
allowable torque on each shaft
choose the smallest.
( )
( )
( )
( )
Nm 8 . 61
m 10 5 . 12
m 10 5 . 12 8 . 2
Pa 10 55
Nm 1 . 74
m 10 5 . 9
m 10 5 . 9
Pa 10 55
0
4
3
2
3
0 6
max
0
4
3
2
3
0 6
max
=


= =
=

= =

T
T
J
c T
T
T
J
c T
CD
CD
AB
AB
t
t
t
t
Nm 8 . 61
0
= T
Find the corresponding angle of twist for each
shaft and the net angular rotation of end A.
( )( )
( ) ( )
( )( )
( ) ( )
( )
o o
/
o o
o
9 4
2
/
o
9 4
2
/
2.15 05 . 8
05 . 8 95 . 2 73 . 2 73 . 2
95 . 2 rad 0514 . 0
psi 10 77 m 0125 . 0
m 6 . 0 Nm 8 . 61 73 . 2
2.15 rad 0376 . 0
Pa 10 77 m 0095 . 0
m 6 . 0 Nm 8 . 61
+ = + =
= = =
= =

= =
= =

= =
B A B A
C B
CD
CD
D C
AB
AB
B A
G J
L T
G J
L T
| | |
| |
|
|
t
t
o
2 . 10 =
A
|
Sample Problem 3.4 (con.)
20
PROBLEM EXAMPLE 3
A hollow steel shaft of outer radius c is fixed at one end and
subjected to a torque T at the other end , as shown in Fig. 1. If the
shearing stress is not to exceed, what is the required inner radius
b?
Given: c = 30 mm , T
all
= 2 kN.m,
all
= 80 MPa
Figure 1
21
c
b.
SOLUTION EXAMPLE 3
4 4
( )
2
all
Tc
c b
t
t
=

or
3
6
4 4
2(2 10 )(0.03)
80(10 )
[(0.03) ] b t

=

or
6 6 4
80(10 )[0.81(10 ) ] 38.197 b

=
Solving,
0.024 24 b m mm = =
22
PROBLEM EXAMPLE 4
A Solid shaft of diameter d and a hollow shaft of outer diameter
D and thickness t = D/4 are to transmit the same torsional
loading at the same maximum shear stress (Fig. 2). Compare the
weights of these two shafts of equal length.
Figure 2
23
SOLUTION EXAMPLE 4
D
max
3
4 4 3
16 ( 2) 16
1
( ) (1 )
32 16
i
T T D T
d
D D D
t
t
t
t
= = =

or
3 3
15
( ), 1.0217
16
d D D d = =
Ratio of weight:
2 2 2
2 2
( 2) 0.75(1.0217 )
0.783
D D d
d d

= =
24
PROBLEM EXAMPLE 5
The circular shaft is subjected to the torques shown in Fig. 3.
What is the largest shearing stress in the member and where
does it occur?
Figure 3
25
SOLUTION EXAMPLE 5
Apply the method of sections between the change of load points:
50
EF
T N m = 30
DE
T N m =
120
CD BC
T T N m = = 80
AB
T N m =
We have
4 4 6 4
2
[(0.025) (0.015) ] 0.534 10
h
J m
t

= =
Thus
max
: Tc J t =
3 3
2 2(80)
3.26
(0.025)
AB
T
MPa
c
t
t t
= = =
3 6
2(120) 120(0.025)
4.89 , 5.62
(0.025) 0.534 10
BC CD
MPa MPa t t
t

= = = =