CHAPTER MECHANICS OF

3 SOLIDS
Torsion

GIK Institute of Engineering Sciences and Technology.

MECHANICS OF SOLIDS
Contents

Introduction Statically Indeterminate Shafts

Torsional Loads on Circular Shafts Sample Problem 3.4
Net Torque Due to Internal Stresses Design of Transmission Shafts
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

GIK Institute of Engineering Sciences and Technology 3-2

MECHANICS OF SOLIDS
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’

GIK Institute of Engineering Sciences and Technology 3-3

MECHANICS OF SOLIDS
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.

GIK Institute of Engineering Sciences and Technology 3-4

MECHANICS OF SOLIDS
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

• 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.

GIK Institute of Engineering Sciences and Technology 3-5

MECHANICS OF SOLIDS
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 plain and undistorted because a
circular shaft is axisymmetric.
• Cross-sections of noncircular (non-
axisymmetric) shafts are distorted when
subjected to torsion.

GIK Institute of Engineering Sciences and Technology 3-6

MECHANICS OF SOLIDS
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

GIK Institute of Engineering Sciences and Technology 3-7

MECHANICS OF SOLIDS
Stresses in Elastic Range
• Multiplying the previous equation by the
shear modulus,

G  G max
c
From Hooke’s Law,   G , so

  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
• The results are known as the elastic torsion

J  12  c24  c14  formulas,
Tc T
 max  and  
J J
GIK Institute of Engineering Sciences and Technology 3-8
MECHANICS OF SOLIDS
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

GIK Institute of Engineering Sciences and Technology 3-9

MECHANICS OF SOLIDS
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 45o to the shaft
axis.

GIK Institute of Engineering Sciences and Technology 3 - 10

MECHANICS OF SOLIDS
Sample Problem 3.1
SOLUTION:
• Cut sections through shafts AB
and BC and perform static
equilibrium analysis 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 in shaft BC, (b) the
required diameter d of shafts AB and CD
if the allowable shearing stress in these
shafts is 65 MPa.
GIK Institute of Engineering Sciences and Technology 3 - 11
MECHANICS OF SOLIDS
Sample
SOLUTION:Problem 3.1
• 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

GIK Institute of Engineering Sciences and Technology 3 - 12

MECHANICS OF SOLIDS
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   65 MPa 
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
GIK Institute of Engineering Sciences and Technology 3 - 13
MECHANICS OF SOLIDS

GIK Institute of Engineering Sciences and Technology 3 - 14

MECHANICS OF SOLIDS
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

JG
• 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

GIK Institute of Engineering Sciences and Technology 3 - 15

MECHANICS OF SOLIDS

GIK Institute of Engineering Sciences and Technology 3 - 16

MECHANICS OF SOLIDS
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  90 lb  ft

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 L1 J 2
  1  2   0 TB  TA
J1G J 2G L2 J1

• Substitute into the original equilibrium equation,

LJ
TA  1 2 TA  90 lb  ft
L2 J1

GIK Institute of Engineering Sciences and Technology 3 - 17

MECHANICS OF SOLIDS
Sample Problem 3.4
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
Two solid steel shafts are connected on each shaft – choose the smallest
by gears. Knowing that for each shaft
• Find the corresponding angle of twist
G = 11.2 x 106 psi and that the
for each shaft and the net angular
allowable shearing stress is 8 ksi,
rotation of end A
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.
GIK Institute of Engineering Sciences and Technology 3 - 18
MECHANICS OF SOLIDS
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

rB B  rCC
 M B  0  F 0.875 in.  T0 rC 2.45 in.
B  C  C
 M C  0  F 2.45 in.  TCD rB 0.875 in.
TCD  2.8 T0  B  2.8C

GIK Institute of Engineering Sciences and Technology 3 - 19

MECHANICS OF SOLIDS
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 561lb  in.24in.


J AB G  0.375 in.4 11.2  106 psi
2

 0.387 rad  2.22o
TAB c T 0.375 in. 2.8 561lb  in.24in.
 max  8000 psi  0
C / D 
TCD L
J AB  0.375 in.4
2


J CD G  0.5 in.4 11.2  106 psi
2

T0  663 lb  in.
 0.514 rad  2.95o
2.8 T0 0.5 in.
 
TCDc
 max  8000 psi 
J CD  0.5 in.4  B  2.8C  2.8 2.95o  8.26o
2
T0  561 lb  in. T0  561 lb  in  A   B   A / B  8.26o  2.22o  A  10.48o
GIK Institute of Engineering Sciences and Technology 3 - 20
MECHANICS OF SOLIDS
Design of Transmission Shafts

• Principal transmission shaft • Determine torque applied to shaft at

performance specifications are: specified power and speed,
- power P  T  2fT
- speed P P
T 
 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

GIK Institute of Engineering Sciences and Technology 3 - 21

MECHANICS OF SOLIDS

GIK Institute of Engineering Sciences and Technology 3 - 22

MECHANICS OF SOLIDS

GIK Institute of Engineering Sciences and Technology 3 - 23

MECHANICS OF SOLIDS

GIK Institute of Engineering Sciences and Technology 3 - 24

MECHANICS OF SOLIDS
Practice Problems

3.5, 3.8, 3.11, 3.18, 3.23,

3.24, 3.27, 3.28, 3.32, 3.36,
3.38, 3.40, 3.42, 3.43, 3.44,
3.49, 3.53, 3.57, 3.64, 3.68,
3.72, 3.74, 3.76

GIK Institute of Engineering Sciences and Technology 3 - 25