MEM230 Mechanics of Materials

d0 d 1a. Stress/Strain P L0 L P

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d d0 d0

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P A0

L L0 L0

Torsion

( )
1b. Constitutive relations (Linearly elastic)
E (G )

E=

( )
P

G= =

G=

E 2(1 + )

2. Axially loaded members

=
T = T IP

P = = E A L

=
TL GI P

PL AE

3. Torsion

= = G

4. Shear force and bending moment diagrams 5. Bending and shear stresses in beams 7. Analysis of stresses; Mohrs circles 8. Applications of plane stress 9. Deflections of beams 10. Statically indeterminate beams 11. Columns Chapter 3 Torsion

Chapter 3 Torsion

dV = q dx

dM =V dx

M My = I

M V VQ = Ib

1 =

pr pr 2 = t 2t

Sign Convention: Right-Hand Rule

1 / 31 Chapter 3 Torsion 2 / 31

MEM230 Mechanics of Materials

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MEM230 Mechanics of Materials

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Torsional Deformations of a Prismatic Circular Bar

(x ) L

Torsional Deformations of Cylindrical Bars

Circular Cross Sections Non-Circular Cross Sections

Assumptions
1. A straight longitudinal line pq on the surface deforms into a helical curve pq. 2. The cross sections at the two ends rotate with respect to each other about the axis of the bar by an angle , called Angle of Twist. 3. varies linearly between the two ends if (a) the torque is constant throughout the bar and (b) the bar has a uniform cross section. 4. For circular bars, the cross sections remain plane.
Chapter 3 Torsion 3 / 31

Cross sections remain plane

Cross sections are distorted.

4 / 31

Chapter 3 Torsion

MEM230 Mechanics of Materials

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MEM230 Mechanics of Materials

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Torsional Deformations of A Circular Bar

Shear Strains on the Outer Surface of A Bar
(x ) L

Torsional Deformations of A Circular Bar

Shear Strains on an Interior Surface of the Bar For a circular tube (r2 r1)
Outer surface

dx

Recall max = r
Shear strain in a circular bar varies linearly with the radial distance , from zero at the center ( = 0) to maximum at outer surface ( = r)

dd = (r )(d )
a

r
d

= (dx )( max )

max = r

d dx
Interior surface

= = max
r

= angle of twist per unit length

The max. and min. shear strains are

max = r2 min
L r1 = max = r1 r2 L
6 / 31

max
x
Chapter 3 Torsion

= d dx

max = r

dx
ab = cd = dx

= =
5 / 31 Chapter 3 Torsion

If islinear,then = L L

max

(0 r )

MEM230 Mechanics of Materials

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MEM230 Mechanics of Materials

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The Torsion Formula

For Circular Bars of Linearly Elastic Materials Shear strain, , due to torsion varies linearly with , and max is at = r What about shear stress?
= G = G = G
r

The Torsion Formula

Relationship Between Shear Stresses and Torque
max = r

= =

max

Recall = G = G

max =

max
Compare with an axially loaded P member: =

max

max = ( = r ) = G max = Gr

Shear stress in a circular bar in torsion also varies linearly with the radial distance , from being zero at the center ( = 0) to being the maximum at outer surface ( = r) Equal shear stresses always exist on mutually perpendicular surfaces.

The resultant moment on the cross section must balance the applied torque

P
dA

dM = ( )( )dA = 2 T = dM =
A

max
r

max
A

2 dA = max I P r A r Tr T = , = IP IP

max

I P = 2dA = PolarMomentofInertia (SeeChapter12)

Chapter 3 Torsion 8 / 31

Chapter 3 Torsion

7 / 31

MEM230 Mechanics of Materials

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MEM230 Mechanics of Materials

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The Torsion Formula

For Circular Bars
I P = 2 dA =
A 2 0

The Torsion Formula

For Circular Tubes
4

r ( d )d = 2
r 3 0

d 4
32
IP = =

max =

Tr 16T = I P d 3 T = max = r IP Recall = G =

rt
2

(r 2

4 2

r14 ) =
2

32

(d
4

4 2

4 ) d1

(4r

+ t2 ) =

dt

(d

+ t2 )

d
dA d d

T GI P

wherer =

r1 + r2 d + d2 andd = 1 2 2

Recall = L

dA = (d )(d )
Chapter 3 Torsion

TL = GI P

Ifd1 d2 ,i.e.,t << d ,then I P 2r 3t =

d 3 t
4

kT =

GI P = TorsionalRigidity(Stiffness) L
9 / 31 Chapter 3 Torsion 10 / 31

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Example 3-2

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Summary and Comparison

T Tr , max = IP IP

Design a steel (G = 78 GPa) shaft, either as a solid circular bar or as a circular tube, to transmit a torque of 1,200 Nm. Given: allow = 40 MPa, allow = 0.75/m In case of tube construction, t = d2/10.

TL GI P

Two design criteria: (a) Strength Criterion: allow = 40 MPa

max =
d0 forsolidshaft T (d 2 ) Tr IP = = 15 10 6 d m 4 whered = allow IP d2 forhollowshaft

Recall Axially Loaded Members

=
Chapter 3 Torsion

P PL , = A EA
11 / 31

(b) Stiffness Criterion: allow = 0.75/m = 0.01309 rad/m

=
T T IP = = 1.175 10 6 m 4 GI P G allow
12 / 31

Chapter 3 Torsion

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4 d0 =

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Example 3-2
T = 1,200 Nm allow = 40 MPa allow = 0.75/m G = 78 GPa. For tube: t = d2/10

(a )Forsolidshaft :I P =
4 Strength :d0 = 4 Stiffness :d0 =

d 4
32

32 I P

Example 3-2
T = 1,200 Nm allow = 40 MPa allow = 0.75/m G = 78 GPa. For tube: t = d2/10

32 (15 10 6 d0 ) 32 1.175 10

Comparison of Solid and Hollow Shafts:

Solid Shaft:
d0 = 58.8mm = 2 ,715mm 2 4 Hollow Shaft: A=
2 d 0

d0 = 0.0535m

d0 = 0.0588m

Stiffness governs the design d0 = 58.8 mm

(b)Forhollowshafts :t = d2
I P = 32 =

4 4 ) (0.5904d24 ) (d2 d1

10 d1 = d2 2t = 0.8 d2
4 d2 =

d2 = 67.1mm,t = d2 10 = 6.71mm d1 = d2 2t = 53.7mm A= = 1,273mm 2 4 d Size : Hollow = 1.14 dSolid W Weight : hollow = 0.47 Wsolid
14 / 31
2 2 ) d1 (d2

I P (Strength ) = 15 10 6 d m 4 I P (Stiffness) = 1.175 10 6 m 4

Chapter 3 Torsion

32 15 10 6 d2 4 Strength :d2 = d2 = 0.0637m 0.05796 1.175 10 6 4 Stiffness :d2 = d2 = 0.0671m 0.05796

IP 0.05796

I P (Strength ) = 15 10 6 d m 4 I P (Stiffness) = 1.175 10 6 m 4

Chapter 3 Torsion

Stiffness governs the design d2 = 67.1 mm

13 / 31

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MEM230 Mechanics of Materials

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Example 3-3 Hollow Shafts vs. Solid Shafts.

T TR max = IP IP T Stiffness : = GI P Strength : =
Both strength and stiffness are proportional to 1/IP.
Hollow IP = Solid = 0.4352R 4 I P = = 0.5R 4 2 2 Weight :W = AL( = weightdensity)

Non-Uniform Torsion
Case 1: Bars consisting of prismatic segments with constant torque throughout each segment Overall Equilibrium Shear stress in each segment: Tr i = i i (I P )i Angle of twist of each segment TL i = i i Gi (I P )i Total angle of twist

T = T1 + T2 T3 + T4 = 0
Cross sections between CD T = T1 + T2 T3 + TCD = 0

[R 4 (0.6 R )4 ]

R 4

Hollow IP = 0.87 Solid IP

TCD = T1 T2 + T3
Cross sections between BC

Weight is proportional to the cross-sectional area A. W Hollow A Hollow A Hollow = R 2 (0.6 R )2 = 0.64R 2 = Solid = 0.64 A Solid = R 2 W Solid A A 36% reduction in cross-sectional area yields only a 13% reduction in strength/stiffness capacity.

T = T1 + T2 + TBC = 0
TBC = T1 T2
Cross sections between AB

T = T1 + TAB = 0 TAB = T1
Chapter 3 Torsion

Ti Li G i =1 i (I P )i
16 / 31

Chapter 3 Torsion

15 / 31

MEM230 Mechanics of Materials

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MEM230 Mechanics of Materials

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Non-Uniform Torsion
Case 2: Bars with continuously varying cross sections and constant torque
d = Tdx GI P (x )

Example 3-4 A shaft/gear assembly

Shaft driven by gear C. Gears B and C driven by shaft. Shaft free to rotate at supports A and E

= 0 d = 0

Tdx GI P (x )

Case 3: Bars with continuously varying cross sections and continuously varying torque
d = T (x )dx GI P (x )

T = T1 T2 + TCD = 0
TCD = T1 + T2

Shear stress in each segment: Tr i = i i (I P )i Angle of twist in each segment TL i = i i Gi (I P )i Total angle of twist

= 0 d = 0

T (x )dx GI P (x )

T = T1 + TBC = 0
TBC = T1
17 / 31 Chapter 3 Torsion

Ti Li i =1 Gi (I P )i
18 / 31

Chapter 3 Torsion

MEM230 Mechanics of Materials

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MEM230 Mechanics of Materials

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Example 3-4 A tapered bar in torsion

max (x ) =
Td (x ) 2 Tr (x ) 16T = = 4 I P (x ) [d (x )] 32 [d (x )]3

Stresses in Pure Shear

Sinced A d (x ) d B

max isthehighestatA max (max ) =

d dA d (x ) = d A + B x L

Stresses on an inclined surface

Forces on the inclined surface

16T 3 d A
dx
Pure Shear: No normal stresses, only shear stresses acting on the surfaces
Chapter 3 Torsion

Fx = A0 sec A0 sin A0 tan cos = 0

x
4

= 0

I P (x ) =

[d (x )]4 32

Tdx 32T = GI P (x ) G

d dA dA + B L

Fy = A0 sec A0 cos + A0 tan sin = 0

= sin 2 = cos 2
20 / 31

Chapter 3 Torsion

19 / 31

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y

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z

Stresses in pure shear on inclined planes

= sin 2 = cos 2

2-D and 3-D Stress/Strain Relationship

y

( )max =
x x
x
xx = xx
E

y
yy = yy
E

x
zz =
yy
E

z
zz
E

xx = yy =

xx = zz =

zz
E

xx = xx (

xx

) )

+ xx ( ) + xx (
yy yy

zz

) )

xx
E

yy
E +

zz
E

( )min =
Chapter 3 Torsion

= 0

max

= = 45 = 0
o

yy = yy (

xx

+ yy ( ) + yy (
yy zz

zz

xx
E

yy

max

= =0 = 0
o

zz = zz (
Chapter 3 Torsion

xx

+ zz ( ) + zz (

xx
E

yy
E

zz
E

zz
E

21 / 31

22 / 31

MEM230 Mechanics of Materials

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MEM230 Mechanics of Materials

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Strains in Pure Shear

G
45
E

Example 3-6. Circular tube in torsion.

= 45 =
o

E 1 + = + = E E E

45

Failure of a brittle material (e.g., a chalk) by torsion is actually due to a tension cracking along a 45 helical surface.
Chapter 3 Torsion

= 45 =
o

45
E

45
E

1 + = E E E
23 / 31 Chapter 3 Torsion

Stress and strain elements for the tube of Example 3-6: (a) maximum shear stresses, (b) maximum tensile and compressive stresses; (c) maximum shear strains, and (d) maximum tensile and compressive strains.
24 / 31

MEM230 Mechanics of Materials

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MEM230 Mechanics of Materials

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Relation Between E and G

bd = 2 h
Lbd = bd (1 + max ) = 2 h(1 + max )

Transformation of Power by Circular Shafts

Power : P = dW d =T = T dt dt

Units :N m/sec,orwatt Intermsoffrequency (Hz ) : f =

Shaft transmitting a constant torque T at an angular speed w.

2 2 L2 bd = 2 h (1 + 2 max + max )

L = h + h 2h cos + = 2h 2 1 cos + = 2h 2 [1 + sin ] 2 2

2 bd 2 2 2
2 2 1 + 2 max + max = 1 + sin or2 max = ( max 0 ,sin )

P = T = 2fT Intermsofrpm :n = 60 f 2nT P= 60 Intermsofhorsepower(hp ) : (1hp=550ft lb/s) 2nT 2nT H= = 60(550 ) 33,000 (1hp746watts )

T :Torque

From Hookes Law

max = = 45 =
o

45
E

45
E

1 + = E E

:Angleofrotation(rad) :Angularspeed(rad/sec)
Workdone :W = T

G = G =
Chapter 3 Torsion

E 2(1 + )
25 / 31

Chapter 3 Torsion

26 / 31

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Example 3-8

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Example 3-7.
Determine the required diameter d of the shaft to transmit 40 hp
allow = 6000psi
H= 2nT 33,000 T = H 33,000 2n 16T 16T = 3 d = d allow 16(5042 ) d= (6000 )
13 13

Determine the maximum shear stress and angle of twist in shaft

d = 50mm f = 10Hz PA = 50kW PB = 35kW PC = 15kW

max
n = 500 At 500 rpm: 33,000 (40 ) = 420.2lb ft = 5042lb in T= 2 (500 )
At 3000 rpm: n = 3000 33,000 (40 ) = 70.03lb ft = 840.3lb in T= 2 (3000 )

= 1.62in

T=

P 2f

TA =

50kW 35kW 15kW = 796N m TB = = 557N m TC = = 239N m 2 (10Hz ) 2 (10Hz ) 2 (10Hz )

TBC = 239N m 16TBC 16(239N m ) BC = = = 9.7MPa d 3 (50mm )3 (239N m )(1.2m ) T L = 0.0058rad BC = BC BC = GI P 4 (80GPa ) (50mm ) 32
28 / 31

16(840.3) d= (6000 )

13

= 0.89in

The higher the speed of rotation, the smaller the size of shaft needed
Chapter 3 Torsion 27 / 31

TAB = 796N m 16TAB 16 (796N m ) AB = = = 32.4MPa d 3 (50mm )3 (796N m )(1.0m ) T L = 0.0162rad AB = AB AB = GI P 4 (80GPa ) (50mm ) 32
Chapter 3 Torsion

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MEM230 Mechanics of Materials

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Statistically indeterminate bar in torsion.

Equilibrium:
The sum of torques in tube and bar must eqaul the applied torque T

Statistically indeterminate bar in torsion.

T1 + T2 = T

Compatibility:
Tube and bar must have the same angle of twist Equilibrium:

TA + TB = T0

1 = 2 1 =
T1 L TL ,2 = 2 G1 I P1 G2 I P2

T0 only

Compatibility: 1 + 2 =

T0 LA TB LA TB LB + =0 GI PA GI PA GI PB LB I PA TA = T0 L I +L I A PB B PA
30 / 31

(T T1 )L T1 L = G1 I P1 G2 I P2
Chapter 3 Torsion

LA I PB TB = T0 L I +L I A PB B PA TB only
Chapter 3 Torsion

29 / 31

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MEM230 Mechanics of Materials

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Statistically indeterminate bar in torsion.

Alternative Method

Example: The holes at the ends of tube A and bar B initially are not aligned (angle ). Tube A is twisted until the holes are aligned, a pin is then placed through the holes, and finally tube A is released.

TA

TA

T0

TB

TB

B
Equilibrium:

(a) Torque needed to twist tube A by an angle :

TA + TB = T0
TA LA TB LB = GI PA GI PB

= =

TL G I T = A PA G A I PA L TA = TB

Compatibility: A = B

(b) After the pin is inserted and tube A is released: Equilibrium: Compatibility:
31 / 31 Chapter 3 Torsion

LA I PB TB = T0 L I +L I A PB B PA
Chapter 3 Torsion

LB I PA TA = T0 L I +L I A PB B PA

A + B =

TA L T L + B = G A I PA GB I PB
32 / 31