S.

Socrate 2013
K. Qian

Axisymmetric Shafts in Torsion

Loading Conditions on each Section (x)
Applied loading only around the axis (x) of the shaft.
The only internal resultant at any sections x
is the axial torque T(x)

Find T(x)along the bar (axial torque diagram) by

cutting the bar at x and imposing moment_x equilibrium.
For the example shown, equilibrium at x gives:
for x<xB : Mx = 0 = T(x)+QC +QB T(x)= QC + QB
T(x)= QC
for x>xB : Mx = 0 = T(x) +QC
And the entire axial torque diagram is:
For distributed loading t (x), with t (x) [in (N*m)/m =N]
+ with right hand rule along x, obtain the torque T(x) by
integrating t (x) along the shaft. For the shaft shown: L
The differential relationship
between the distributed torque t (x)
and the axial resultant T(x) is

dT ( x )
= t ( x )
dx

T ( x ) = t ( x )dx
x

Kinematics constraint (geometry of deformation)

Cross sections x : stay flat, rotate by (x)
Section deformation
Section at x has rotation (x)
Section at x+dx has rotation (x+dx)= (x)+d
Local measure of deformation
at section x: twist rate

d
dx

Strain section deformation

sections rigidly rotate strain increases with radius r: ( r , x ) = r

Structural response L

=
Angle of twist

Rotation field :

Sign Conventions

d
dx
dx

( x ) = ( x0 )+

d
(x )
dx

x0

with (x0)=0 determined by BC

(e.g., 0=0 at wall)

d
dx
dx

with x
Rotation field : (x)
x-component of reaction torque : TAx

out
Angle of twist:
Internal Torque resultant : T

Section equilibrium
The Axial Torque T(x) at section x is obtained by
integrating the contributions of each elemental area
dA=2rdr, at distance r from the axis, which carries
a shear stress (r,x)

T (x ) =

r ( r , x ) 2 r dr
A

Constitutive Properties
If the material is linear elastic and the
shear modulus of elemental area dA is G
the stress can be obtained as

( r , x ) = G ( r , x ) ( r , x )

Section Response

T (x ) =

r ( r , x ) 2 r dr = r G ( r , x ) ( r , x ) dA = r G ( r , x ) r
A

T (x ) =

Constant over cross

section

d
dx

r 2 G ( r , x ) dA =
A

d
dA
dx

d
d
T (x )
( GI p )eff ( x )%%

(
x
)
=
invert
dx
dx
( GI p )eff ( x )

Effective Section Stiffness: ( GI p )eff ( x ) =

G ( x ,r ) dAx

Ax

If only 1 material, G(x) (GIp)eff =G(x) Ip(x);

If 2 materials (G1, G2) (GIp)eff= G1 Ip1 + G2 Ip2

Special case: homogeneous shaft (shear modulus G); constant axial torque;
2
constant cross section with polar moment of inertia I p = r dA
A

Equilibrium (moments x)
Mx=0 T =Q

(constant along shaft)

T Q
= : torsional stiffness of the bar

T
( r ) = r : shear stress (at radius r)
Ip

( r ) = r : shear strain (at radius r)

L

G = : Shear Modulus of the material

KT =

T
structure
KT

Ip
KT = G
L

material ,geometry

material

L
Q
GI
p

1/ K T

G
1

Ip
Q =G
L

KT

#
4

R
%
2
%
%
%
%
2 R 3t
2
I p = r dA = $
%
A
%
4
4

R
O
I
%

% 2
2
%
&