Fourth Edition

CHAPTER MECHANICS OF
MATERIALS
Ferdinand P. Beer
E. Russell Johnston, Jr.
John T.
T DeWolf
Torsion
Lecture Notes:
J. Walt Oler
Texas Tech University

2006 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Contents

Introduction Statically Indeterminate Shafts

T i l Loads
Torsional L d on Circular
Ci l Shafts
Sh ft S
Sample
l PProblem
bl 33.4
4
Net Torque Due to Internal Stresses Design of Transmission Shafts
A i l Shear
Axial Sh Components
C t St
Stress Concentrations
C t ti
Shaft Deformations Plastic Deformations
Sh i Strain
Shearing St i El t l ti Materials
Elastoplastic M t i l
Stresses in Elastic Range Residual Stresses
N
Normal
l Stresses
St E
Example
l 3.08/3.09
3 08/3 09
Torsional Failure Modes Torsion of Noncircular Members
S
Sample
l PProblem
bl 33.1
1 Thi W ll d Hollow
Thin-Walled H ll Shafts
Sh ft
Angle of Twist in Elastic Range Example 3.10

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 2

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

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
T

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 3

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

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
g stresses is staticallyy
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.

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 4

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Axial Shear Components

Torque applied to shaft produces shearing

stresses on the faces perpendicular to the
axis.

C
Conditions
di i off equilibrium
ilib i require
i the
h
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 y considering
g a shaft made up
p
of axial slats.

The slats slide with respect to each other

when equal and opposite torques are applied
to the ends of the shaft.

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 5

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Shaft Deformations

From observation,, the angle

g 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
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.
y
Cross-sections of noncircular (non-
axisymmetric) shafts are distorted when
subjected
bj t d to
t torsion.
t i

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 6

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Shearing Strain

Consider an interior section of the shaft. As a

torsional load is applied,
applied an element on the
interior cylinder deforms into a rhombus.

Si
Since the
th endsd off the
th element
l t remain
i planar,
l
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 = d = max
and
L c

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 7

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Stresses in Elastic Range

Multiplying the previous equation by the
shear modulus,

G = G max
c
From Hookes Law, = G , so

= max
c
The shearing stress varies linearly with the
J = 12 c 4
radial position in the section.
section
Recall that the sum of the moments from
the internal stress distribution is equal
q 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
2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 8
Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

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
th same magnitude
the it d

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 9

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Torsional Failure Modes

Ductile materials g
generallyy 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.
i

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 10

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Sample Problem 3.1

SOLUTION:
Cut sections through shafts AB
and BC and perform static
equilibrium analyses to find
t
torque loadings.
l di
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 g 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.
2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 11
Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Sample Problem 3.1

SOLUTION:
Cut sections through shafts AB and BC
and pperform static equilibrium
q analysis
y
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

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 12

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

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
= 13.92 10 6 m 4
c = 38.9 103 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
2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 13
Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

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
l d byb Hookes
H k L 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
g along g the length,
g , the angle
g of rotation is
found as the sum of segment rotations
Ti Li
=
i J i Gi

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 14

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Statically Indeterminate Shafts

Given the shaft dimensions and the applied
torque,
q we would like to find the torque
q reactions
at A and B.
From a free-body analysis of the shaft,
TA + TB = 90 lb ft
f

which is not sufficient to find the end torques.

Th problem
The bl is i statically
t ti ll indeterminate.
i d t i t
Divide the shaft into two components which
must have compatible deformations,
deformations
TA L1 TB L2 LJ
= 1 + 2 = =0 TB = 1 2 TA
J1G J 2G L2 J1

Substitute into the original equilibrium equation,

LJ
TA + 1 2 TA = 90 lb ft
L2 J1

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 15

Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

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
y ggears. Knowing g 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.
2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 16
Edition
Fourth
MECHANICS OF MATERIALS Beer Johnston DeWolf

Sample Problem 3.4

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

rB B = rCC
M B = 0 = F (0.875 in.
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

2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 17