Solid Mechanics Spring 2007

Chapter 4 - Torsion

Tc TL
= =
Ip I pG
Objectives

- Develop relationship between shear strain, , and angle of twist,

- Determine variation in shear stress, , as a function of the radius of a shaft
- Calculate angle of twist and shear stress in a shaft
- Design shafts considering maximum desired angle of twist and maximum allowable shear
stress
- Solve statically indeterminate problems under torsional loading

Torsion

Now, we consider shear stresses and twisting of a rod subjected to torsion about its axis

Examples of machines in torsion

Socket wrench
Transmission shafts
Solid Mechanics Spring 2007

Deformations in a Circular Shaft

Goals - Find shear strain, , then find shear stress = G .

- Relate angle of twist and torque T.

Distribution of Shear Strains

Angle of twist, , is proportional to the magnitude of the torque, T, and shaft length, L.

Consider a square element. Applying torsion to the shaft causes the square element to deform

Shear strain, , is

How are shear strain, , and angle of twist, , related?

If is the strain is small, then the arc length AA' is related to

Stresses in Elastic Range

Shear stresses, , in a circular shaft vary linearly with the distance, , measured from the
centerline to the point of interest.

Solid circular shaft:

Hollow circular shaft:

Solid Mechanics Spring 2007

Relation between shear stress, , and applied torque, T

Consider shaft JK subjected to equal and opposite torque T and T. Pass a cut through point C.
C
J K

FBD of left side

C
J

Equilibrium requires that the sum of the torques caused by the shearing forces integrate to equal
the applied torque, T.

Substitute
Integrate

Maximum shear stress, max

Shear stress, , on cross-section at any radial distance,

Solid Mechanics Spring 2007

Example

Given - Solid shaft of uniform diameter 1.5 in. is supported by 2 bearings

Find - On the cross-section at pt. E a) shear stress at outer radius, b) shear stress at radius of
0.15 inches
Assumptions - linearly elastic

42.5 kip-in

30 kip-in

12.5 kip-in
E
Solid Mechanics Spring 2007

Angle of Twist

Now relate angle of twist, , and applied torque, T.

Shaft of length L, radius r, torque T applied at free end

Hooke's law

Geometry

Combine

Example

Known - Hollow aluminum pipe, torque T causes 0.2 radians angle of twist
Given - G = 27 GPa, ro = 50 mm, ri = 40 mm, L = 2.5 m
Find - a) magnitude of T b) angle of twist for solid cylinder with same mass
Solid Mechanics Spring 2007

If both ends of shaft rotate, then angle of twist, , equals the angle that one end rotates with
respect to the other end.

Example
Known - steel shafts coupled with meshing gears
Given - radius of gear C rc = 75 mm, gear B rb = 150 mm, radius of shafts = 10 mm, G = 80 GPa,
torque T = 45 N-m
Find - C angle of twist at C and A angle of twist at A

FBD of each shaft and equilibrium in order to determine reaction forces between gears and
torque in the shafts AB and CD

Angle of twist C

Angle of twist A
Solid Mechanics Spring 2007

Known - Solid steel shaft is locked at A, free to rotate in bearing D and loaded at B and C by
torques T1 and T2
Given - T1 = 20,000 lb-in., T2 = 12,000 lb-in., L1 = 20 in., L2 = 30 in., L3 = 20 in., G = 11,500 ksi
Find - the maximum shear stress in each section, the angle of twist of D relative to A

FBD and equilibrium

Shear stresses

Angles of twist
Solid Mechanics Spring 2007

Statically Indeterminate Shafts

Many problems exist where the torques on a shaft can not be determined from statics alone.
Again, 1) draw the FBD and equilibrium equation and 2) use deformation (angle of twist) to
write a compatibility equation. Use both equations to solve for the 2 reaction torques.

Example
Given - Shaft made of brass sections BC and BD is loaded at center C with torque T = 100 lb.-ft.,
G = 6.4x106 psi (brass)
Find - The torque exerted on the shaft by walls at the fixed ends
B C D

d = 3 in d = 2 in

5 in 5 in

FBD and equilibrium

Angle of twist in each section

Compatibility (Geometry)