TORSION

OBJECTIVES
1. Determine the
shear stresses in a
circular shaft due to
torsion. 3. Analyse statically
indeterminate
2. Determine the torque-loaded
angle of twist members
 TORSIONAL DEFORMATION OF A
CIRCULAR SHAFT
If the angle of
Torque is a
rotation is small,
moment that
the length of the
twists a member
shaft and its
about its
longitudinal axis. radius will remain
unchanged.
The angle of twist (x)increases as x increase.
 TORSION FORMULA

A s s u m pt i o n s :

- When material is linear-elastic,

H o o k e ’s l a w a p p l i e s ( L i n e a r a n d
elastic deformation).
Notice the deformation of the rectangular
- Plane section remains plane and element when this rubber bar is subjected
undistorted to a torque.
- A linear variation in shear strain
leads to a corresponding linear
variation in shear stress along
any radial line on the cross
section.
𝝉 𝒎𝒂𝒙 = maximum shear stress
in the shaft
𝝉= shear stress
T= resultant internal torque
J= polar moment of inertia of
cross-sectional area
C= outer radius of the shaft
𝝆= intermediate distance
THE TORSION FORMULA
Linear distribution of stress:
𝝆
𝝉 = 𝝉 𝒎𝒂𝒙
𝒄
Torsion – shear relationship :
  
T =   ( )dA = 
A A
  max dA
 c 
 max
T =   2 dA
c A

Tc
 max =
J
T
Similarily ,  =
J
TORSION FORMULA:
Polar moment of inertia
For solid shaft:
C
1 4
C C
J =   dA =   (2d ) = 2   d = 2   
2 2 3

A 0 0 4 0


J = c4
2
  4 4
TORSION J = (co − ci )
FORMULA: 2
Polar moment
of inertia
For tubular
shaft:
 EXAMPLE 1

T h e s o l i d s h af t o f ra d i u s c i s s u b j e c te d
t o a t o rq u e T. F i n d t h e f ra c t i o n o f T
t h at i s re s i ste d by t h e m ate r i a l
c o nt a i n e d w i t h i n t h e o u te r re g i o n o f
t h e s h af t , w h i c h h a s a n i n n e r ra d i u s o f
c / 2 a n d o u te r ra d i u s c .
Solution:
Stress in the shaft varies linearly, thus

 = ( c ) max
The torque on the ring (area) located within
the lighter-shaded region is

dT ' =  (dA) =  ( c ) max (2d )

For the entire lighter-shaded area the torque is

2 max 15

c
T'= c / 2 d = 32  maxc (1)
3 3

c
 Solution:
Using the torsion formula to determine the maximum stress in
the shaft, we have
Tc Tc
 max = =
J ( 2 )c 4
2T
 max =
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 c 3

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Substituting this into Eq. 1 yields

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15
T'= T (Ans)
16
 Statically Indeterminate Shafts
•Both ends of the shaft are built in, leading to
two reaction torques but we have only on
moment equilibrium equation.

•The compatibility equation is that the relative

rotation of the right wall with respect to the
left wall is zero.

•Calculate relative rotation of each shaft

segment in terms of the reaction torque of the
left (or right) wall. Add all the relative rotations
and equate to zero to obtain reaction torque.
Example 2
The shaft is supported by two bearings
and is subjected to three torques.
Determine the shear stress developed
at points A and B, located at section a–
a of the shaft.
 Since point A is at ρ = c = 75 mm,

Tc (1250)(75)
B = = = 1.89 MPa (Ans)
J 4.97 10 7

Likewise for point B, at ρ =15 mm,

we have

Tc (1250)(15)
B = = = 0.377 MPa (Ans)
J 4.97  10 7
Solution:
From the free-body diagram of the left segment,

M x = 0; 4250 − 3000 − T = 0  T = 1250 kNmm

The polar moment of inertia for the shaft is


J = (75)4 = 4.97  107 mm
2
 Power For a rotating shaft with a torque,
Transmission the power is
P = T where shaft angular velocity,  = d / dt
Power is defined
as the work Since 1 cycle = 2 rad   = 2f
performed per the power equation is P = 2fT
unit of time.

For shaft design, the design or

geometric parameter is J T
=
c  allow
 Example 3
A solid steel shaft AB is to be used to
transmit 3750 W from the motor M to which
it is attached. If the shaft rotates at w =175
rpm and the steel has an allowable shear
stress of allow τallow =100 MPa, determine
the required diameter of the shaft to the
nearest mm.
Solution:
The torque on the shaft is P = T
 175  2 
3750 = T    T = 204.6 Nm
 60 
Since
J  c4 T
= =
c 2 c  allow
 2(204.6)(1000) 
1/ 3 1/ 3
 2T 
c =   =   = 10.92 mm
  allow    (100) 
As 2c = 21.84 mm, select a shaft having a
diameter of 22 mm.
 ANGLE OF TWIST

Integrating over the entire d = 

dx
length L of the shaft, we have 
T (x )
d = dx
J ( x )G
For constant torque and
Φ = angle of twist
cross-sectional area: TL
= T(x) = internal torque
JG J(x) = shaft’s polar moment of inertia
G = shear modulus of elasticity for the material
P P E G A S U S
 ANGLE OF TWIST (cont)
• Sign convention for both torque and angle of twist
– positive if (right hand) thumb directs outward from the shaft

Assume material is
homogeneous, G is constant,
thus sign convention is

TL
 =
JG

determined by right hand rule,

 Example 4
The two solid steel shafts are coupled together using the
meshed gears. Determine the angle of twist of end A of
shaft AB when the torque 45 Nm is applied. Take G to be 80
GPa. Shaft AB is free to rotate within bearings E and F,
whereas shaft DC is fixed at D. Each shaft has a diameter of
20 mm.
Solution:

From free body diagram,

F = 45 / 0.15 = 300 N
(TD )x = 300(0.075) = 22.5 Nm
Angle of twist at C is

C =
TLDC
=
(+ 22.5)(1.5)

JG ( 2)(0.001) 80(10)
4 9

= +0.0269 rad

Since the gears at the end of the shaft are in mesh,

B (0.15) = (0.0269)(0.075)  0.0134 rad

Since the angle of twist of end A with respect to end B
of shaft AB caused by the torque 45 Nm,

A/ B =
TAB LAB
=
(+ 45)(2)
= +0.0716 rad
JG  ( )
( 2)(0.010) 80 10
4 9

The rotation of end A is therefore

A = B + A / B = 0.0134 + 0.0716 = +0.0850 rad (Ans)
 Example 5
The tapered shaft is made of a material having a shear
modulus G. Determine the angle of twist of its end B
when subjected to the torque.
Solution:
From free body diagram, the internal torque is T.

c2 − c1 c2 − c  c2 − c1 
=  c = c2 − x  
L x  L 
 4
Thus, at x,   c2 − c1 
J ( x ) =  c2 − x  
2  L 
For angle of twist,

2TL  c22 + c1c2 + c12 

L
2T dx
= 
G 0   c2 − c1 
4
= 
3G  3 3
c1 c2
 (Ans)

c
 2 − x  
  L 
 Example 6
The solid steel shaft has a diameter of 20 mm. If it is
subjected to the two torques, determine the reactions
at the fixed supports A and B.
Solution:
By inspection of the free-body diagram,

M x = 0; − Tb + 800 − 500 − TA = 0 (1)

Since the ends of the shaft are fixed,
A/ B = 0
Using the sign convention,
− TB (0.2) (TA + 500)(1.5) TA (0.3)
+ + =0
JG JG JG
1.8TA − 0.2TB = −750 (2)

Solving Eqs. 1 and 2 yields TA = -345 Nm and

TB = 645 Nm.
 Solid Noncircular Shafts
The
maximum
shear stress
and the angle
of twist for
solid
noncircular
shafts are
tabulated as:
 Example 7
The 6061-T6 aluminum shaft has
a cross-sectional area in the shape
of an equilateral triangle.
Determine the largest torque T
that can be applied to the end of
the shaft if the allowable shear
stress is τallow = 56 MPa and the
angle of twist at its end is
restricted to Φallow = 0.02 rad.
How much torque can be applied
to a shaft of circular cross section
made from the same amount of
material? Gal = 26 GPa.
Solution:
By inspection, the resultant internal torque at any
cross section along the shaft’s axis is also T.

20T 20T
 allow = 3 ; 56 = 3  T = 1779.2 Nm
a 40
46T
 allow = 4 ; 0.02 = 4
( )
46T (1.2) 103
 T = 24.12 Nm (Ans)
a Gal  ( )
40 26 10 3

By comparison, the torque is limited due to the

angle of twist.
For circular cross section, we have

Acircle = Atriangle ; c = (40)(40 sin 60)  c = 14.85 mm

2 1
2
The limitations of stress and angle of twist then
require

Tc T (14.85)
 allow = ; 56 =  T = 288.06 Nm
J ( / 2)(14.85)4

allow =
TL
0.02 =
( )
T (1.2) 103
 T = 33.10 Nm (Ans)
 ( )
;
JGal ( / 2)(14.85) 26 10
4 3

Again, the angle of twist limits the applied torque.

Thin-Walled Tubes Having Closed Cross
Sections
 Shear flow q is the product of the tube’s thickness and
the average shear stress.

q =  avg t
 Average shear stress for thin-walled tubes is
τavg = average shear stress
T = resultant internal torque at
T
 avg = the cross section
2tAm t = thickness of the tube
Am = mean area enclosed
boundary
 For angle of twist, TL ds


= 2
4 Am G  t
THIN WALL TUBES HAVING CLOSED SECTIONS
(summary)
• Average shear stress
T
 avg =
2tAm

• Shear flow
T
q=
2 Am

• Angle of twist
TL ds
= 2 
4 AmG t
 Example 8
Calculate the average shear stress in a thin-walled
tube having a circular cross section of mean radius rm
and thickness t, which is subjected to a torque T. Also,
what is the relative angle of twist if the tube has a
length L?
Solution:
The mean area for the tube is Am = rm2
T T
 avg = = (Ans)
2tAm 2trm2

For angle of twist,

TL ds TL
= 2 
4 AmG t
=
2rm Gt
3
(Ans)
 Example 9
A square aluminum tube has the dimensions.
Determine the average shear stress in the tube at
point A if it is subjected to a torque of 85 Nm. Also
compute the angle of twist due to this loading. Take
Gal = 26 GPa.
Solution:
By inspection, the internal resultant torque is T = 85 Nm.

The shaded area is

Am = 50 2 = 2500 mm 2

For average shear stress,

T 85(103 )
 avg = = = 1.7 N/mm 2 (Ans)
2tAm 2(10)(2500)
 For angle of twist,
85(103 )(1.5)(103 )
=
TL ds
 t = 4(2500)2 26(103 )
ds
 10 = ( −4
) -1
 ds
4 Am2 G   0.196 10 mm

Integral represents the length around the centreline

boundary of the tube, thus
 = 0.196(10−4 )4(50) = 3.92(10−3 ) rad (Ans)
Stress Concentration
Torsional stress
concentration factor, K, is
used to simplify complex
stress analysis.

The maximum shear stress is

then determined from the
equation
Tc
 max =K
J
 Example 10
The stepped shaft is supported by bearings at A and B.
Determine the maximum stress in the shaft due to the
applied torques. The fillet at the junction of each shaft
has a radius of r = 6 mm.
Solution:
By inspection, moment equilibrium about the axis of
the shaft is satisfied
The stress-concentration factor can be determined by
the graph using the geometry,
D 2(40) r 6
= = 2; = = 0.15
d 2(20) d 2(20)
Thus, K = 1.3 and maximum shear stress is

Tc  30(0.020) 
 max =K = 1.3 4 
= 3.10 MPa (Ans)
J  ( 2)(0.020) 
 INELASTIC TORSION
Considering the shear stress
acting on an element of area dA
located a distance p from the
centre of the shaft, T = 2   d
2

A
 Shear–strain distribution over a radial
line on a shaft is always linear.



“
Perfectly plastic assumes the shaft will
continue to twist with no increase in
torque.
It is called plastic torque.
• Elastic Plastic Torque:
c
T = 2   2 d
0
2Y
   2    2
c
= 2   Y  d + 2   Y  Y  d
0
Y  Y  Y 
Y
2
c
=  Y   3d + 2 Y   2 d
Y 0 Y

=

2 Y
4 2
3
3
(
 Y Y +  Y c − Y 3
)
=
6
(
 Y 3
4c − Y
3
)
 INELASTIC TORSION
• Plastic Torque: c
2
T = 2   Y  2 d =  Y c3
0
3

• Ultimate Torque: T = 2  2 d
 A
 Example 11
A solid circular shaft has a radius of 20 mm and
length of 1.5 m. The material has an elastic–plastic
diagram as shown. Determine the torque needed to
twist the shaft Φ = 0.6 rad.
The maximum shear strain occurs at the surface
of the shaft,
L  max (1.5)
 = ; 0.6 =   max = 0.008 rad
 (0.02)
The radius of the elastic core can be obtained by

Y 0.02
=  Y = 0.004 m = 4 mm
0.0016 0.008

Based on the shear–

strain distribution,
we have

 75(106 )
T=
 Y
6
(4c 3
)
− Y3 =
6
4(0.02) − 0.004  = 1.25 kNm
3 3
(Ans)
CO 2 :
“
ABILITY TO ANALYZE TORQUE
LOADED MEMBER EVALUATE THE
VALUES AND DISTRIBUTION OF
BENDING AND SHEAR STRESSES
IN BEAM SECTION