2 Torsion

in SI Units
Seventh Edition
MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi
Torsion
Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 2- 1

in SI Units
Seventh Edition
Contents
Torsional Loads on Circular Shafts Statically Indeterminate Shafts

Net Torque Due to Internal Stresses Sample Problem 2
Axial Shear Components Torsion of Noncircular Members
Shaft Deformations Thin-Walled Hollow Shafts
Shearing Strain Sample Problem 3
Stresses in Elastic Range Sample Problem 4
Normal Stresses
Torsional Failure Modes
Sample Problem 1
Angle of Twist in Elastic Range
Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 2-2
in SI Units
Seventh Edition
Torsional Loads on Circular Shafts
• Stresses and strains in members of

circular cross-section are 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’
Fig. 2.2 (a) A generator provides power at a constant

revolution per minute to a turbine through shaft AB. (b)
Free body diagram of shaft AB along with the driving and
reaction torques on the generator and turbine,
respectively.
in SI Units
Seventh Edition
Net Torque Due to Internal Stresses
• Net of the internal shearing stresses is an

internal torque, equal and opposite to the
applied torque,
Fig. 3.3 Shaft subject to torques and a
section plane at C. T = ∫ ρ dF = ∫ ρ (τ dA)
• Although the net torque due to the shearing

stresses is known, the distribution of the stresses
is not.
• Distribution of shearing stresses is statically

indeterminate – must consider shaft
deformations.
Fig. 2.24 (a)Free body diagram of section BC • Unlike the normal stress due to axial loads, the
with torque at C represented by the
representable contributions of small
distribution of shearing stresses due to torsional
elements of area carrying forces dF a radius loads cannot be assumed uniform.
ρ from the section center. (b) Free-body
diagram of section BC having all the small
area elements summed resulting in torque T.
in SI Units
Seventh Edition
Axial Shear Components
• Torque applied to shaft produces shearing

stresses on the faces perpendicular to the
axis.
Fig. 2.5 Small element in shaft showing how • Conditions of equilibrium require the
shear stress components act.
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 considering a shaft made up
of slats pinned at both ends to disks.
• The slats slide with respect to each other

when equal and opposite torques are applied
to the ends of the shaft.
Fig. 2.6 Model of shearing in shaft (a)
undeformed; (b) loaded and deformed.
in SI Units
Seventh Edition
Shaft Deformations
• From observation, the angle of twist of the

shaft is proportional to the applied torque and
to the shaft length.
φ ∝T
φ∝L
Fig. 2.7 Shaft with fixed support and line
AB drawn showing deformation under
• When subjected to torsion, every cross-section
torsion loading: (a) unloaded; (b) loaded. 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.
• Cross-sections of noncircular (non-
axisymmetric) shafts are distorted when
subjected to torsion.
Fig. 2.8 Comparison of deformations in
circular (a) and square (b) shafts.
in SI Units
Seventh Edition
Shearing Strain
• Consider an interior section of the shaft. As a

torsional load is applied, an element on the
interior cylinder deforms into a rhombus.
• Since the ends of the element remain planar,

the shear strain is equal to angle of twist.
• It follows that
ρφ
Lγ = ρφ or γ =
L
• Shear strain is proportional to twist and radius

cφ ρ
γ max = and γ = γ max
L c
Fig. 2.13 Shearing Strain Kinematic definitions
for torsion deformation. (a) The angle of twist φ
(b) Undeformed portion of shaft of radius ρ
with (c) Deformed portion of the shaft having
same angle of twist, φ and strain, angles of
twist per unit length, γ.
in SI Units
Seventh Edition
Stresses in Elastic Range

• Multiplying the previous equation by the
shear modulus,
ρ
Gγ = Gγ max
c
From Hooke’s Law, τ = Gγ , so
ρ
τ= τ max
c
The shearing stress varies linearly with the
distance ρ from the axis of the shaft.
• Recall that the sum of the moments of the
elementary forces exerted on any cross
section of the shaft must be equal to the
magnitude T of the torque:
τ max 2 τ max
T = ∫ ρτ dA = ∫ ρ dA = J
c c
• The results are known as the elastic torsion
Fig. 2.14 Distribution of shearing stresses
in a torqued shaft; (a) Solid shaft, (b) formulas,
hollow shaft. Tc Tρ
τ max = and τ =
J J
in SI Units
Seventh Edition
Normal Stresses
• Elements with faces parallel and perpendicular
to the shaft axis are subjected to shear stresses
only. Normal stresses, shearing stresses or a
Fig. 2.17 Circular shaft with stress elements at
combination of both may be found for other
different orientations. orientations.
• Consider an element at 45o to the shaft axis,
F = 2(τ max A0 ) cos 45° = τ max A0 2
F τ max A0 2
σ 45o = = = τ max
A A0 2
Fig. 2.18 Forces on faces at 45° to shaft axis.
• 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
Fig. 2.19 Shaft elements with only shear the same magnitude.
stresses or normal stresses.

in SI Units
Seventh Edition
Torsional Failure Modes
Photo 2.2 Shear failure of shaft subject to torque.
• Ductile materials generally 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.
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in SI Units
Seventh Edition
Sample Problem 1
SOLUTION:
• Cut sections through shafts AB
and BC and perform static
equilibrium analyses to find
torque loadings.
• 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 stress
respectively. Shafts AB and CD are solid and applied torque, invert the
and 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.
in SI Units
Seventh Edition
Sample Problem 1
SOLUTION:
• Cut sections through shafts AB and BC
and perform static equilibrium analysis
to find torque loadings.
Fig. 1 Free-body diagram for section between A and B. Fig. 2 Free-body diagram for section between B and C.
∑ 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

in SI Units
Seventh Edition
Sample Problem 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.
Fig. 3 Shearing stress distribution on cross section. Fig. 4 Free-body diagram of shaft portion AB.
(c24 − c14 ) = [(0.060 )4 − (0.045 )4 ]

π π
J =
2 2 Tc Tc 6 kN ⋅ m
τ max = = 65MPa =
= 13.92 × 10 − 6 m 4 J π c4 π c3
2 2
TBC c2 (20 kN ⋅ m )(0.060 m )
τ max = τ 2 = = c = 38.9 ×10−3 m
J 13.92 × 10− 6 m 4
d = 2c = 77.8 mm
= 86.2 MPa
τ min c1 τ min 45 mm
= =
τ max c2 86.2 MPa 60 mm τ max = 86.2 MPa
τ min = 64.7 MPa τ min = 64.7 MPa
in SI Units
Seventh Edition
Angle of Twist in Elastic Range

• Recall that the angle of twist and maximum
shearing strain are related,
cφ
γ max =
L
• In the elastic range, the shearing strain and shear
are related by Hooke’s Law,
τ max Tc
Fig. 2.20 Torque applied to fixed end shaft
γ max = =
G JG
resulting angle of twist φ.
• Equating the expressions for shearing strain and
solving for the angle of twist,
TL
φ=
JG
• If the torsional loading or shaft cross-section
changes along the length, the angle of rotation is
found as the sum of segment rotations
Fig. 2.21 Shaft with multiple cross-section
Ti Li
φ =∑
dimensions and multiple loads. i J i Gi

in SI Units
Seventh Edition
Thin-Walled Hollow Shafts

• Summing forces in the x-direction on AB,
Fig. 3.47 Thin-
∑ Fx = 0 = τ A (t A∆x ) − τ B (t B ∆x )
walled hollow τ At A= τ Bt B = τ t = q = shear flow
shaft subject to
torsional loading.
shear stress varies inversely with thickness
Fig. 3.48 Segment

of thin-walled
• Compute the shaft torque from the integral
hollow shaft. of the moments due to shear stress
dM 0 = p dF = pτ (t ds ) = q( pds ) = 2q dA
T = ∫ dM 0 = ∫ 2q dA = 2qA
Fig. 3.51 Shear flow in
the member wall. T
τ=
2tA
• Angle of twist (from Chapter 11)

TL ds
Fig. 2.53 Area for φ= ∫
shear flow. 4 A 2G t

in SI Units
Seventh Edition
Statically Indeterminate Shafts

• Given the shaft dimensions and the applied
torque, we would like to find the torque reactions
at A and B.
• From a free-body analysis of the shaft,
TA + TB = 120 N ×m
which is not sufficient to find the end torques.

The problem is statically indeterminate.
• Divide the shaft into two components which
must have compatible deformations,
TA L1 TB L2 LJ
φ = φ1 + φ2 = − =0 TB = 1 2 TA
J1G J 2G L2 J1
• Substitute into the original equilibrium equation,

L1J 2
Fig. 2.25 (a) Shaft with central applied torque
TA + TA = 120 N ×m
and fixed ends. (b) free-body diagram of shaft
L2 J1
AB. (c) Free-body diagrams for solid and
hollow segments.

in SI Units
Seventh Edition
Sample Problem 2
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 gears. Knowing that for each shaft
• Find the corresponding angle of twist
G = 77 GPa and that the allowable
for each shaft and the net angular
shearing stress is 55 MPa, determine
rotation of end A.
(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.

in SI Units
Seventh Edition
Sample Problem 2
SOLUTION:
• Apply a static equilibrium analysis on • Apply a kinematic analysis to relate
the two shafts to find a relationship the angular rotations of the gears.
between TCD and T0 .
Fig. 2 Angles of twist for gears B and C.

Fig. 1 Free-body diagrams of gears B and C.
rBf B = rCf C
å M B = 0 = F (22 mm ) - T0 rC 60 mm
fB= fC = fC
å MC = 0 = F (60 mm ) - TCD rB 22 mm
TCD = 2.73 T0 f B = 2.73f C

in SI Units
Seventh Edition
Sample Problem 2
• Find the T0 for the maximum • Find the corresponding angle of twist for each
allowable torque on each shaft – shaft and the net angular rotation of end A.
choose the smallest.
Fig. 5
Fig. 3 Free-body
diagram of shaft
AB. f =
TAB L
=
(61.8 N ×m )(0.6 m )
Fig. 4 Free-body A/ B
diagram of shaft
CD.
J ABG p
2 (0.0095m )4
(77 ´ 106 Pa )
t max
T c
= AB 55MPa =
(
T0 9.5 ´ 10 - 3 m ) = 0.0376 rad = 2.16o
J AB p
(
9.5 ´ 10 - 3 m )
4
TCD L 2.73 (61.8 N ×m )(0.9m )
2 f C /D = =
T0 = 74.1N ×m (
JCDG p (0.0125m )4 77 ´ 109 Pa
2 )
t max
T c
= CD 55MPa =
(
2.73 T0 12.5 ´ 10 - 3 m ) = 0.0514 rad = 2.95o
JCD p
2 (
12.5 ´ 10 - 3 m
4
) (
f B = 2.73f C = 2.73 2.95o = 8.04o )
T0 = 61.8 N ×m f = f B +f = 8.04o + 2.16o
T0 = 61.8 N ×m A A/ B f A = 10.2o
in SI Units
Seventh Edition
Sample Problem 3
Structural aluminum tubing with a rectangular
cross-section has a torque loading of
2.7 kN  m. Determine the shearing stress in
each of the four walls with (a) uniform wall
thickness of 4 mm and wall thicknesses of
(b) 3 mm on AB and AC and 5 mm on CD and
BD.
SOLUTION:
• Determine the shear flow through the
tubing walls.
• Find the corresponding shearing stress
with each wall thickness .
Fig. 2.54 Square thin-walled aluminum tubing

having: (a) uniform thickness, (b) non-uniform
thickness, (c) median area line (next slide)

in SI Units
Seventh Edition
Sample Problem 3
SOLUTION: • Find the corresponding shearing
stress with each wall thickness.
• Determine the shear flow through the
tubing walls.
With a uniform wall thickness,
T 2700 N ×m
t = = = 62.8 MPa
2tA 2(0.004 m)(5376 ´ 10 - 6m 2 )
t = 62.8 MPa
With a variable wall thickness
2700 N ×m
A = (96 mm )(56 mm ) = 5376 mm 2
t AB =t AC =
2(0.003)(5376 ´ 10 - 6 m 2 )
t AB = t BC = 83.7 MPa
2700 N ×m
t BD = t CD =
2(0.205m)(5376 ´ 10 - 6 m 2 )
t BC = t CD = 502 MPa

in SI Units
Seventh Edition
Group Assignment 4
A torque of magnitude T =4 kN.m is applied at
end A of the composite shaft shown. Knowing
that the modulus of rigidity is 77 GPa for the
steel and 27 GPa for the aluminium, determine
(a) the maximum shearing stress in the steel
core,
(b) the maximum shearing stress in the
aluminium jacket,
(c) the angle of twist at A.

in SI Units
Seventh Edition
Sample Problem 4

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Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 2- 1

Torsional Loads on Circular Shafts Statically Indeterminate Shafts

• Stresses and strains in members of

• Turbine exerts torque T on the shaft

• Shaft transmits the torque to the

• Generator creates an equal and

Fig. 2.2 (a) A generator provides power at a constant

• Net of the internal shearing stresses is an

• Although the net torque due to the shearing

• Distribution of shearing stresses is statically

Axial Shear Components

• Torque applied to shaft produces shearing

• The existence of the axial shear components is

• The slats slide with respect to each other

• From observation, the angle of twist of the

• Consider an interior section of the shaft. As a

• Since the ends of the element remain planar,

• Shear strain is proportional to twist and radius

Stresses in Elastic Range

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Torsional Failure Modes

Photo 2.2 Shear failure of shaft subject to torque.

• Ductile materials generally fail in shear. Brittle materials are weaker in

Copyright © 2015 McGraw-Hill Education. Permission required for reproduction or display. 2 - 10

∑ M x = 0 = (6 kN ⋅ m ) − TAB ∑ M x = 0 = (6 kN ⋅ m ) + (14 kN ⋅ m ) − TBC

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(c24 − c14 ) = [(0.060 )4 − (0.045 )4 ]

Angle of Twist in Elastic Range

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Thin-Walled Hollow Shafts

shear stress varies inversely with thickness

Fig. 3.48 Segment

• Angle of twist (from Chapter 11)

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Statically Indeterminate Shafts

which is not sufficient to find the end torques.

• Substitute into the original equilibrium equation,

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Fig. 2 Angles of twist for gears B and C.

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Fig. 2.54 Square thin-walled aluminum tubing

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