Mechanics of Materials: Torsion

CHAPTER MECHANICS OF
3 MATERIALS
Torsion
MECHANICS OF MATERIALS
Contents
Introduction Statically Indeterminate Shafts

Torsional Loads on Circular Shafts Sample Problem 3.2
Net Torque Due to Internal Stresses Design of Transmission Shafts
Axial Shear Components
Shaft Deformations
Shearing Strain
Stresses in Elastic Range
Angle of Twist
Normal Stresses
Torsional Failure Modes
Sample Problem 3.1
Net Torque Due to Internal Stresses
• Resultant of internal shearing stresses is an

internal torque, equal and opposite to applied
torque,
T = ∫ ρ dF = ∫ ρ (τ dA)
• Although net torque due to shearing stresses is

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

indeterminate – must consider shaft
deformations
• Unlike normal stress due to axial loads, the

distribution of shearing stresses due to torsional
loads cannot be assumed uniform.
Axial Shear Components
• Torque applied to shaft produces shearing

stresses on planes perpendicular to shaft
axis.
• Moment equilibrium requires existence of

equal shear stresses on planes containing the
shaft axis, i.e., “axial shear stresses”.
• Existence of axial shear stresses is

demonstrated by considering a shaft made up
of axial slats.
Slats slide with respect to each other when

equal and opposite torques applied to shaft
ends.
Shaft Deformations
• Will see that angle of twist of shaft is

proportional to applied torque and to shaft
length.
φ ∝T
φ∝L
• When subjected to torsion, every cross-section

of circular (solid or hollow) shaft remains
plane and undistorted. This is due to
axisymmetry of cross section.
• Cross-sections of noncircular ( hence non-

axisymmetric) shafts are distorted when
subjected to torsion – since no axisymm.
Shearing Strain
• Consider interior section of shaft. When

torsional load applied, a rectangular element
on the interior cylinder deforms into rhombus.
• So shear strain equals angle between BA and

BA′
• Thus,
ρφ
Lγ = ρφ ⇒ γ =
L
so shear strain proportional to twist and radius
cφ ρ
γ max = and γ = γ max
L c
Torsion Formulae in elastic range (shear stress,
angle of twist
• Hooke’s law,
ρφ ρ ρ
τ = Gγ = G =G γ max = τ max
L c c
So shearing stress also varies linearly with
radial position in the section.
• Recall: sum of moments from internal
J = 12 π c 4 stress distribution equals internal torque at
the section,
ρφ φ
T = ∫ ρτ dA = ∫ ρG dA = G ∫ dA
ρ 2
L L
φ J
= GJ =τ
L ρ
• Thus, elastic torsion formulas are
(
J = 12 π c24 − c14 ) τ=
Tρ
; φ=
TL
J= Polar moment of inertia J GJ
Torsion formulae in Elastic Range
Tρ TL
τ= ; φ=
J GJ
Tc
τ max =
J
φ T
so = α = , a constant if T constant
L GJ
• If torsional loading or shaft cross-section changes

(discretely) along length, the angle of rotation is
found as sum of segment rotations
Ti Li
φ =∑
i J i Gi
Comparison of Axial and Torsion formulae.
AE =Axial rigidity GJ =Torsional rigidity
Axial Stiffness Torsional Stiffness
AE GJ
kA = kT =
L L
Axial Flexibilty: f A = k A−1 Torsional Flexibilty: fT = kT−1
Axial displacement Torsional displacement

Pi Li Ti Li
δ =∑ φ =∑
i Ai Ei i J i Gi
Axial stress Torsional stress
P Tρ
σ= τ=
A J
Stressed on Inclined Plane
u ≡θ
(a) element in pure shear generated due to applied torque,
(b) stresses acting on inclined plane of a triangular stress element,
(c) forces acting on the triangular stress element (FBD).
Sign convention for stresses on inclined

plane (Normal stresses tensile positive,
shear stresses producing
counterclockwise rotation positive.)
Stressed on Inclined Plane
Equilibrium normal to plane,

σ θ Ao sec θ = τAo sin θ + τAo tan θ cos θ (1)
σ θ = τ sin 2θ
Equilibrium along plane,

u ≡θ
τ θ Ao sec θ = τAo cos θ − τAo tan θ sin θ (2)
τ θ = τ cos 2θ
Graph of σθ and τθ versus θ.
σ θ = τ sin 2θ
Maximum/minimum normal
τ θ = τ cos 2θ stress occurs at θ=+45 or -45o
Maximum/Minimum shear plane σ max = +τ ; σ min = −τ
stress occurs at θ = 0o or 90o
plane τ max = +τ ; τ min = −τ
Failure of Brittle material
Try on a piece of chalk!
Reason: Brittle materials are weak

in tension and maximum normal
stress (tensile) plane in this case is 45o
Remember: Ductile materials are weak in shear and

brittle materials are weak in tension. Thus, for
ductile material failure occurs on maximum shear
stress plane, and for brittle material failure occurs on
maximum normal (tensile) stress plane.
Example 3.1
Shaft BC hollow, inner dia. 90 mm, outer

dia. 120mm. Shafts AB and CD solid, dia.
d. For loading shown, find (a) min. and
max. shearing stress in BC, (b) required
dia. d of AB and CD if allowable shearing
stress in them is 65 MPa.
Example 3.1
• Cut sections, use equilibrium to find

internal torque.
∑ 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
Example 3.1
• Apply elastic torsion formulae to
find min. and max. stress in BC • Given allowable shearing stress and
applied torque, find required dia. of AB
and CD
(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
2
π c3
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
= 86.2 MPa d = 2c = 77.8 mm
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
Example 3.2
Two solid steel shafts

connected by gears. For each
shaft G = 77 GPa and
allowable shearing stress 55
Mpa. Find (a) largest torque T0
that can be applied to end of
AB, (b) corresponding angle
through which end A rotates.
Example 3.2
• Equilibrium • Kinematic constraint of no slipping

between gears (to relate rotations)
rBφB = rCφC
∑M B = 0 = F (22 mm ) − T0
rC 60 mm
φB = φC = φC
∑M C = 0 = F (60 mm ) − TCD rB 20 mm
TCD = 2.73 T0 φB = 2.73φC
Example 3.2
• Find T0 for max allowable torque • Find the corresponding angle of twist for each
on each shaft – choose smallest shaft and the net angular rotation of end A
φA/ B =
TAB L
=
(61.8 Nm )(0.6 m )
2 (0.0095 m ) (77 × 10 Pa )
J AB G π 4 9
= 0.0376 rad = 2.15o

2.73 (61.8 Nm )(0.6 m )
T c (
T0 9.5 × 10 −3 m ) φC / D =
TCD L
=
τ max = AB
J AB
55 × 10 Pa =
6
π
(9.5 ×10 −3
m)
4 J CD G π 4
(
2 (0.0125 m ) 77 × 10 psi
9
)
2
= 0.0514 rad = 2.95o
T0 = 74.1 Nm
φB = 2.73φC = 2.73 (2.95o ) = 8.05o
τ max =
TCD c
55 × 106 Pa =
(
2.8 T0 12.5 × 10 m −3
)
J CD π
2 (12.5 ×10 −3
m )
4 φ A = φB + φ A / B = 8.05o + 2.15o φ A = 10.2o
T0 = 61.8 Nm
T0 = 61.8 Nm
Design of Transmission Shafts
• Turbine exerts torque T on shaft
• Shaft transmits torque to generator
• Generator applies equal and opposite

torque T’ on shaft.
Design of Transmission Shafts
• Transmission shaft performance • Determine torque applied to shaft at

specifications are: specified power and speed,
- power = P T= ω 2π NT P= Power (Watt)
T= torque (N-m)
- speed P P
= =
T ω= angular speed
ω 2π N (rad/s)
• Designer must select shaft N= revolution per sec
material and cross-section to
• Find cross-section so that max
meet performance specs. without
allowable shearing stress not exceeded,
exceeding allowable shearing
stress.
Tc
τ max =
J
J π 3 T
= c = (solid shafts )
c 2 τ max
J
=
π 4 4
c2 2c2
( )
c2 − c1 =
T
τ max
(hollow shafts )
Statically Indeterminate Shafts
• Given applied torque, find torque reactions at A
and B.
• Equilibrium,
TA + TB = 120 N.m
So problem is SID.
• Compatibility,
TA L1 TB L2
φ = φ1 + φ2 = − =0
J1G J 2G
• Solve equil. and compat,
 L1 J 2 
TA 1 +  = 120 N ⋅ m
 L2 J1 
Thin-Walled Hollow Shafts
• Since wall is thin, assume shear stress
constant thru wall thickness. For AB,
summing forces in x(shaft-axis)-direction,
∑ Fx = 0 = τ A (t A∆x ) − τ B (t B ∆x )
τ At A = τ B t B = τ t = q = shear flow
So shear flow constant and shear stress at
section varies inversely with thickness
• Compute shaft torque from integral of the
moments due to shear stress
dM 0 = p dF = p (τ t ds ) = q ( pds )
= q ( r sin θ ds ) = q (r × ds) = 2q dA
T = ∫ dM 0 = ∫ 2q dA = 2qA
T T
τ= ⇒q=
2tA 2A
T • Angle of twist (from Chapt 11)
τ t = q = constant; q = TL ds
2A φ= ∫
4 A 2G t
Example 3.3
Extruded aluminum tubing with

rectangular cross-section has torque
loading 2.7 kNm. Find shearing stress
in each of four walls considering (a)
uniform wall thickness of 4 mm and
(b) wall thicknesses of 3 mm on AB
and AC and 5 mm on CD and BD.
Example 3.3
Find corresponding shearing stress
for each wall thickness.
Find shear flow q.
With uniform wall thickness,
q 251.12 ×103 N m
τ= =
t 0.004 m
τ = 62.8 MPa
With variable wall thickness
251.12 ×103 N m
τ AB = τ AC =
A = (96 mm )(56 mm ) = 5376 mm 2 0.003 m
T 2700 Nm 3 N τ AB = τ BC = 83.7 MPa
q= = = ×
(
2 A 2 5376 ×10 −6 mm 2 ) 251 . 12 10
m
251.12 ×103 N m
τ BD = τ CD =
0.005 m
τ BC = τ CD = 50.2 MPa
Stress Concentrations
• The derivation of the torsion formula,
Tc
τ max =
J
assumed a circular shaft with uniform
cross-section loaded through rigid end
plates.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways, and cross-section discontinuities
can cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
τ max = K
J
Torsion of Noncircular Members
• Previous torsion formulas are valid for
axisymmetric or circular shafts
• Planar cross-sections of noncircular

shafts do not remain planar and stress
and strain distribution do not vary
linearly
• For uniform rectangular cross-sections,

T TL
τ max = φ=
c1ab 2 c2 ab3G
• At large values of a/b, the maximum

shear stress and angle of twist for other
open sections are the same as a
rectangular bar.
Example 3.4
Example 3.4
Example 3.5
Example 3.5
Example 3.6
Example 3.6
27 0.53
Example 3.6
Example 3.7
Example 3.7
(0.5) 22.09
Example 3.8
Example 3.8
Example 3.8
Example 3.9
Example 3.9
Example 3.9
rB rC
Example 3.9
rB rC
𝑟𝑟𝐵𝐵
)
𝑟𝑟𝐶𝐶
1829.39 868.25
1829.39
43.13 MPa
868.25 48.53
Example 3.9
<
45
CD CD -894.62
dCD 45
1884.96 N.m
AB
4121.50
Example 3.10
Example 3.10
Example 3.11
Example 3.11
Example 3.12
Example 3.12
Example 3.12

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CHAPTER MECHANICS OF

Introduction Statically Indeterminate Shafts

• Resultant of internal shearing stresses is an

• Although net torque due to shearing stresses is

• Distribution of shearing stresses is statically

• Unlike normal stress due to axial loads, the

• Torque applied to shaft produces shearing

• Moment equilibrium requires existence of

• Existence of axial shear stresses is

Slats slide with respect to each other when

• Will see that angle of twist of shaft is

• When subjected to torsion, every cross-section

• Cross-sections of noncircular ( hence non-

• Consider interior section of shaft. When

• So shear strain equals angle between BA and

• If torsional loading or shaft cross-section changes

Axial displacement Torsional displacement

Sign convention for stresses on inclined

Equilibrium normal to plane,

Equilibrium along plane,

Graph of σθ and τθ versus θ.

Reason: Brittle materials are weak

Remember: Ductile materials are weak in shear and

Shaft BC hollow, inner dia. 90 mm, outer

• Cut sections, use equilibrium to find

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

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

Two solid steel shafts

• Equilibrium • Kinematic constraint of no slipping

= 0.0376 rad = 2.15o

• Turbine exerts torque T on shaft

• Shaft transmits torque to generator

• Generator applies equal and opposite

• Transmission shaft performance • Determine torque applied to shaft at

Extruded aluminum tubing with

With variable wall thickness

• Planar cross-sections of noncircular

• For uniform rectangular cross-sections,

• At large values of a/b, the maximum

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