CE202

Strength of Materials

Chapter Three

Torsion

3.1.Introduction

Interested in stresses and strains of circular shafts
subjected to twisting couples or torques.

Twisting couples or torques

Representation of a couples:
Curve Arrows

Couple Vector


Different mechanical and structure parts and members are subjected to

Torsion such as: Transmission Shafts; Curves Beams; or Beams
supporting Balconies

Turbine exerts torque T on the

shaft

Shaft transmits the torque to the
generator

Generator creates an equal and
opposite torque T

3.2.Preliminary Discussion of The Stresses In A Shaft

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 stresses is statically
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.


Torque applied to shaft produces shearing

stresses on the faces perpendicular to the
axis.

Conditions of equilibrium require the
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 axial slats.

The slats slide with respect to each other
when equal and opposite torques are
applied to the ends of the shaft.

3.3. Deformation In A Circular Shaft

Consider a circular shaft which is attached to a
fixed support at one end.

From observation, the angle of twist of the
shaft is proportional to the applied torque
and to the shaft length.
T

When subjected to torsion, every crosssection 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 (nonaxisymmetric) shafts are distorted
when subjected to torsion.


For small values of , we may express the arc

length AA as AA=L . But, AA = . It follows
that: L = or

= /L
..(A)
Where:

is the shearing strain (radians)

is the angle of twist (radians).
Formula (A) indicates that varies linearly with
(distance from the axis of the shaft). Hence,

max = C
/L..(B)
From (A) and (B), we have:

= /C* max(C)

3.4. Stresses in Elastic Range

Multiplying the previous equation by the
shear modulus,
G =

 From Hookes Law,

=

G max

= G ,

so

max

 The shearing stress varies linearly with

the radial position in the section.

J = 12 c 4

Recall that the sum of the moments from the

internal stress distribution is equal to the
torque on the shaft at the section,

T = dA = max 2 dA = max J
c
c

J = 12 c24 c14

J is the polar moment of inertia of the xsection

The results are known as the elastic

torsion formulas,
max =

Tc
T
and =
J
J


The elastic torsion Formula

was derived for a shaft of
uniform circular x-section
subjected to torques at its
ends.

However, it may be used also

for a shaft of variable xsection or for a shaft subjected
to torques at locations other
than its ends. This is done by
finding the internal torque at
points where shearing stress is
to be found, and by applying
the torsion formula.


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

45o =

F max A0 2
=
= 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 the same magnitude


A similar analysis of BEC yields: =

-max.

Therefore, the stresses exerted on
the faces of an element c at 45o to
the axis of the shaft are normal
stresses equal to:

max

TC
=
J

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.

Example (1)
Shaft BC is hollow with inner and outer diameters of 90 mm and 120 mm,
respectively. Shafts AB and CD are solid of diameter d. For the loading
shown, determine (a) the minimum and maximum 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.

SOLUTION:

max

Tc
=
J

Cut sections through shafts AB and BC and perform static equilibrium

analysis 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

Part (a)

Apply elastic torsion formulas
to find minimum and maximum
stress on shaft BC

J=

(
c24 c14 ) = [(0.060 )4 (0.045)4 ]
2
2

= 13.92 10

max = 2 =

TBC c2 (20 kN m )(0.060 m )

=
J
13.92 10 6 m 4

Part (b)

Given allowable shearing stress and
applied torque, invert the elastic
torsion formula to find the required
diameter

max =

min
86.2 MPa

min = 64.7 MPa

45 mm
60 mm

65MPa =

6 kN m
c3
2

c = 38.9 103 m

= 86.2 MPa

min c1
=
max c2

Tc
Tc
=
J c4
2

max = 86.2 MPa

min = 64.7 MPa

d = 2c = 77.8 mm

3.5. Angle of Twist in Elastic Range

Recall that the angle of twist and maximum
shearing strain are related,
max =

c
L

In the elastic range, the shearing strain and

shear are related by Hookes Law,
max =

max
G

Tc
JG

Equating the expressions for shearing strain

and solving for the angle of twist,

TL
=
JG
Note: This formula applies for a homogenous shaft of
constant x-section subjected to a torque at its end.

If the shaft is subjected to torques at locations other than its ends, or if

it consists of several portions with various x-sections and possibly of
different materials, its components must be divided into parts which
satisfy individually the required conditions for the application of :

Ti Li
=
i J i Gi


In the case of a shaft with a

variable circular x-section, the
formula (A3) may be applied to a
disk of thickness dx. The angle
by which one face of the disk
rotates with respect to the other
is thus:

Tdx
d =
JG

Where J is a function of x. Integrating
from 0 to L, we obtain the relative
angle of twist of the shaft as follows:

A /B =

Tdx
JG

Relative Twisting

Consider the mechanical system shown , Find Twisting of point E (E).

E / B = E B E = E / B + B
But , rA A = rB B B =
T AD L AD
but : A =
(GJ ) AD

E / B =

TEB LBE
(GJ ) BE

rA
r
A E = E / B + A A
rB
rB
From which : E =

TEB LBE rA T AD L AD
+
(GJ ) BE rB (GJ ) AD

From forces between gears, we conclude :

TAD TBE
=
rA
rB

3.6. Statically Indeterminate Shafts

Case One:

Equilibrium Equation
Compatibility Equation

Case Two:

Equilibrium Equation

Compatibility Equation

Example (2)
A hole is punched at A in a plastic sheet by applying a 600-N force P to
end D of lever CD, which is rigidly attached to the solid cylindrical shaft
BC. If dD 0.015 m, G=77 GPa; and tall = 80 MPa, determine the required
diameter of shaft BC.

puncher
P
A

C
0.3 m

Solution:

C/B

C/B

J =

0 .015
rads
0 .3

T .L
J .G

0 . 3 600 0 . 5
4 = .r 4
m
0 . 015
2
(
) 77 10 9
0 .3

r = 0 .011 m = 11 mm
all = 80 10 6 =

r=3

0 .3 600 r
4
.r
2

0 .3 600
= 11 .3 mm
6
40 10

T = 0.3P
C

Example (3)

Example (3)
The solid spindle AB has a diameter ds= 40 mm and is made of steel with
G = 77 GPa , and tall = 80 MPa, while sleeve CD is made of brass with G = 38
GPa and tall = 50 MPa. Determine the largest angle with which end A may be
rotated.

C
B

80 mm

200 mm

t = 6 mm

D
100 mm

Solution

Determine Tmax
( s ) all =

T s x ( 0 . 02 )
= 80 10 6 T S = 1005 N .m

( 0 . 02 ) 4
2

) all =

x ( 0 . 04 )

( 0 . 04 4 0 . 034 4 )
2

= 50 10 6 T B = 2401 N .m

Tmax = 1005 N .m
Hence , A = A / B + B = A / B + B / D

0 .3
0 .2
= 1005
+

7
9

6
38 10 1 .921 10
77 10 2 .51 10
= 1 .552 10 5 + 2 .7398 10 6 = 1 .825 10 5 Rad

Example (4)
For the shown gear system, if the maximum allowable shear
stress is 60 MPa, the maximum allowable twist angle at point
D is 1.5o, and G=77 GPa, Find the required diameter of the
shafts. Hint: same diameter for shafts AB and CD is desired.

Solution:
D/C = D C D = D/C +

rB
B
rC

1 .5
1
2500
x
0
.
4
1000 x 0 .6

+
2
.
5
D = D / C + 2 .5 x B
=

D 4
180
77 x10 9 D 4

2 2
2 2

D = 63 mm
T = T TB
r
P= C
=
TB = B T = 2 .5 T
rC
rB
rC

D
2500 x
6
2 D = 49 mm
max = 60 x10 =
4
D

22
C rC = rB B
Hence , D = 63 mm

rC

rC
P

rB
B

TB

Example (5)
Given : The shaft shown in the Figure.
Required : Determine the end reactions and plot the torque
diagram for the shaft. Also, draw the shear stress
distribution at point A. G=80 GPa.
TB = 150 N.m

TD = 1000 N.m

A\
B

250 mm 200 mm

25 mm

300mm

500 mm

50 mm

Shaft System (a)

Solution:
There are two unknown reactions, TA and TE. TA is considered as
redundant, and therefore support at A is removed.

TB = 150 N.m

TD = 1000 N.m

A
B

E
Support A
Removed (b)

T (N.m)
1150
150

Torque diagram for (b)

TA

25 mm

50 mm

TE
25 mm

Redundant Torque Applied (c)

X-sections Properties
.( 25 ) 4
.d 4 4
( .r ) =
= 38 .310 3 mm 4
J AB = J BC =
32 2
32

( 4 4) = ( 4 4) =
J CD =
do di
50 25
575 10 3 mm 4
32
32

A) To calculate the angle of twist for system (b), we apply the following
equation :

T i .L i
=
i J i .G i


Applying compatibility equation;

23 . 3 10 3 164 10 3 . T A

=0
system b
system c

T A

= 142 N .m and TE = 1150 142 = 1008 N .m

T (N.m)
1008

+
-

-142

Torque diagram for (a)

max

142 ( 0 . 025 / 2 )
Tc
= 46 . 3 MPa
=

9
4
J AB
38 . 3 10
m

min = 0