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Torsion
Torque
Torque
• Torsion refers to the twisting of a
straight member (bar shaped in
particular) when it is loaded by
moments (or torques) that tend
to produce rotation about the
longitudinal axis of the bar.
• For instance, when you turn a
screwdriver, your hand applies a
torque T to the handle and twists
the shank of the screwdriver.
• Other examples of bars in torsion
are drive shafts in automobiles,
axles, propeller shafts, steering
rods and drill bits.
Torque
• An idealized case of torsional loading is
pictured in the figure, which shows a
straight bar supported at one end and
loaded by two pairs of equal and
opposite forces.
• The first pair consists of the forces P1
acting near the midpoint of the bar and
the second pair consists of the forces P2
acting at the end.
• Each pair of forces forms a couple that
tends to twist the bar about its
longitudinal axis.
• The first couple has a moment T1 = P1d1
and the second has a moment T2 = P2d2.
Torque
• The moment of a couple may be represented
by a vector in the form of a double-headed
arrow.
• The arrow is perpendicular to the plane
containing the couple, and therefore in this
case both arrows are parallel to the axis of the
bar.
• The direction (or sense) of the moment is
indicated by the right-hand rule for moment
vectors namely, using your right hand, let your
fingers curl in the direction of the moment,
and then your thumb will point in the
direction of the vector.
• An alternative representation of a moment is
a curved arrow acting in the direction of
rotation.
• Both the curved arrow and vector
representations are in common use.
Torque
• Moments that produce twisting of a bar about its
longitudinal axis, such as the moments T1 and T2 in
the figure, are called torques or twisting moments.
• Cylindrical members that are subjected to torques
and transmit power through rotation are called
shafts; for instance, the drive shaft of an automobile
or the propeller shaft of a ship.
• Most shafts have circular cross sections, either solid
or tubular.
Torsional Deformation of
Circular Bars / Shafts
Torsional Deformation
• When the torque is applied, the circles and
longitudinal grid lines originally marked on
the shaft tend to distort into the pattern
shown in the figure.
• Twisting causes the circles to remain
circles and each longitudinal grid line
deforms into a helix that intersects the
circles at equal angles.
• Also, the cross sections from the ends
along the shaft will remain flat, that is,
they do not warp or bulge in or out, and
radial lines remain straight during the
deformation.
• The angle of twist is considerably small,
thus the length of the shaft and its radius
remain unchanged.
• Considering a prismatic bar of circular cross section twisted
by torques T acting at the ends.
• Since every cross section of the bar is identical and since
every cross section is subjected to the same internal torque T,
the bar is said in pure torsion.
• If the left-hand end of the bar is fixed in position, under the
action of the torque T, the right-hand end will rotate (with
respect to the left-hand end) through a small angle 𝜙, known
as the angle of twist (or angle of rotation).
• Because of this rotation, a straight longitudinal line pq on the
surface of the bar will become a helical curve pq, where q is the
position of point q after the end cross section has rotated through
the angle 𝜙.
• The angle of twist changes along the axis of the bar, and at
intermediate cross sections it will have a value 𝜙(x) that is between
zero at the left-hand end and 𝜙 at the right-hand end.
• If every cross section of the bar has the same radius and is
subjected to the same torque (pure torsion), the angle 𝜙(x) will
vary linearly between the ends.
Shear Strains
• Consider an element of the bar between two cross sections
distance dx apart.
• On its outer surface we identify a small element abcd, with sides ab
and cd that initially are parallel to the longitudinal axis.
• During twisting of the bar, the right-hand cross section rotates with
respect to the left-hand cross section through a small angle of twist
d𝜙, so that points b and c move to b’ and c’ respectively.
• The lengths of the sides of the element, which is now element
ab’c’d, do not change during this small rotation.
• However, the angles at the corners of the element are no
longer equal to 900.
• The magnitude of the shear strain at the outer surface of
the bar, denoted 𝛾max , is equal to the decrease in the
angle at point a, that is, the decrease in angle b-a-d.
• The decrease in this angle is :
𝜃 = d𝜙/dx …(3)
• Therefore :
𝛾max = r𝜃 …(4)
• Or,
𝛾max = r𝜙 / L …(5)
• Eqs. (8) and (9) show that the shear stresses vary linearly
with the distance from the centre of the bar, as illustrated by
the triangular stress diagram in the figure.
• This linear variation of stress is a consequence of Hooke’s law.
• If the stress-strain relation is nonlinear, the stresses will vary
nonlinearly and other methods of analysis will be needed.
The Torsion Formula
The Torsion Formula
• Eq. (9) expresses the shear-
stress distribution over the
cross section in terms of the
radial position of the
element.
• Using it, we can now apply
the condition that requires
the torque produced by the
stress distribution over the
entire cross section to be
equivalent to the resultant
internal torque T at the
section, which holds the bar
in equilibrium.
The Torsion Formula
• Specifically, each element of area dA, located at 𝜌 is
subjected to a force of dF = 𝜏dA. The torque
produced by this force is dT = 𝜌(𝜏dA).
• We therefore have for the entire cross section,
T (dA) max dA …(10)
A A
r
The Torsion Formula
• Since 𝜏max / r is constant,
max
T
r
A
2 dA …(11)
Tr
max …(12)
J
and,
T
…(13)
J
J (r ri )
0
4 4
…(15)
2
Examples
Example 5.2
• 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.
Example 5.2
Example 5.2
Example 5.3
• The pipe has an inner diameter of 80 mm and an outer diameter of
100 mm. If its end is tightened against the support at A using a
torque wrench at B, determine the shear stress developed in the
material at the inner and outer walls along the central portion of
the pipe when the 80 N forces are applied to the wrench.
Example 5.3
Example 5.3
Angle of Twist
Angle of Twist
Angle of Twist
• The angle of twist of a bar 𝜙 can now be related to
the applied torque T.
• Combining Eq. (8) with Eq. (12) gives,
T
…(16)
JG
• This equation shows that the rate of twist 𝜃 is
directly proportional to the torque T and inversely
proportional to the product JG, known as the
torsional rigidity of the bar.
Angle of Twist
• For a bar in pure torsion, the total angle of twist 𝜙
equal to the rate of twist 𝜃 times the length of the
bar L, that is,
L
• Therefore,
TL
…(17)
JG
Angle of Twist
• For multiple torques, or if the cross-sectional area or shear
modulus changes abruptly from one region of the shaft to
the next,
TL
…(18)
JG
Sign Convention
Example
Sign Convention
Example
Examples
Example 5.5
• The gears attached to the fixed-end steel shaft are subjected to the
torques. If the shear modulus of elasticity is 80 GPa and the shaft
has a diameter of 14 mm, determine the displacement of the tooth
P on gear A. The shaft turns freely within the bearing at B.
Example 5.5
Example 5.5
Example 5.5
Example 5.7
• The 2-inch diameter solid cast-
iron post is buried 24 inch in
soil. If a torque is applied to its
top using a rigid wrench,
determine the maximum shear
stress in the post and the angle
of twist at its top. Assume that
the torque is about to turn the
post, and the soil exerts a
uniform torsional resistance of
along its 24-inch buried length.
Take G = 5.5 x 103 ksi.
Example 5.7
Example 5.7
Example 5.7
• The largest shear stress occurs in region AB, since
the torque is largest there and J is constant for the
post.
• Applying the torsion formula, we have maximum
shear stress as,
Example 5.7
• The angle of twist at the top can be determined relative to the
bottom of the post, since it is fixed and yet is about to turn.
• Both segments AB and BC twist, and so in this case we have
Statically Indeterminate
Torque-Loaded Members
Statically Indeterminate
• A torsionally loaded shaft may be classified as statically
indeterminate if the moment equation of equilibrium,
applied about the axis of the shaft, is not adequate to
determine the unknown torques acting on the shaft.
Statically Indeterminate
• As shown on the free-body
diagram, the reactive
torques at the supports A
and B are unknown.
• We require that,
𝛴Mx = 0;
T – TA – TB = 0 …(1)
Statically Indeterminate
• The necessary condition of compatibility, or the
kinematic condition, requires the angle of twist of one
end of the shaft with respect to the other end to be
equal to zero, since the end supports are fixed.
• Therefore,
𝜙A/B = 0
LBC LAC
TA T TB T
L L
Examples
Example 5.8
• 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.
Example 5.8
• By inspection of the free-
body diagram, it is seen that
the problem is statically
indeterminate since there is
only one available equation
of equilibrium and there are
two unknowns.
• We require
Example 5.8
• Since the ends of the shaft are fixed, the angle of twist
of one end of the shaft with respect to the other must
be zero.
• Hence, the compatibility equation becomes
𝜙A/B = 0
TB = 645 N.m
TA = – 345 N.m
Example 5.9
• The shaft is made from
a steel tube, which is
bonded to a brass core.
If a torque of T = 250
lb.ft is applied at its
end, plot the shear-
stress distribution
along a radial line of its
cross-sectional area.
Take Gst = 11.4 x 103 ksi
and Gbr = 5.20 x 103 ksi.
Example 5.9
• A free-body diagram
of the shaft is shown
in the figure. The
reaction at the wall
has been represented
by the unknown
amount of torque
resisted by the steel,
Tst and by the brass,
Tbr . Working in units
of pounds and inches,
equilibrium requires
Example 5.9
• We require the angle of twist of end A to be the same for
both the steel and brass since they are bonded together.
Thus,
𝜙 = 𝜙st = 𝜙br
𝜏max = K T r / J