Russell C.

Hibbeler

Chapter 5: Torsion
Objectives
• The effects of applying a torsional loading to a long
straight member such as shaft or tube.

• To determine both stress distribution within the

member and the angle of twist when the material
behaves in a linear-elastic manner
 Due to axial distribution of shear
stress, shafts made from wood
tend to split along the axial plane
when subjected to excessive
torque

Linear fracture of a femoral shaft.

 Torsional Loads on Circular Shafts
• Stresses and strains of circular
shafts 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’

* Moment that tends to twist a

Chapter 5: Torsion
Mechanics of Material 7th Edition member about its longitudinal axis.
© 2008 Pearson Education South Asia Pte Ltd
Example
 Net Torque Due to Internal Stresses
• Net of the internal shearing stresses is an internal
torque, equal and opposite to the applied torque,

T   r dF   r  dA
• Although the net torque due to the shearing
stresses is known, the distribution of the stresses is
not known
• 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.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Shaft Deformations
• From observation, the angle of twist of the
shaft is proportional to the applied torque and
to the shaft length.

 T
 L
• When subjected to torsion, every cross-section
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
Chapter 5: Torsion subjected to torsion.
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 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

r
L  r or  
L
• Shear strain is proportional to angle of twist
and radius
c r
 max  and    max
Chapter 5: Torsion
Mechanics of Material 7th Edition
L c
© 2008 Pearson Education South Asia Pte Ltd
 Stresses in Elastic Range
• Multiplying the previous equation by the shear
modulus, r
G  G max
c
From Hooke’s Law,   G , so shear stress
r
   max
c d 4 4
c
J 
2 32 The shearing stress varies linearly with the radial
position in the section.
• Recall that the sum of the moments from the
internal stress distribution is equal to the torque
on the shaft at the section,
 max 2  max
T   r dA   r dA  J
c c

  c24  c14    d 24  d14 

• The results are known as the elastic torsion
formulas,
J  Tc Tr
2
Chapter 5: Torsion
32  max  and  
Mechanics of Material 7th Edition
J J
© 2008 Pearson Education South Asia Pte Ltd
 Tc Tr
 max  and  
J J
Where
τmax = the maximum shear stress in the shaft, which occurs at the
outer surface
T = the resultant internal torque acting at the cross section.
Its value is determine from the method of sections and
the equation of moment equilibrium applied about the
shaft’s longitudinal axis.
J = the polar moment of inertia of the cross-sectional area
c = the outer radius of the shaft.
 Angle of Twist in Elastic Range
• Recall that the angle of twist and maximum
shearing strain are related,
c
 max 
L
• In the elastic range, the shearing strain and shear
are related by Hooke’s Law,
 max Tc
 max  
G JG
• Equating the expressions for shearing strain and
solving for the angle of twist,
TL

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
Ti Li
 
Chapter 5: Torsion i J i Gi
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Sign Convention
• Sign convention for the
internal torque and the
angle of twist of one end
of the shaft with respect
to the other end.

• Use right hand rule:

both torque and angle
will be positive, provided
the thumb is directed
outward from the shaft
when the fingers curl to
give the tendency for
rotation.
Example

TAB = +80N.m, TBC = -70N.m, TCD = -10 N.m

φA/D = (+80) LAB + (-70) LBC + (-10) LCD

JG JG JG
 Example 1
Determine the maximum shearing stress caused by a
torque of magnitude T = 800 N.m.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 2
Knowing that the internal diameter of the hollow shaft shown
is d = 23 mm, determine the maximum shearing stress caused
by a torque of magnitude T = 1.0 kN.m.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 3
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.

C =75 mm
A

r =15 mm
Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 4
Under normal operating conditions, the electric motor exerts a torque of
2.4 kN.m at A. Knowing that each shaft is solid, determine the maximum
shearing stress (a) in shaft AB, (b) in shaft BC, (c) in shaft CD.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 5
The allowable stress is 104 MPa in the 38 mm diameter rod AB and 55 MPa
in the 46 mm diameter rod BC. Neglecting the effect of stress
concentrations, determine the largest torque that may be applied at A.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
Example 7
The ship at A has just started to drill
for oil on the ocean floor at a depth
of 1500 m. Knowing that the top of
the 200 mm diameter steel drill pipe
(G = 77 GPa) rotates through two
complete revolutions before the drill
bit at B starts to operate, determine
the maximum shearing stress caused
in the pipe by torsion.
 Example 8
The torque shown are exerted on pulleys B, C and D. Knowing that the
entire shaft is made of steel (G = 27 GPa), determine the angle of twist
between (a) C and B, (b) D and B.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 9
The electric motor exerts a torque of 800 N.m on the steel shaft ABCD when
it is rotating at constant speed. Design specifications require that the
diameter of the shaft be uniform from A to D and that the angle of twist
between A and D not to exceed 1.5°. Knowing that τmax= 60 MPa and G = 77
GPa, determine the minimum diameter of shaft that may be used.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 10
Two solid steel shafts are fitted with flanges which are then connected by
fitted bolts so that there is no relative rotation between the flanges.
Knowing that G = 77 GPa, determine the maximum shearing stress in each
shaft when a 500 N.m torque is applied to flange B.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 11
A 4 kN.m torque T 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.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Power Transmission
Power is defined as the work performed per unit of
time.
For a rotating shaft with a torque, the power is

P  T where shaft angular velocity,   d / dt

Since 1 cycle  2 rad    2f , the power equation is

P  2fT
For shaft design, the design or geometric parameter
is
J T

c  allow
Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 12
A solid steel shaft AB as shown in the figure is to be used to transmit 3750
W from the motor M to which it is attached. If the shaft rotates at N = 175
rpm and the steel has an allowable shear stress of tallow = 100 MPa,
determine the required diameter of the shaft to the nearest mm.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
Example 13
The motor delivers 30 kW to the shaft while it rotates at 20 Hz. The shaft is
supported on smooth bearings at A and B, which allow free rotation of the
shaft. The gear C and D fixed to the shaft removed 18 kW and 12 kW
respectively. Determine the diameter of the shaft to the nearest mm if the
allowable shear stress is τallow = 56 MPa and the allowable angle of twist of C
respect to D is 0.20o. G = 76 GPa.
Example 14
The solid steel shaft has a diameter of 20 mm. If it is subjected to the
two torques, determine the directions at the fixed supports A and B.
Example 15
The steel shaft is made from two segments: AC has a diameter of 10
mm, and CB has a diameter of 20 mm. If it is fixed at its ends A and B
and subjected to a torque of 500 N.m, determine the maximum shear
stress in the shaft.
Example 16
The bronze pipe has a outer diameter of 30 mm and the thickness of 2
mm. The coupling on it at C is being tightened using a wrench. If the
torque developed at A is 12 N.m, determine the magnitude F of the
couple forces. The pipe is fixed supported at end B.
Example 17
The steel shaft is made from two segments: AC has a diameter of 25
mm and CB has a diameter of 50 mm. If it is fixed at its ends A and B,
determine the magnitude of the applied torque T if the reaction at A is
50 N.m.