Sixth Edition

CHAPTER

MECHANICS OF
MATERIALS
Ferdinand P. Beer
E. Russell Johnston, Jr.
John T. DeWolf
David F. Mazurek

Torsion

Lecture Notes:
J. Walt Oler
Texas Tech University

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Sixth
Edition

MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Torsional Loads on Circular Shafts

Interested in 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

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Net Torque Due to Internal Stresses

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.
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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Shaft Deformations
From observation, the angle of twist of the
shaft is proportional to the shaft length.
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 (nonaxisymmetric) shafts are distorted when
subjected to torsion.
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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

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.

It follows that
L = or =

Shear strain is proportional to twist and radius

max =

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and = max
L
c

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Stresses in Elastic Range

Multiplying the previous equation by the
shear modulus,
G =

G max

From Hookes Law, = G , so

=

max

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,

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

The results are known as the elastic torsion

formulas,
max =
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Tc
T
and =
J
J
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Sixth
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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Sample Problem 3.1

SOLUTION:
Cut sections through shafts AB,
BC, and CD and perform static
equilibrium analyses to find
internal torques.

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.
2012 The McGraw-Hill Companies, Inc. All rights reserved.

Apply elastic torsion formulas to

find minimum and maximum
stress on shaft BC.
Given allowable shearing stress
and applied torque, invert the
elastic torsion formula to find the
required diameter of AB and CD.

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Sample Problem 3.1

SOLUTION:
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

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Sixth
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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Sample Problem 3.1

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

J=

Given allowable shearing stress and

applied torque, invert the elastic torsion
formula to find the required diameter.

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

= 13.92 10 6 m 4

max = 2 =

TBC c2 (20 kN m )(0.060 m )

=
J
13.92 10 6 m 4

max =

Tc
Tc
=
J c4
2

65MPa =

6 kN m
c3
2

c = 38.9 103 m

d = 2c = 77.8 mm

= 86.2 MPa

min c1
=
max c2

min
86.2 MPa

min = 64.7 MPa

45 mm
60 mm

max = 86.2 MPa

min = 64.7 MPa

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

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

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
i J i Gi

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Geared Shafts
For the assembly shown, knowing that
rA = 2rB
and the two shafts are identical (J, G)
determine the angle of rotation of end E of
shaft BE when the torque TE is applied at E.
Bearings at ends

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Sample Problem 3.4

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
on each shaft choose the smallest.

Two solid steel shafts are connected

by gears. Knowing that for each shaft
Find the corresponding angle of twist
6
G = 11.2 x 10 psi and that the
for each shaft and the net angular
allowable shearing stress is 8 ksi,
rotation of end A.
determine (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.
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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Sample Problem 3.4

SOLUTION:
Apply a static equilibrium analysis on
the two shafts to find a relationship
between TCD and T0 .

M B = 0 = F (0.875 in.) T0

Apply a kinematic analysis to relate

the angular rotations of the gears.

rB B = rCC
rC
2.45 in.
C =
C
rB
0.875 in.

M C = 0 = F (2.45 in.) TCD

B =

TCD = 2.8 T0

B = 2.8C

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Sample Problem 3.4

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.

A/ B =

max =

TAB c
T (0.375 in.)
8000 psi = 0
(0.375 in.)4
J AB
2

C / D

2.8 T0 (0.5 in.)

TCD c
8000 psi =
(0.5 in.)4
J CD
2

T0 = 561lb in.

T0 = 561lb in

= 0.387 rad = 2.22o

T L
2.8 (561lb in.)(24 in.)
= CD =
J CDG (0.5 in.)4 11.2 106 psi

T0 = 663 lb in.

max =

TAB L
(561lb in.)(24 in.)
=
J ABG (0.375 in.)4 11.2 106 psi
2

= 0.514 rad = 2.95o

B = 2.8C = 2.8 2.95o = 8.26o

A = B + A / B = 8.26o + 2.22o

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A = 10.48o
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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

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 = 90 lb ft

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,
= 1 + 2 =

TA L1 TB L2

=0
J1G J 2G

LJ
TB = 1 2 TA
L2 J1

Substitute into the original equilibrium equation,

LJ
TA + 1 2 TA = 90 lb ft
L2 J1

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Design of Transmission Shafts

Principal transmission shaft
performance specifications are:
- power
- speed

Determine torque applied to shaft at

specified power and speed,

P = T
T=

Unit conversions
- Power
- 1 W = 1 Nm/s
- 1 hp = 550 lb-ft/s
- Speed
- 1Hz = 1 rev/s = 2 rad/s
- 1 rpm = 1 rev/min = 2/60 rad/s

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MECHANICS OF MATERIALS

Beer Johnston DeWolf Mazurek

Stress Concentrations
The derivation of the torsion formula,
max =

Tc
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
max = K

Tc
J

Fig. 3.32 Stress-concentration factors

for fillets in circular shafts.

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