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Torsion
Torsion
Torsion
Moment of a couple:
T (Nm)= Force (N) x Arm (m) or
T (lb in.)= Force (lb) x Arm (in.)
T1 P1 d1 T2 P2 d 2
Net Torque Due to Internal Stresses
Net of the internal shearing stresses is an internal torque,
equal and opposite to the applied torque,
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 to be uniform.
Torque applied to shaft produces shearing stresses on the faces
Axial Shear perpendicular to the axis.
Components 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.
T
L
Torsional Deformations of Cylindrical Bars
When subjected to torsion, every cross-section of a
circular shaft remains plane and undistorted then the
bar is said to be under pure torsion.
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 subjected to torsion.
.L
Ir rol
' max
d ¢J
O= =
max
ab = cd = d x
1d,
Torsional Deformations of a Circular Bar
The rate of twist or angle of twist per unit
length
d
dx
Shear Strain at the outer surface of the bar
bb |
max r
ab dx
For pure torsion the rate of twist is
constant and equal to the total angle of
twist divided by the length L of the bar
r
max r
L
For Linear Elastic Materials
From Hooke’s Law G
G is shear modulus of elasticity and is
shear strain
TL
T
G L Total angle of twist
GI P GI P
dhollow 67.1mm
Size 1.14
d solid 58.8mm
2
Ahollow 1273mm
Weight per unit length 2
0.468
Asolid 2715mm
Hollow shafts vs Solid shafts
TR
strength Max
IP
CD
TCD
2
2 33.0MPa
Ip
32
TCD LCD 175N .m0.4m
0.0110rad
CD
G I P 80 10 Pa 7.9510 m
9 8 4
BC
TBC
2
2 51.9MPa
Ip 7.95 108 m4
TBC LBC 275N .m0.5m
0.0216rad
BC
G I P 80 10 Pa 7.95 10 m
9 8 4
Analysis of stresses on inclined planes: (a) element in pure shear, (b) stresses
acting on a triangular stress element, and (c) forces acting on the triangular stress
element (Free-body diagram).
Stress elements oriented at = 0 and
Graph of normal stresses and shear stresses = 45° for pure shear.
versus angle of the inclined plane.
Torsion Failure
In torsion, a ductile material will break along
the plane of maximum shear, that is, a plane
perpendicular to the shaft axis.
A brittle material, will break along planes whose
normal direction coincide with maximum
tension, that is, along surfaces at 45o to the
shaft.
Note: Brittle materials are weaker in tension than in
shear. Ductile materials generally fail in shear.
0 0 o
45 45
o
1
o
2G 1
o
E 2
Aluminum tube with G=27G Pa
(a) Determine the maximum shear, tensil e and
compressive stresses in the tube.
Max Tr 4000N.m 0.080m 58.2MPa
IP
0.080m4 0.060m4
32
The maximum tensile stress occurs at a n
inclination of 45ocw:
Cos
2 Cos As the ε and are very small,
the equation is reduced to:
2 Sin
Substituting for torsion
1 Max 1
2
G G
E
Max
Max 1 1
2 E E
Transmission of Power by Circular Shafts
The most important use of circular shafts is to transmit mechanical power from
one device or machine to another. The work done by a torque of constant
magnitude is equal to the product of the torque (T) and the angle through which
it rotates (ψ).
d
W T dW T T
Power is the rate at which work is done
(=rad/s): P dt dt
2nT ....n(rpm)..T (N m)...P(watts)
P 60
The diameter of the shaft must be larger than 1.62in if the allowable shear
stress is not to be exceeded.
Solid steel shaft in torsion. Motor transmits
50kW to the shaft ABC of 50mm diameter
at 10Hz. The gears at B and C extract
35kW and 15kW respectively.
Calculate the maximum shear stress in the
shaft and the angle of twist (AC) between the
motor and the gear C. Use G=80GPa.
P 2fT TA P
50000watts
796N.m
2f 210Hz
16 239N.m
P 35000watts 557 N.m 9.7MPa
T 2f 210Hz
BC 3
B 0.050m
P 15000watts BC 239 N .m 1.2m 0.0058rad
T
239 .
Nm 80000000Pa 0.050m
4
2f 210Hz
C
32
16TAB 16 796 N .m
AB 3 32.4MPa Maximum shear stress = 32.4MPa.
d 0.050m3
T L 796 N .m 1.0m AC AB BC
AB AB AB
GI Polar 80 109 0.0162rad
Pa
AC
0. 050m
4
0.0162 1.26o
0.0058
0.022rad
32
Statically Indeterminate
Torsional Members
The equilibrium equations are not enough for
determining the torque. The equilibrium equations
need to be supplemented with compatibility equations
pertaining to the rotational displacements.
First step : Write the equilibrium equations
T T1 T2
Second Step : Formulate equations of compatibility. 1 2
T1L T2 L
1 2
Third Step : Relate the angles of twist to the
torques by torque-displacement relationships.
G1I P1 G2 I P 2
Solving:
G2 I P 2
1
T 1 P1
Bar ABC is fixed at both ends and loaded at C by a
torque TO.
Find the reactive torques TA and TB., the maximum
shear stresses and the angle of rotation.
Equilibrium equations: TA TB TO
Compatibility equations
TA LA TB LB TO LA LB
C
GI P GI P GI P LB LA
TL T L GI P
U 2L
GI P 2GI P
Non-uniform torsion
The total energy of the bar is obtained by adding the
strain energy of each segment
n n 2
Ti Li
U U i
i 1 2Gi I P
dU
i 1 2GI p (x)
i
V ht
The displacement ( δ )produced is h
U W V Strain energy per unit volume:
2
h2t
U u 2
2
u 2
2G
G2
u
2
Prismatic bar loaded with TA and TB
simultaneously
TA 100N.m
TB 150N.m
L 1.6m
G 80GPa
When both loads act on the bar, the torque in segment CB is
I P 79.52 103 mm4
2 L
TA and in segment AC is (TA+TB)
T2 L T T
U Ti 2 Li A B
n 2 2
A T L T T L
2 A A B BL
T
2
i 1 2Gi I P i 2GI P 2GI P 2GI P 2GI P 2GI P
t 480lb in / in
L 12 ft
G 11.5 106 psi T (x) tx
I P 17.18in 4
2
2 3
dx t L
U 0 1 0
L L 2
tx dx
2GI p 2GI P 6GI P
480lb in / in 144in
2 3
U t L
2 3
580in lb
6GI P
Thin-Walled Tubes
under torsion
Stresses acting on the longitudinal
faces ab and cd produce forces
Fb btb dx Fc ctc dx
From equilibrium: btb ctc
shear _ flow t f cons tan t
T
2r 2t
Strain Energy of a Thin Walled Tube
Find the strain energy of an element 2 2t 2 ds f 2 ds
and then integrating throughout the dU tdsdx dx dx
volume of the bar. 2G 2G t 2G t
Where f is the shear flow constant
f2 f L M ds T 2 L
U dU
M ds
dx t 8GA2
M ds
2G 0 t 0 2G 0 t
2
Introducing a new property of cross T 2L
J
4 AM U
section called the Torsion Constant
LM
0 t
2GJ
2 LM 2r
4
For a constant thickness: J tAM AM r 2
LM For a circular tube of
thickness t
J 2r 3t
TL
T T 2L
W U
Angle of Twist 2 2G 2 r 3t G 2 r 3t
Comparison of circular and square tubes.
Both tubes have the same length, same
wall thickness and same cross sectional
area : r
4bt 2rt b