TORSION

Chapter Objectives
 Determine the shear stresses in a circular shaft due to
torsion
 Determine the angle of twist
 Analyze statically indeterminate torque-loaded
members

Copyright © 2011 Pearson Education South Asia Pte Ltd

APPLICATIONS

Copyright © 2011 Pearson Education South Asia Pte Ltd

TORSION FORMULA

• Assumptions:
– Linear and elastic deformation
– Plane section remains plane and undistorted

Copyright © 2011 Pearson Education South Asia Pte Ltd

 
• Linear distribution of stress:    max
c
• Torsion – shear relationship:


T     dA      max dA
A 
A
c
 max
T  dA
 2

c A

Tc
 max 
J

T
Shear Stress 
J
• Polar moment of inertia
– For solid shaft:
C
1 4
C C
J    dA    2d   2   d  2   
2 2 3

A 0 0 4 0

J c4
2

– For tubular shaft: J 
2
c4
o  ci4 
EXAMPLE 1
The pipe shown in Fig. 5–12a 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 (C) of the pipe
when the 80-N forces are applied to the wrench.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 1 (cont)
Solutions
• The only unknown at the section is the internal torque T
 M y  0;
800.3  800.2  T  0
T  40 N  m
• The polar moment of inertia for the pipe’s cross-sectional area is

J

2
0.05  0.04   5.79610  m
4 4 6 4

• For any point lying on the outside

surface of the pipe,
  c0  0.05 m
Tc0 40 Nm0.05m
0    0.345 MPa (Ans)
J 6
5.796 10 m 4
 
EXAMPLE 1 (cont)
Solutions
• And for any point located on the inside surface,   ci  0.04 m
Tci 400.04 
i    0.276 MPa (Ans)
J 5.796 106

• The resultant internal torque (in section CA) is equal but opposite.
Section CA

C
ANGLE OF TWIST

dx
d  


From Hooke’s Law:

T x 
d  dx
J x G

• For constant torque and cross-sectional area:

TL
 G = Shear Modulus of Elasticity
JG
ANGLE OF TWIST
• Sign convention for both torque and angle of twist
– positive if (right hand) thumb directs outward from the shaft

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 2
The two solid steel shafts are coupled together using the
meshed gears. Determine the angle of twist of end A of shaft
AB when the torque 45 Nm is applied. Take G to be 80 GPa.
Shaft AB is free to rotate within bearings E and F, whereas
shaft DC is fixed at D. Each shaft has a diameter of 20 mm.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 2 (cont)
Solutions
• From free body diagram,
At Rod AB F  45 / 0.15  300 N

At Rod CD TD x  3000.075   22.5 Nm

• Angle of twist at C is

C 
TLDC  22.51.5  0.0269 rad
JG

 
 20.014 8010 9

• Since the gears at the end

of the shaft are in contact,

B 0.15  0.0269 0.075  0.0134 rad

EXAMPLE 2 (cont)
Solutions
• Since the angle of twist of end A with respect to end B of shaft AB
caused by the torque 45 Nm,

A/ B 
TAB LAB

 45 2
 0.0716 rad
JG  20.010  80 10
4 9
  
• The total rotation of end A is therefore

 A  B   A / B  0.0134  0.0716  0.0850 rad (Ans)

Copyright © 2011 Pearson Education South Asia Pte Ltd

Power Transmission

frequency, f , is the number of

Units revolution or cycles per second

Power = Watts (W) 1 Hz = 1 Cycle/s

Torque = Nm 1 W = 1 Nm/s

Power is rewritten as
EXAMPLE 3

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 3

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 4

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 4

Copyright © 2011 Pearson Education South Asia Pte Ltd

STATICALLY INDETERMINATE TORQUE-
LOADED MEMBERS
• Procedure for analysis:
– use both equilibrium and compatibility equations

Equilibrium
• Draw a free-body diagram of the shaft in order to identify all
the torques that act on it. Then write the equations of
moment equilibrium about the axis of the shaft.

Compatibility
• To write the compatibility equation, investigate the way the
shaft will twist when subjected to the external loads, and
give consideration as to how the supports constrain the
shaft when it is twisted.

Copyright © 2011 Pearson Education South Asia Pte Ltd

STATICALLY INDETERMINATE TORQUE-
LOADED MEMBERS (cont)
• Express the compatibility condition in terms of the rotational
displacements caused by the reactive torques, and then
use a torque-displacement relation, such as Φ = TL/JG, to
relate the unknown torques to the unknown displacements.

• Solve the equilibrium and compatibility equations for the

unknown reactive torques. If any of the magnitudes have a
negative numerical value, it indicates that this torque acts
in the opposite sense of direction to that indicated on the
free-body diagram.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 3
The solid steel shaft shown in Fig. 5–23a has a diameter of
20 mm. If it is subjected to the two torques, determine the
reactions at the fixed supports A and B.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 3 (cont)
Solutions
• It is seen that the problem is statically indeterminate since there is only
one available equation of equilibrium and there are 2 unknowns

Mx  0
 Tb  800  500  TA  0 (1)

• 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.

A/ B  0

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 3 (cont)
Solutions
• Using the sign convention established,

 TB 0.2 800  TB 1.5 300  TB 0.3

  0
JG JG JG
TB  645 N  m (Ans)

• Using Eq. 1,

TA  345 N  m

• The negative sign indicates that acts

in the opposite direction of that shown
in Fig. 5–23b.

Copyright © 2011 Pearson Education South Asia Pte Ltd

SOLID NON-CIRCULAR SHAFTS

Copyright © 2011 Pearson Education South Asia Pte Ltd

SOLID NON-CIRCULAR SHAFTS (cont)

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 1
The 6061-T6 aluminum shaft shown in Fig. 5–27 has a
cross-sectional area in the shape of an equilateral triangle.
Determine the largest torque T that can be applied to the end
of the shaft if the allowable shear stress is tallow = 56 MPa.
and the angle of twist at its end is restricted to Φallow = 0.02
rad. How much torque can be applied to a shaft of circular
cross section made from the same amount of material?

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 1 (cont)
Solutions
• By inspection, the resultant internal torque at any cross section along the
shaft’s axis is also T.
20T 20T
 allow  3
; 56  3
 T  1779 .2 Nm
a 40
46TL
 allow  4 ; 0.02 
 
46T 1.2 10 3
 T  24.12 Nm (Ans)
a Gal 4
  
40 26 10 3

• By comparison, the torque is limited due to the angle of twist.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 1 (cont)
Solutions
• For circular cross section, we have

Acircle  Atriangle; c2 

1
4040 sin 60  c  14.85 mm
2
• The limitations of stress and angle of twist then require

Tc T 14.85
 allow  ; 56   T  288 .06 Nm
J  / 214.854

allow 
TL
0.02 
T 1.2 10 3   T  33.10 Nm (Ans)
JGal
;
 / 214.85 26 10
4
  
3

• Again, the angle of twist limits the applied torque.

Copyright © 2011 Pearson Education South Asia Pte Ltd

THIN WALL TUBES HAVING CLOSED SECTIONS

• Average shear stress

T
 avg 
2tAm

• Shear flow
T
q
2 Am

• Angle of twist
TL ds
 2 
4 AmG t

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 2
The tube is made of C86100 bronze and has a rectangular
cross section as shown in Fig. 5–30a. If it is subjected to the
two torques, determine the average shear stress in the tube
at points A and B. Also, what is the angle of twist of end C?
The tube is fixed at E.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 2 (cont)
Solutions
• As shown in Fig. 5–30d, the mean area is

Am  0.0350.057   0.002 m2

• Applying Eq. 5–18 for point A,

T 35
A    1.75 MPa (Ans)
2tAm 20.005 0.002 

• And for point B,

T 35
B    2.92 MPa (Ans)
2tAm 20.003 0.002 

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 2 (cont)
Solutions
• From the free-body diagrams in Fig. 5–30b and 5–30c, the internal
torques in regions DE and CD are 35 Nm and 60 Nm respectively.

• Angle of twist is

TL ds 600.5   57   35 
 2
4 AmG t  2
  
9 
2   2 
40.002  38 10   5   3 
351.5   57   35 
 2   2 
   9 
40.002  38 10   5   3 
2

 6.2910  rad (Ans)

3

Copyright © 2011 Pearson Education South Asia Pte Ltd

STRESS CONCENTRATION

• Stress concentration factor K:

Tc
• Maximum stress stress:  max  K
J
Copyright © 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 3
The stepped shaft shown in Fig. 5–33a is supported by
bearings at A and B. Determine the maximum stress in the
shaft due to the applied torques. The shoulder fillet at the
junction of each shaft has a radius of r = 6 mm.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 3 (cont)
Solutions
• By inspection, moment equilibrium about the axis of the shaft is satisfied.

• The stress-concentration factor can be determined by the graph using

the geometry,
D 240  r 6
  2;   0.15
d 220  d 220 

• Thus, K = 1.3 and maximum shear stress is

Tc  300.020  
 max  K  1.3 4
 3.10 MPa (Ans)
J   20.020  

Copyright © 2011 Pearson Education South Asia Pte Ltd

INELASTIC TORSION

• Elastic Plastic Torque:

c
T  2   2 d
0

   2
2Y c
  
 2   Y  d  2   Y  Y  2 d
0
Y  Y  Y 
Y
2
c
  Y   3d  2 Y   2 d
Y 0 Y



2 Y
2
 Y Y   Y c 3  Y 3
4

3
 

 Y
6

4c 3  Y
3

Copyright © 2011 Pearson Education South Asia Pte Ltd
INELASTIC TORSION

• Plastic Torque:
2
c
T  2   Y  2 d   Y c3
0
3

• Ultimate Torque:
2
T  2   d
A

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 4
A solid circular shaft has a radius of 20 mm and length of 1.5
m. The material has an elastic–plastic diagram as shown in
Fig. 5–40a. Determine the torque needed to twist the shaft Φ
= 0.6 rad.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 4 (cont)
Solutions
• The maximum shear strain occurs at the surface of the shaft,

L  max 1.5
  ; 0.6    max  0.008 rad
 0.02

• The radius of the elastic core can be obtained by

Y 0.02
  Y  0.004 m  4 mm
0.0016 0.008

• Based on the shear–strain distribution, we have

 75106 
T
 Y
6
4c 3
  3
Y  6
40.02  0.004   1.25 kNm
3 3
(Ans)

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 4 (cont)
Solutions

Copyright © 2011 Pearson Education South Asia Pte Ltd

RESIDUAL STRESS

• Residual stress due to stress reversal after stressed

beyond elastic range:

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 5
A tube in Fig. 5–41a has a length of 1.5 mm and the material
has an elastic- plastic diagram, also shown in Fig. 5–41a.
Determine the plastic torque. What is the residual shear-
stress distribution if is removed just after the tube becomes
fully plastic?

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 5 (cont)
Solutions
• The stress distribution will appear as shown in Fig. 5–41b.

• Applying Eq. 5–23, we have

2
 
c0

Tp  2   Y  2 d   Y c03  ci3
ci
3
2

3
  
 84 10 3 0.053  0.025 3  19.24 kNm (Ans)

• The angle of twist that occurs can be determined from Eq. 5–25, which
for the entire tube becomes
L 0.002 1.5
p   Y   0.120
ci 0.025 

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 5 (cont)
Solutions
• In Fig. 5–41c the maximum shear stress or the modulus of rupture is
found from the torsion formula

r 
Tp co

19.24 0.05
J  / 20.054  0.025 4 
 104.52103  kN/m 2
 104.52 MPa

• Also, at the inner wall of the tube the shear stress is

 25 
 i  104 .52   52.26 MPa (Ans)
 
50

• The resultant residual shear-stress

distribution is shown in Fig. 5–41d.

Copyright © 2011 Pearson Education South Asia Pte Ltd