Torsion in Shafts and Tubes

CE 213: Mechanics of Solids-II

Md. Hossain Nadim

Department of Civil Engineering
Ahsanullah University of Science and Technology
1
Torsion in Shafts and Tubes

Torsion:
Torsion is a moment that tends to twist a member about its longitudinal axis. Its
effect is of primary concern in the design of axles or drive shafts used in vehicles
and machinery.
It can be illustrated physically what happens when a torque is applied to a circular
shaft by considering the shaft to be made of a highly deformable material such as
rubber

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Torsion in Shafts and Tubes

Sign Convention for Torque (T) and Angle of Twist (θ)

Right Hand Screw Rule

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Torsion in Shafts and Tubes

Internal Resisting Torsional Moment (T)

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Torsion in Shafts and Tubes

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 Torsion in Shafts and Tubes
Internal Stresses in a Shaft
Fig: Shaft subject to torques and
a section plane at C.
Fig. (a)Free body diagram of section BC with torque at C
represented by the representable contributions of small
elements of area carrying forces dF a radius r from the section
center. (b) Free-body diagram of section BC having all the
small area elements summed resulting in torque T.
Md. Hossain Nadim
• 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 deformations)
• Unlike the normal stress due to axial loads,
the distribution of shearing stresses due to
torsional loads cannot be assumed uniform.
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Torsion in Shafts and Tubes

Shear Stress in Shaft

• Consider an interior section of the shaft. As a

torsional load is applied, an element on the interior
cylinder deforms into a rhombus.

• Here the shearing strain 𝛾 in a given element is

measured by the change in the angles formed by the
sides of that element. Since the circles defining two of
the sides remain unchanged, the shearing strain 𝛾
must be equal to the angle between lines AB and A’B.

Fig.(2):
Fig.(1): Shearing Strain deformation. (a) The angle of twist 𝜙 .(b)
Un-deformed portion of shaft of radius 𝜌.(c) Deformed portion of Fig.(2): Shearing Strain
the shaft; angle of twist, 𝜙 and shearing strain 𝛾 share the same arc
length 𝐴𝐴′

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Torsion in Shafts and Tubes

Basic Assumptions for Circular Member

• A plane section of material perpendicular to the axis of a circular member

remains plane after the torques are applied, i.e., no warpage or distortion of
parallel planes normal to the axis of a member takes place.
• In a circular member subjected to torque, shear strains 𝛾 vary linearly from
the central axis reaching 𝛾𝑚𝑎𝑥 at the periphery.
• If attention is confined to the linearly elastic material, Hooke’s law applies,
and, it follows that shear stress is proportional to shear strain. (𝜏 = 𝐺𝛾)

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Torsion in Shafts and Tubes

Comparison of deformations in circular shafts

Distribution of shear stress along the radius of a circular shaft.

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Torsion in Shafts and Tubes

Torsion Formula
In the elastic case, on the basis of the previous assumptions, since stress is proportional to strain and the
latter vanes linearly from the center, stresses vary linearly from the central axis of a circular member. The
stresses induced by the assumed distortions are shear stresses and lie in the plane parallel to the section
taken normal to the axis of the rod. The variation of the shear stress follows directly from the shear-strain
assumption and the use of Hook’s law for shear.
𝜏 𝑚𝑎𝑥
D 𝜌
𝜏
c c 𝑐 𝑚𝑎𝑥
𝝉 = 𝑮𝜸
C C or D
𝜌
Hook’s Law Fig: Shear strain assumption
leading to elastic stress distribution
in a circular member.
Shear strain variation Shear stress variation

The resisting torque can be expressed in terms of stress once the stress distribution at a section is
established. For equilibrium this internal resisting torque must equal the externally applied torque T.
Hence,
𝜌
‫= 𝜌 𝐴𝑑 𝑥𝑎𝑚𝜏 𝑐 ׬‬T

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Torsion in Shafts and Tubes

At any given section, 𝜏 max and 𝑐 are constant; hence, the previous relation can be written as

𝜏𝑚𝑎𝑥
න 𝜌2 𝑑𝐴 = 𝑇
𝑐 𝐴
However, ‫𝜌 𝐴׬‬2 𝑑𝐴, the polar moment of inertia of a cross-sectional area, is also a constant for a particular
cross-sectional area. It 𝑤𝑖𝑙𝑙 be designated by 𝐼𝑝 . For a circular section, 𝑑𝐴 = 2𝜋𝜌𝑑𝜌, where 2𝜋𝑝 is the
circumference of an annulus with a radius 𝜌 of width 𝑑𝜌. Hence,
𝑐
𝜌4 𝑐 𝜋𝑐 4 𝜋𝑑 4
𝐼𝑝 = න 𝜌2 𝑑𝐴 =න 2𝜋𝜌3 𝑑𝜌 = 2𝜋| |0 = =
𝐴 0 4 2 32
𝜏 𝑚𝑖𝑛 𝜏 𝑚𝑎𝑥
𝑇𝑐
𝜏𝑚𝑎𝑥 =
𝐼𝑝
For Circular Tubes, 𝑐

𝑐
𝜋𝑐 4 𝜋𝑏4 𝑏
2 3
𝐼𝑝 = න 𝜌 𝑑𝐴 = න 2𝜋𝜌 𝑑𝜌 = −
𝐴 0 2 2

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Torsion in Shafts and Tubes

Remarks on the tension formula

The shear stress has been shown to vary linearly along each radial
line of the cross section of the shaft. However, if an element of
material on the cross section is isolated, then due to the
complementary property of shear, equal shear stresses must also act
on four of its adjacent faces as shown in Fig(a). Hence, not only
does the internal torque T develop a linear distribution of shear
stress along each radial line in the plane of the cross-sectional
area, but also an associated shear-stress distribution is developed
Fig(a) along an axial plane, Fig(b)
Ductile material
failure surface
Such shear stresses can be
transformed into an equivalent
 max max
system of normal stresses at angles
T T
of 45 ° with the shear stresses.
Numerically this stresses are related
to each other in the following 45
manner, 𝜏 = 𝜎1 = − 𝜎2 . Brittle material
failure surface

Fig(b)

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 Torsion in Shafts and Tubes

Fig: Shear failure of shaft subject to torque.

• Ductile materials generally fail in shear. Brittle materials are weaker in
tension than shear.
• When subjected to torsion, a ductile specimen breaks along a plane of
maximum shear, i.e., a plane perpendicular to the shaft axis.
• When subjected to torsion, a brittle specimen breaks along planes
perpendicular to the direction in which tension is a maximum, i.e., along
surfaces at 45o to the shaft axis.
• If shear resistance parallel to grains or fibers, directed along the axis of the
shaft, is much less than its resistance perpendicular to the fibers, directed in
the plane of the cross section, then split will occur along the axial plane
when subjected to excessive torque

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Torsion in Shafts and Tubes

Example 01

Shaft BC is hollow with inner and outer diameters

of 90 mm and 120 mm, respectively. Shafts AB and
CD are solid and 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.

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Torsion in Shafts and Tubes

SOLUTION:
• Cut sections through shafts AB and BC and perform static equilibrium analysis to find torque
loadings.

Fig. 1 Free-body diagram for section between A and B. Fig. 2 Free-body diagram for section between B and C.

 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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 Torsion in Shafts and Tubes

Part (a)
 min c1  min 45 mm  max  86.2 MPa
 
 max c2 86.2 MPa 60 mm
 min  64.7 MPa
 min  64.7 MPa

Part (b)

Fig. 3 Shearing stress distribution on cross section.

Ip 

2
c 4
2 
 c14 

2
0.060
4
 0.045
4

Fig. 4 Free-body diagram of shaft portion AB.
6
 13.92  10 m 4

Tc Tc 6 kN  m
TBC c2 20 kN  m 0.060 m   max   65MPa 
 max   2   J  c4  c3
Ip 13.92 106 m 4 2 2

 86.2 MPa c  38.9 103 m

d  2c  77.8 mm

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Torsion in Shafts and Tubes

Design of circular member in torsion for strength

Power is defined as the work performed per unit of time. Also, the work transmitted by a rotating shaft equals
the torque applied times the angle of rotation. Therefore, if during an instant of time 𝑑𝑡 an applied torque 𝑇
causes the shaft to rotate 𝑑𝜃, then the instantaneous power is
𝑇𝑑𝜃
𝑃=
𝑑𝑡
Angular velocity, 𝜔 = 𝑑𝜃/𝑑𝑡
𝑃=𝑇𝜔
the frequency of a shaft’s rotation, 𝑓, is the measure of the number of revolutions or cycles the shaft makes per
second and is expressed in hertz (1 Hz = 1 cycle/s). Since 1 cycle = 2𝜋 rad, then 𝜔 = 2𝜋𝑓, and so the above
equation for power becomes,
𝑃 = 2𝜋𝑓𝑇

Generally, Power is represented in hp and 1hp=745.7 W, So

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Torsion in Shafts and Tubes

Example 2
Select solid shafts to transmit 150 kW each without exceeding a shear stress of 70 MPa. One of these shafts
operates at a frequency of 0.30 Hz and the other at frequency of 300 Hz.
Solution:
Let subscript 1 apply to slow-speed shaft and 2 to the high-speed shaft

159 × 𝑘𝑊 159 × 150

𝑇1 = = = 79500 N. m
𝑓1 0.30
Similarly,
𝑇2 =79.5 N. m

𝑇1 𝑐1 𝐼𝑝1 𝑇1 79500
𝜏𝑚𝑎𝑥 = → = = = 1.14 × 106 𝑚𝑚3
𝐼𝑝1 𝑐1 𝜏𝑚𝑎𝑥 70
𝐼𝑝1 𝜋𝑑13
= → 𝑑1 = 180 𝑚𝑚
𝑐1 16

𝑆𝑖𝑚𝑖𝑙𝑎𝑟𝑙𝑦 → 𝑑2 = 18 𝑚𝑚

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Torsion in Shafts and Tubes

Angle of Twist
Figure (a) shows a circular shaft of radius c rigidly held at one end D.
Radial plane within the shaft is shown shaded. Figure (b) shows the
same shaft after a torque T has been applied at the free end. As a result,
the shaded plane of Figure (a) will twist as shown in Figure (b).
However, according to assumption made earlier any cross-section of the
shaft remains plane after torque T has been applied. So the two cross-
sections at a distance of dx in Figure (b) are plane. A small portion of
length dx is isolated in Figure (c). The torque at each end is T.
The plane OACD warps into plane OA′CD. Point A moves to A′, and
point B on a circle of smaller radius moves to B′, while remaining on the
same circle. 𝑑𝜑 is the angle moved by radius OA (unloaded position) to
OA′ (load position), 𝑑𝜑 is the angle of twist. The line AC on the surface
of the shaft in unloaded condition, now occupies the position A′C after
loading. The angle between AC and A′C is γ𝑚𝑎𝑥 at point C. γ𝑚𝑎𝑥 is
apparently the shear-strain in shaft in length dx. It is apparent, shear-
strain will be maximum on the surface and will reduce linearly from C to
D. It will eventually become zero at D, the center of the cross-section.
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 Torsion in Shafts and Tubes

From geometry,
arc 𝐴𝐴ʹ= γ𝑚𝑎𝑥 𝑑𝑥 or arc 𝐴𝐴ʹ= 𝑑𝜑 𝑐
where both angles are small and measured in radians. Hence,
γ𝑚𝑎𝑥 𝑑𝑥 = 𝑑𝜑 𝑐
Limiting attention to linearly elastic response,
τ 𝑇𝑐 𝑇𝑐
γ𝑚𝑎𝑥 = 𝑚𝑎𝑥 And, 𝜏 𝑚𝑎𝑥 = So, γ𝑚𝑎𝑥 =
𝐺 𝐼𝑝 𝐼𝑝 𝐺
The governing differential equation for angle of twist
𝑑𝜑 𝑇 𝑇𝑑𝑥
=𝐼 or 𝑑𝜑 =
𝑑𝑥 𝑝𝐺 𝐼𝑝 𝐺

This gives the relative angle of twist of two adjoining sections an infinitesimal distance dx apart. To
find the total angle of twist 𝜑 between any two sections 𝐴 and B on a shaft a finite distance apart, the
rotations of elements must be summed. Hence, a general expression for the angle of twist between any
two sections of a shaft of a linearly elastic material is
𝐵 𝐵
𝑇𝑥 𝑑𝑥
𝜑 = 𝜑𝐵 − 𝜑𝐴 = න 𝑑 𝜑 = න
𝐴 𝐴 𝐼𝑝𝑥 𝐺

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Torsion in Shafts and Tubes

𝑇 𝑑𝑥 𝑇 𝐿
𝜑=න =
𝐼𝑝 𝐺 𝐼𝑝 𝐺

𝑃𝐿
∆=
𝐴𝐸

𝑃
𝑘= ∆
∆
Torsional Spring Constant or, Torsional Stiffness
𝑇
𝑘𝑡 =
𝜑

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Torsion in Shafts and Tubes

Example 3:
The four rigid gears, loaded as shown in Fig. (a), are attached to a 2-in. diameter solid steel shaft. Compute the
angle of twist of gear 𝐴 relative to gear 𝐷. Use 𝐺 = 12 × 106 psi for the shaft.

Solution:

600 lb. ft

T (lb.ft)

𝜑𝐴Τ𝐷 = 𝜑𝐴Τ𝐵 + 𝜑𝐵Τ𝐶 + 𝜑𝐶Τ𝐷

600
500
𝑇𝐴𝐵 𝐿𝐴𝐵 + 𝑇𝐵𝐶 𝐿𝐵𝐶 + 𝑇𝐶𝐷 𝐿𝐶𝐷
𝜑 𝐴 Τ𝐷 =
𝐺𝐼𝑝
x (ft)
(500 × 12)(5 × 12) − (400 × 12)(3 × 12) + (600 × 12)(4 × 12)
400 =
[𝜋(2)4 /32](12 × 106 )
= 0.02827 rad = 1.620𝑂

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Torsion in Shafts and Tubes

Example 4:

The two solid steel shafts shown in Fig. (a) are coupled together using
the meshed gears. Determine the angle of twist of end A of shaft AB,
when the torque T= 45 Nm is applied. Take G= 80 GPa. Shaft AB is
free to rotate within bearings E and F, where as shaft DC is fixed at D.
Each shaft has a diameter of 20 mm

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Torsion in Shafts and Tubes

Solution:
Internal Torque: Summing moments along the 𝑥 axis of
shaft 𝐴𝐵 yields the tangential reaction between the gears of
𝐹 = 45𝑁. 𝑚/0.15𝑚 = 300 N. Summing moments about
the 𝑥 axis of shaft 𝐷𝐶, this force then creates a torque of
(𝑇𝐷 )𝑋 = 300𝑁 (0.075 m) = 22.5 𝑁. 𝑚 on shaft 𝐷𝐶.

Angle of Twist: To solve the problem, first the rotation of

gear 𝐶 due to the torque of 22.5 𝑁. 𝑚 in shaft 𝐷𝐶 is
calculated (𝐹𝑖𝑔. 𝑐). This angle of twist is
𝑇𝐿𝐷𝐶
𝜑𝐶 =
𝐼𝑝 𝐺
(+22.5𝑁 ⋅ 𝑚)(1.5𝑚)
=
(𝜋/2)(0.010𝑚)4 [80(109 )𝑁/𝑚2 ]
= +0.0269 rad

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Torsion in Shafts and Tubes

Since the gears at the end of the shaft are in mesh, the rotation 𝜑𝐶 of
gear 𝐶 causes gear 𝐵 to rotate 𝜑𝐵 (Fig. 𝑏), where
𝜑𝐵 (0.15𝑚) = (0.0269 rad)(0.075 m)
𝜑𝐵 = 0.0134 rad
the angle of twist of end 𝐴 with respect to end 𝐵 of shaft 𝐴𝐵 caused
by the 45 𝑁. 𝑚 torque,
𝑇𝐴𝐵 𝐿𝐴𝐵
𝜑𝐴/𝐵 =
𝐼𝑝 𝐺
(+45𝑁⋅𝑚)(2𝑚)
=
(𝜋/2)(0.010𝑚)4 [80(109 )𝑁/𝑚2 ]
= +0.0716 rad
The rotation of end 𝐴 is therefore determined by adding 𝜑𝐵 and
𝜑𝐴/𝐵 , since both angles are in the same direction (Fig. 𝑏).
𝜑𝐴 = 𝜑𝐵 + 𝜑𝐴/𝐵 = 0.0134 rad +0.0716 rad = +0.0850 rad Ans.

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Torsion in Shafts and Tubes

Statically Indeterminate Torque-Loaded Members

torsional member may be statically indeterminate if they are
constrained by more supports than are required to hold them in
static equilibrium, or the torsional member is made by two or
more kinds of materials

Procedure to solve

• Draw the required free-body diagrams and write the

equations of equilibrium.
• Derive the compatibility equations from the restrictions
imposed on the angles of twist.
• Use the torque- twist relationships to express the angles of
twist in the compatibility equations in terms of the torques.

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Torsion in Shafts and Tubes

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

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Torsion in Shafts and Tubes

Equilibrium condition:
𝛴𝑀𝜒 = 0; −𝑇𝐵 + 800 − 500 − 𝑇𝐴 = 0
→ 𝑇𝐴 = 300 − 𝑇𝐵

Compatibility Condition:
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
𝜑𝐴Τ𝐵 = 0

𝑇𝐵 800 500 300 − 𝑇𝐵

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Torsion in Shafts and Tubes

𝑇𝐵 800 500 300 − 𝑇𝐵

0.2m 1.5 m 0.3 m

−𝑇𝐵 (0.2) 800 − 𝑇𝐵 )(1.5 300 − 𝑇𝐵 )(0.3

+ + =0
𝐼𝑝 𝐺 𝐼𝑝 𝐺 𝐼𝑝 𝐺

So, 𝑇𝐵 = 645𝑁 ⋅ 𝑚
𝑇𝐴 = −345𝑁 ⋅ 𝑚

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Torsion in Shafts and Tubes

Exercise

Ans:

Hint,

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Torsion in Shafts and Tubes

Solid Noncircular Shafts

In all cases the maximum shear stress occurs at a point on the

edge of the cross section that is closest to the center axis of the
shaft

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Torsion in Shafts and Tubes

• Previous torsion formulas are valid for

axisymmetric or circular shafts
Fig. Twisting of shaft with square cross section.
• Planar cross-sections of noncircular
shafts do not remain planar and stress
and strain distribution do not vary
linearly

• For uniform rectangular cross-sections,

Fig. Shaft with rectangular cross section, showing
T TL
 max  2
 the location of maximum shearing stress.
c1ab c2ab3G

• At large values of a/b, the maximum

shear stress and angle of twist for other
open sections are the same as a
rectangular bar.

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Torsion of Thin-walled Tubular Members

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Torsion in Shafts and Tubes

Torsion of Thin-walled Tubular Members

Consider a tube of an arbitrary shape of varying wall thickness 𝑡1 & 𝑡2 . 𝐹1 , 𝐹2 , 𝐹3 and 𝐹4 are equal to
the shear stresses acting on a cut plane multiplied by the respective areas.
σ 𝐹𝑥 = 0,
𝐹1 =𝐹3
𝐹1 =𝜏2 𝑡2 𝑑𝑥
𝐹3 =𝜏1 𝑡1 𝑑𝑥
Where, 𝜏2 and 𝜏1 are shear stresses acting on respective areas 𝑡2 𝑑𝑥 and 𝑡1 𝑑𝑥
Shear stresses on mutually perpendicular planes are equal at corner of an element at A.
𝜏2 =𝜏3
𝜏1 =𝜏4
𝜏1 𝑡1 =𝜏3 𝑡2
So, 𝑞 is constant in the plane of a section perpendicular to the axis of the member. An analysis can
be formulated such that the inner and outer boundaries of the wall can be thought of as a channel.
Because of this analogy q has been termed as shear flow.

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Now from the cross-section 𝑞𝑑𝑠 is the force per differential length
𝑞𝑑𝑠. 𝑟= resistance of the element ds to the applied torque
∴ 𝑇 = ර 𝑟𝑞𝑑𝑠

= 𝑞 ‫𝑠𝑑𝑟 ׯ‬
=𝑞2𝐴0
[𝑟𝑑𝑠 is twice the value of the shaded area of an infinitesimal triangle of altitude 𝑟 and base
𝑑𝑠]
Where, 𝐴0 = area enclosed by the center line of the contour
𝑇 = 𝑞2𝐴0
𝑇
𝑞=
2𝐴0

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 Torsion in Shafts and Tubes

work done by the shear flow acting on the element

1 1
𝑑𝑈 = 2 (force × distance ) = 2 (𝑞𝑑𝑠)(𝛾𝑑𝑥)

𝛾 = 𝜏Τ𝐺 = 𝑞 Τ𝐺 𝑡
𝑞2
𝑑𝑈 = 𝑑𝑠𝑑𝑥
2𝐺𝑡
The work U of the shear flow for the entire tube is obtained by
integrating over the middle surface of the tube. Noting that q and G
are constants and t is independent of x,
𝑞2 𝐿 𝑑𝑠 𝑞 2 𝐿 𝑑𝑠
𝑈= න (ර ) 𝑑𝑥 = ර
2𝐺 0 𝑡 2𝐺 𝑡
𝑆 𝑆

Conservation of energy requires U to be 𝑇 2 𝐿 𝑑𝑆 1

equal to the work of the applied torque ( ) ර = 𝑇𝜃
2𝐴0 2𝐺 𝑙 2
that is, U = Tθ/2 𝑠

𝑇𝐿 𝑑𝑠
The angle of twist of the tube is 𝜃= ර
4𝐺𝐴20 𝑡
𝑠

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Torsion in Shafts and Tubes

Example 6:

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Torsion in Shafts and Tubes

𝑇 𝑇
𝑞 = 2𝐴 → 𝜏 = 2𝐴
0 0𝑡

𝐴0 =

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Torsion in Shafts and Tubes

Example 7:

A steel tube with the cross section shown carries a torque T. The tube is 6 ft long
and has a constant wall thickness of 3/8 in. (1) Compute the torsional stiffness k of
the tube. (2) If the tube is twisted through 0.5°, determine the shear stress in the wall
of the tube. Use G =12 × 106 psi. and neglect stress concentrations at the corners.

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Torsion in Shafts and Tubes

Average width × height

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Torsion in Shafts and Tubes

Example 8:

An aluminum tube, 1.2 m long, has the semicircular cross section shown in the figure. If stress
concentrations at the corners are neglected, determine (1) the torque that causes a maximum
shear stress of 40MPa.and (2) the corresponding angle of twist of the tube. Use G = 28 Gpa
for aluminum.

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 Torsion in Shafts and Tubes

Part 1

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