Solid Mechanics

NEC2102
Unit Coordinator: Prof. Sam Fragomeni

Session 10
Torsion
(Ch 10 Statics & Mech of Materials, 4 Ed by Hibbeler)
th
10.1 Torsional Deformation of a Circular Shaft
 Torque is a moment that twists a member about its
longitudinal axis.
 If the angle of rotation is small, the length of the shaft and
its radius will remain unchanged.
10.1 Torsional Deformation of a Circular Shaft
 Torque affects deformation of an element.
10.2 The Torsion Formula
 A linear variation in shear strain leads to a
corresponding linear variation in shear stress
along any radial line on the cross section. Derivation

Tc Tp
τ max = or τ =
J J
τ max = maximum shear stress in the shaft
τ = shear stress
T = resultant internal torque
J = polar moment of inertia of cross-sectional area
c = outer radius of the shaft
p = intermediate distance
10.2 The Torsion Formula
 If the shaft has a solid circular cross section,

π
J= c4
2

 If a shaft has a tubular cross section,

π
J=
2
(c 4
o − ci4 )
Example 10.1
The solid shaft of radius c is subjected to a torque T. Find the fraction of T that is
resisted by the material contained within the outer region of the shaft, which has an
inner radius of c/2 and outer radius c.

Solution:
Stress in the shaft varies linearly, thus τ = (ρ c )τ max

The torque on the ring (area) located within

the lighter-shaded region is
dT ' = ρ (τdA) = ρ (ρ c )τ max (2πρdρ )

For the entire lighter-shaded area the torque is

2πτ max 15π

c
T'= ∫c / 2ρ ρ = τ
3 3
d max c (1)
c 32
Solution:
Using the torsion formula to determine the maximum stress in the shaft, we have

Tc Tc
τ max = =
J (π 2 )c 4
2T
τ max = 3
πc

Substituting this into Eq. 1 yields

15
T'= T (Ans)
16
Example 10.2
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.

Solution:
From the free-body diagram of the left segment,

∑M x = 0; 4250 − 3000 − T = 0 ⇒ T = 1250 kNmm

The polar moment of inertia for the shaft is

π
J= (75)4 = 4.97 ×107 mm
2
Since point A is at ρ = c = 75 mm,
Tc (1250)(75)
τB = = = 1.89 MPa (Ans)
J 4.97 ×107
Likewise for point B, at ρ =15 mm, we have
Tc (1250 )(15)
τB = = = 0.377 MPa (Ans)
J 4.97 ×107
10.4 Angle of Twist

From figure (b) above we get dx

•
dφ = γ
ρ
• Then substituting Hooke’s law, γ = τ/G and Torsion formula τ = T(x)p/J(x)

• We obtain:
T (x )
dφ = dx
J (x )G

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10.4 Angle of Twist
 Integrating over the entire length L of the shaft, we have
Φ = angle of twist
T ( x )dx
L
φ=∫ T(x) = internal torque
0
J ( x )G J(x) = shaft’s polar moment of inertia
G = shear modulus of elasticity for the material

 Assume material is homogeneous, G is constant, thus

TL
φ=
JG
 Sign convention is
determined by right hand rule,
10.4 Angle of Twist
 If a shaft is subjected to several different torques (or
cross-sectional area or shear modulus changes abruptly)
then apply φ = TL to each segment of the shaft that
JG
differs.
 Then φ = Σ TL
JG

 Sign convention is
determined by right hand rule,
Example 10.6
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.

Solution:
From free body diagram,
F = 45 / 0.15 = 300 N
(TD )x = 300(0.075) = 22.5 Nm
Angle of twist at C is

φC =
TLDC
=
(+ 22.5)(1.5) = +0.0269 rad
JG [ ]
(π 2)(0.001)4 80(10)9
Since the gears at the end of the shaft are in mesh,
φB (0.15) = (0.0269)(0.075) ⇒ 0.0134 rad
Solution:
Since the angle of twist of end A with respect to end B of shaft AB caused by the
torque 45 Nm,

φA/ B =
TAB LAB
=
(+ 45)(2) = +0.0716 rad
JG [ ( )]
(π 2)(0.010) 80 10
4 9

The rotation of end A is therefore

φ A = φB + φ A / B = 0.0134 + 0.0716 = +0.0850 rad (Ans)

10.6 SOLID NON-CIRCULAR SHAFTS (not
examined)

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 SOLID NON-CIRCULAR SHAFTS (cont)

Chapter 5: Torsion
Mechanics of Material 7th Edition
Copyright
© 2008 Pearson Education South Asia Pte Ltd ©2014 Pearson Education, All Rights Reserved
Example 5.13
The 6061-T6 aluminum shaft 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 τallow = 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? Gal = 26 GPa.

Solution:
By inspection, the resultant internal torque at any cross section
along the shaft’s axis is also T.

20T 20T
τ allow = 3
; 56 = 3
⇒ T = 179.2 Nm
a 40
46TL
= 4 ; 0.02 =
( )
46T (1.2 ) 103
⇒ T = 24.12 Nm (Ans)
oallow
a Gal [ ( )]
40 4 26 103

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

Solution:
For circular cross section, we have

Acircle = Atriangle ; πc 2 =
1
(40)(40 sin 60°) ⇒ c = 14.85 mm
2

The limitations of stress and angle of twist then require

Tc T (14.85)
τ allow = ; 56 = ⇒ T = 288.06 Nm
J (π / 2)(14.85)4

φallow =
TL
0.02 =
( )
T (1.2 ) 103
⇒ T = 33.10 Nm (Ans)
[ ( )]
;
JGal (π / 2)(14.85) 26 10
4 3

Again, the angle of twist limits the applied torque.

 10.2 TORSION FORMULA (Derivation)
• Assumptions:
 Linear and elastic deformation
 Plane section remains plane and undistorted

Chapter 5: Torsion
Mechanics of Material 7th Edition
Copyright
© 2008 Pearson Education South Asia Pte Ltd ©2014 Pearson Education, All Rights Reserved
 10.2 TORSION FORMULA (Derivation cont)
• Linear distribution of stress: τ = ρ τ
max
c
• Torsion – shear relationship:
An element dA is subjected to a force dF=τ dA.
The torque produced by this force dT = ρ(τ dA).

ρ
T = ∫ ρ (τ dA) = ∫ ρ  τ max dA
A A 
c
τ max
T= ∫ dA
ρ 2

c A

Tc
τ max =
J
Tρ
Similarily, τ =
J
Chapter 5: Torsion
Mechanics of Material 7th Edition
Copyright
© 2008 Pearson Education South Asia Pte Ltd ©2014 Pearson Education, All Rights Reserved
 10.2 TORSION FORMULA (derivation cont)
• Polar moment of inertia
 For solid shaft:
C
1 4
C C
2
( )
J = ∫ ρ dA = ∫ ρ 2πρdρ = 2π ∫ ρ dρ = 2π   ρ
2 3

A 0 4 0 0

π
J= c4
2
π
 For tubular shaft: J =
2
(c 4
o − ci4 )

Chapter 5: Torsion
Mechanics of Material 7th Edition
Copyright
© 2008 Pearson Education South Asia Pte Ltd ©2014 Pearson Education, All Rights Reserved