5.

TORSION
Torsion
CHAPTER OBJECTIVES

✓ Discuss effects of applying torsional loading

to a long straight member
✓ Determine stress distribution within the
member under torsional load
✓ Determine angle of twist when material
behaves in a linear-elastic and inelastic
manner
✓ Discuss statically indeterminate analysis of
shafts and tubes
✓ Discuss stress distributions and residual stress
caused by torsional loadings
©2005 Pearson Education South Asia Pte Ltd 1
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TORSION
Torsion
CHAPTER OUTLINE
1. Torsional Deformation of a Circular Shaft
2. The Torsion Formula
3. Power Transmission
4. Angle of Twist
5. Statically Indeterminate Torque-Loaded
Members
6. *Solid Noncircular Shafts
7. *Thin-Walled Tubes Having Closed Cross
Sections
8. Stress Concentration
9. *Inelastic Torsion
10. *Residual Stress
©2005 Pearson Education South Asia Pte Ltd 2
5.
TORSION
Torsion
WHAT IS TORQUE AND TORSION?
• What is Torque?

✓ A force that changes the rotation of an object

✓ Causes an object to “twist or turn”
✓ Unit is N.m

• What is Torsion?
✓ Torsion is the deformation/twisting of
objects due to a pair of equal and opposite
torques
✓ Unit is N.m^2 (Pa)
©2005 Pearson Education South Asia Pte Ltd 3
5.
TORSION
Torsion
WHAT IS TORQUE/TORSION?
Examples?
✓ Turning a doorknob,
✓ fastening a bolt
✓ turning the steering wheel
✓ paddling a bicycle
✓ turning your head
✓ etc.

©2005 Pearson Education South Asia Pte Ltd 4

5.
TORSION
Torsion
WHAT IS TORQUE/TORSION?

©2005 Pearson Education South Asia Pte Ltd 5

5.
TORSION
Torsion
TORSIONAL DEFORMATION OF A CIRCULAR SHAFT

©2005 Pearson Education South Asia Pte Ltd 6

5.
TORSION
Torsion
TORSIONAL DEFORMATION OF A CIRCULAR SHAFT

T=Fxd
©2005 Pearson Education South Asia Pte Ltd 7
5.
TORSION
Torsion
TORSIONAL DEFORMATION OF A CIRCULAR SHAFT

©2005 Pearson Education South Asia Pte Ltd 8

5.
TORSION
Torsion
TORSIONAL DEFORMATION OF A CIRCULAR SHAFT

F ‘Turn’
r F
(no shear
stress)

T = F x r = N. mm
r
F

©2005 Pearson Education South Asia Pte Ltd 9

5.
TORSION
Torsion
TORSIONAL DEFORMATION OF A CIRCULAR SHAFT
• Torque is a moment that twists/deforms a
member about its longitudinal axis
• By observation, if angle of rotation is small, length
of shaft and its radius remain unchanged

©2005 Pearson Education South Asia Pte Ltd 10

5.
TORSION
Torsion
TORSIONAL DEFORMATION OF A CIRCULAR SHAFT
• Torque causes a shaft with circular x-section to
twist, such that shear strain in shaft is
proportional to its radial distance from its centre
‘Twist’
Fixed
Shear stress

©2005 Pearson Education South Asia Pte Ltd 11

5.
TORSION
Torsion
TORSION FORMULA
• shear strain in shaft is proportional to its radial
distance from its centre

©2005 Pearson Education South Asia Pte Ltd 12

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TORSION
Torsion
TORSION FORMULA

 dx=  d = DB

d
 =
dx

Since d / dx =  / = max /c
©2005 Pearson Education South Asia Pte Ltd 13
5.
TORSION
Torsion
TORSION FORMULA
• Provided that material is homogeneous and
Hooke’s law applies, shear stress determined
from torsion formula,

 / = max /c

 /  =  max /c

©2005 Pearson Education South Asia Pte Ltd 14

5.
TORSION
Torsion
TORSION FORMULA

 /  =  max /c

©2005 Pearson Education South Asia Pte Ltd 15

5.
TORSION
Torsion
TORSION FORMULA
• The integral in the equation can be represented as
the polar moment of inertia J, of shaft’s x-sectional
area computed about its longitudinal axis
Tc
 max =
J
 max = max. shear stress in shaft, at the outer surface
T = resultant internal torque acting at x-section, from
method of sections & equation of moment
equilibrium applied about longitudinal axis
J = polar moment of inertia at x-sectional area
c = outer radius pf the shaft
©2005 Pearson Education South Asia Pte Ltd 16
5.
TORSION
Torsion
TORSION FORMULA
• Shear stress at intermediate distance, 
T
=
J
• The above two equations are referred to as the
torsion formula
• Used only if shaft is circular, its material
homogenous, and it behaves in an linear-elastic
manner

©2005 Pearson Education South Asia Pte Ltd 17

5.
TORSION
Torsion
TORSION FORMULA
Solid shaft
• J can be determined using area element in the form
of a differential ring or annulus having thickness d
and circumference 2 .
• For this ring, dA = 2 d

J= c4
2
• J is a geometric property of the circular area and
is always positive. Common units used for its
measurement are mm4 and m4.

©2005 Pearson Education South Asia Pte Ltd 18

5.
TORSION
Torsion
TORSION FORMULA
Tubular shaft

J= (co4 − ci4)
2

©2005 Pearson Education South Asia Pte Ltd 19

5.
TORSION
Torsion
TORSION FORMULA

Clockwise = -ve
Anticlockwise = +ve

-ve
+ve

©2005 Pearson Education South Asia Pte Ltd 20

5. Torsion

YOU WILL BE PUNISHED IF YOU COULD

NOT ANSWER THE QUESTION(S)

What is the
punishment?

You need to answer

questions from your friend
©2005 Pearson Education South Asia Pte Ltd 21
5.
TORSION
Torsion
WHAT IS TORQUE AND TORSION?
What is Torque?
✓ A force that changes the rotation of an
object
✓ Causes an object to “twist or turn”
✓ Unit is N.m

What is Torsion?
✓ Torsion is the deformation/twisting of
objects due to a pair of equal and
opposite torques
✓ Unit is N.m^2 (Pa)
©2005 Pearson Education South Asia Pte Ltd 22
5.
TORSION
Torsion
TORSION FORMULA

What is the shear stress formula due to torsion?

d
 =
dx

 
J= c4 J= (co4 − ci4)
2 2
©2005 Pearson Education South Asia Pte Ltd 23
5.
TORSION
Torsion
EXAMPLE
Shaft shown supported by two bearings and subjected to three
torques. Determine shear stress developed at points A and B,
located at section a-a of the shaft. Point A is at  = c = 75 mm,
point B, at  = 15 mm

©2005 Pearson Education South Asia Pte Ltd 24

5.
TORSION
Torsion
EXAMPLE
Internal torque at a-a

 Mx = 0;

4250 kN·mm − 3000 kN·mm − T = 0

T = 1250 kN·mm
©2005 Pearson Education South Asia Pte Ltd 25
5.
TORSION
Torsion
EXAMPLE
Internal torque
T = 1250 kN·mm

Section property
J = /2(75 mm)4 = 4.97 107 mm4
Shear stress
Since point A is at  = c = 75 mm

A = Tc/J = ... = 1.89 MPa

©2005 Pearson Education South Asia Pte Ltd 26

5.
TORSION
Torsion
EXAMPLE
Shear stress
Likewise for point B, at  = 15 mm
B = T /J = ... = 0.377 MPa

Directions of the stresses

on elements A and B
established from
direction of resultant
internal torque T.

©2005 Pearson Education South Asia Pte Ltd 27

5.
TORSION
Torsion
ANLGE OF TWIST

???
©2005 Pearson Education South Asia Pte Ltd 28
5.
TORSION
Torsion
ANLGE OF TWIST

ϕ
Where is ?

©2005 Pearson Education South Asia Pte Ltd 29

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TORSION
Torsion
ANLGE OF TWIST, ϕ

©2005 Pearson Education South Asia Pte Ltd 30

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TORSION
Torsion
ANLGE OF TWIST
• Angle of twist of circular shaft determined from
L T(x) dx
 =∫
0 JG
• If torque, cross sectional area and JG are
constant, then
TL
 =
JG
• If shaft is subjected to several
different torques, or x-sectional
area or shear modulus changes
TL
suddenly from one region of the  =
shaft to the next JG
©2005 Pearson Education South Asia Pte Ltd 31
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TORSION
Torsion
ANLGE OF TWIST
• Angle of twist is important when analyzing reactions
on statically indeterminate shafts
L T(x) dx
 = ∫0
J(x) G
 = angle of twist, in radians
T(x) = internal torque at arbitrary position x, found
from method of sections and equation of
moment equilibrium applied about shaft’s axis
J(x) = polar moment of inertia as a function of x
G = shear modulus of elasticity for material
©2005 Pearson Education South Asia Pte Ltd 32
5. Torsion

YOU WILL BE PUNISHED IF YOU COULD

NOT ANSWER THE QUESTION(S)

What is the
punishment?

You need to answer

questions from your friend
©2005 Pearson Education South Asia Pte Ltd 33
5.
TORSION
Torsion
ANLGE OF TWIST

Where are ϕ and  ?

©2005 Pearson Education South Asia Pte Ltd 34

5.
TORSION
Torsion
EXAMPLE
50-mm-diameter solid cast-iron
post shown is buried 600 mm
in soil.
Determine maximum shear
stress in the post and angle of
twist at its top.
Assume torque about to turn
the post, and soil exerts
uniform torsional resistance of
t N·mm/mm along its 600 mm
buried length. G = 40(103) GPa
©2005 Pearson Education South Asia Pte Ltd 35
5.
TORSION
Torsion
EXAMPLE

Internal torque (at section A-B)

Internal torque (at section B-C)

©2005 Pearson Education South Asia Pte Ltd 36

5.
TORSION
Torsion
EXAMPLE
Internal torque
From free-body diagram at a section A to B

 Mz = 0; TAB = 100 N(300 mm) = 30  103 N·mm

©2005 Pearson Education South Asia Pte Ltd 37
5.
TORSION
Torsion
EXAMPLE
Internal torque
Hence, from free-body diagram of a section of the
post located at position x within region BC, we have

B
 Mz = 0;

TBC − t x = 0
TBC = t x Torque,
C t = N·mm/mm

©2005 Pearson Education South Asia Pte Ltd 38

5.
TORSION
Torsion
EXAMPLE
Internal torque
Magnitude of the uniform distribution of torque along
buried segment BC can be determined from
equilibrium of the entire post.

 Mz = 0;
t = N·mm/mm

TAB − t(600 mm) = 0

30  103 N·mm − t(600 mm) = 0
t = 50 N·mm/mm

©2005 Pearson Education South Asia Pte Ltd 39

5.
TORSION
Torsion
EXAMPLE
Internal torque
Hence, from free-body diagram of a section of the
post located at position x within region BC, we have

B
 Mz = 0;

TBC − 50x = 0
TBC = 50x
C

©2005 Pearson Education South Asia Pte Ltd 40

5.
TORSION
Torsion
EXAMPLE
Maximum shear stress
Largest shear stress occurs in region AB, since
torque largest there and J is constant for the post.
Applying torsion formula
TAB c
max = = ... = 1.22 N/mm2
J

©2005 Pearson Education South Asia Pte Ltd 41

5.
TORSION
Torsion
EXAMPLE
Angle of twist
Angle of twist at the top can be determined relative
to the bottom of the post, since it is fixed and yet is
about to turn. Both segments AB and BC twist, so

LBC
TAB LAB TBC dx TBC = 50x
A =
JG
+
∫ 0 JG xBC = 600 mm
...

A = 0.00147 rad

©2005 Pearson Education South Asia Pte Ltd 42

5.
TORSION
Torsion
STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS

• A torsionally loaded shaft is statically indeterminate

if moment equation of equilibrium, applied about
axis of shaft, is not enough to determine unknown
torques acting on the shaft

©2005 Pearson Education South Asia Pte Ltd 43

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TORSION
Torsion
STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS

• From free-body diagram, reactive torques at

supports A and B are unknown, Thus,
 Mx = 0; T − TA − TB = 0
• Since problem is statically
indeterminate, formulate the
condition of compatibility; end
supports are fixed, thus angle of
twist of both ends should sum to
zero
A/B = 0

©2005 Pearson Education South Asia Pte Ltd 44

5.
TORSION
Torsion
STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS

• Assume linear-elastic behavior, and using load-

displacement relationship,  = TL/JG, thus
compatibility equation can be written as
TA LAC TB LBC
− =0
JG JG

TA = …………

Substitute in.

T − TA − TB = 0
©2005 Pearson Education South Asia Pte Ltd 45
5.
TORSION
Torsion
STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS

Therefore,

LBC
TA = T ( )
L

LAC
TB = T( )
L

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5.
TORSION
Torsion
EXAMPLE

©2005 Pearson Education South Asia Pte Ltd

5.
TORSION
Torsion
EXAMPLE

©2005 Pearson Education South Asia Pte Ltd

5.
TORSION
Torsion
EXAMPLE

©2005 Pearson Education South Asia Pte Ltd

5.
TORSION
Torsion
CHAPTER OUTLINE
1. Torsional Deformation of a Circular Shaft
2. The Torsion Formula
3. Power Transmission
4. Angle of Twist
5. Statically Indeterminate Torque-Loaded
Members
6. *Solid Noncircular Shafts
7. *Thin-Walled Tubes Having Closed Cross
Sections
8. Stress Concentration
9. *Inelastic Torsion
10. *Residual Stress
©2005 Pearson Education South Asia Pte Ltd 50
5.
TORSION
Torsion
SOLID NONCIRCULAR SHAFTS
• Shafts with noncircular x-sections are not
axisymmetric, as such, their x-sections will bulge or
warp when it is twisted
• Torsional analysis is complicated and thus is not
considered for this text.

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TORSION
Torsion
SOLID NONCIRCULAR SHAFTS

• Solid noncircular
shafts tend to warp
out of plane when
subjected to torque.
Formulas are
available to
determine elastic
shear stress and twist
for these cases

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5.
TORSION
Torsion
SOLID NONCIRCULAR SHAFTS

©2005 Pearson Education South Asia Pte Ltd

5.
TORSION
Torsion
SOLID NONCIRCULAR SHAFTS

©2005 Pearson Education South Asia Pte Ltd

5.
TORSION
Torsion
THIN-WALLED TUBES HAVING CLOSED CROSS SECTIONS

Shear flow
• Force equilibrium requires the
forces shown to be of equal
magnitude but opposite direction,
thus AtA = BtB
• This product is called shear flow
q, and can be expressed as

q = avgt

• Shear flow measures force per unit

length along tube’s x-sectional area
©2005 Pearson Education South Asia Pte Ltd 55
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TORSION
Torsion
THIN-WALLED TUBES HAVING CLOSED CROSS SECTIONS

Average shear stress

T
avg =
2tAm
avg = average shear stress acting over
thickness of tube
T = resultant internal torque at x-section
t = thickness of tube where avg is to be
determined
Am = mean area enclosed within
boundary of centerline of tube’s
thickness
©2005 Pearson Education South Asia Pte Ltd 56
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TORSION
Torsion
THIN-WALLED TUBES HAVING CLOSED CROSS SECTIONS

Average shear stress

Since q = avgt, the shear flow throughout the x-
section is
T
q=
2Am

Angle of twist
Can be determined using energy methods

=
TL
4Am2G
∫
O
ds
t

©2005 Pearson Education South Asia Pte Ltd 57

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TORSION
Torsion
THIN-WALLED TUBES HAVING CLOSED CROSS SECTIONS

• Shear stress in tubes determined from

 = T/2tAm

Am = (50 mm)(50 mm) = 2500 mm2

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5.
TORSION
Torsion
STRESS CONCENTRATION
• Three common discontinuities
of the x-section are:
a) is a coupling, for connecting
2 collinear shafts together
b) is a keyway used to connect
gears or pulleys to a shaft
c) is a shoulder fillet used to
fabricate a single collinear
shaft from 2 shafts with
different diameters

©2005 Pearson Education South Asia Pte Ltd 59

5.
TORSION
Torsion
STRESS CONCENTRATION
• Dots on x-section indicate
where maximum shear stress
will occur
• This maximum shear stress
can be determined from
torsional stress-concentration
factor, K

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TORSION
Torsion
STRESS CONCENTRATION
• Stress concentrations
occur in shafts when x-
section suddenly
changes. Maximum shear
stress determined using
stress concentration
factor, K (found by
experiment and
represented in graphical
form).
• max = K(Tc/J)

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5.
TORSION
Torsion
POWER TRANSMISSION
• Power generated by rotating shaft is reported,
from which torque is derived; P = T
• Frequency f of a shaft’s rotation is often reported.
It measures the number of cycles per second
and since 1 cycle = 2 radians, and  = 2f T, then
power
P = 2f T

To design a shaft,
• Given P,  T c

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Torsion
TUTORIAL

©2005 Pearson Education South Asia Pte Ltd 63

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TORSION
Torsion
SOLUTION

TCD = TAB
©2005 Pearson Education South Asia Pte Ltd 64
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TORSION
Torsion
SOLUTION

©2005 Pearson Education South Asia Pte Ltd 65

5.
TORSION
Torsion
SOLUTION

T
=
J

TBC = 20 kN.m
C1 = 90 mm

C2= 120 mm

J=?


J= (co4 − ci4)
2 66
©2005 Pearson Education South Asia Pte Ltd
5.
TORSION
Torsion
SOLUTION

Tc1
 min = or
J

©2005 Pearson Education South Asia Pte Ltd 67

5.
TORSION
Torsion
SOLUTION

T
=
J

TAB = 6 kN.m
C= d =?


J= c4
2

max = ?
= 65 MPa 68
©2005 Pearson Education South Asia Pte Ltd
5.
TORSION
Torsion
SOLUTION

T
=
J

©2005 Pearson Education South Asia Pte Ltd 69