CHAPTER 4: TORSION

Introduction:
The shafts besides taking up axial loads they can also be subjected to another type of loading
called as Torsion. Torsion occurs when any shaft is subjected to a torque (moment about the
axis of shaft). The torque makes the shaft twist and one end rotates relative to the other
inducing shear stress on any cross section.

Above figure shows an example of torsional shaft. Turbine exerts drive torque torque TD on
shaft; shaft transmits this torque to generator. The generator in turn creates an equal and
opposite resistant torque TR. The net effect of TD and TR is to twist the shaft and induce shear
stress.

Meaning of Pure Torsion:

A member is said to be in pure torsion when its cross sections are subjected to only torque
and not accompanied by axial forces or bending moment.
Consider a shaft with only torque applied on it as shown below; examine the deformation of a
length dx between two transverse planes of a shaft with an applied torque ‘T’. For this
differential element, assume the left end is fixed and the right end rotates by ‘dφ’ due to the
applied torque ‘T’, where ‘dφ’ is termed as Angle of Twist of the element.

The surface of radius ‘ρ’ rotates through angle ‘γ’, which is shear strain. The arc is defined as
length da, which is equal to:

This is constant for the cross-sectional plane. Above equation, states that the magnitude of
shear strains for any of these elements vary only with its radial distance ‘ρ’.
By using Hooke’s law and by substituting for shear strain ‘γ’ we have,

It implies that shear stress varies linearly to the distance ‘ρ’ away from the centre of the
section and represented as shown in fig below.

Theory of Pure Torsion:

Theory of pure torsion is framed in order to describe the behaviour of rotating members
subjected to torque. In theory of pure torsion, we derive equations that help to find shear
stress and angle of twist of the shaft. The assumptions made are;
(i) The materiel is homogenous and isotropic.
(ii) The material is elastic, follows Hooke's law, with shear stress proportional to shear strain.
(iii) The stress does not exceed the elastic limit.
(iv) The circular section remains circular and plane even after subjected to torque.
(v) Cross section rotate as if rigid i.e. every diameter rotates through the same angle

Torsion Equation:
Consider a shaft of length L, radius R fixed at one end and subjected to a torque T at the other
end as shown in figure

Let O be the centre of circular section and B a point on the surface. AB be the line on the
shaft parallel to the axis of shaft. Due to torque T applied let B move to B l. If φ is shear strain
Triangle BOB’ and θ is the angle of twist in length L, then;
BBl = Rθ = Lφ --------- (1)
If ‘qs’ is the shear stress and G is the modulus of rigidity, then from hooke’s law we have

substituting this in (1) for shear strain ‘φ’ and re-arranging we get,

----------- (2)
Similarly, if the point B considered is at any distance r from centre instead of on the surface,
it can be shown that,

------------- (3)
From equation (2) and (3),


Thus shear stress increases linearly from zero at axis to the maximum value ‘qs’ at surface.

Now consider the torsional resistance developed by an elemental area ‘δa’ at distance ‘r’
from centre. If q is the shear stress developed in the element then the corresponding shear
force is given by,

-------------- (4)
Comparing equation (3) and (4), we can write,

This equation is called as torsional equation.

Where, T -Twisting moment (N-mm)
J -Polar moment of inertia (mm4)
q -Shear stress in the element (N/mm2)
r -Distance of element from centre of shaft (mm)
G -Modulus of rigidity (N/mm2)
θ -Angle of twist (radians)
L -Length of shaft (mm)
Polar Modulus (Zp):
From torsion equation we can write,

Where ‘Zp’ is called as Polar Modulus of Section.

It may be observed that ‘Zp’ is the property of the section and may be defined as the ratio of
polar moment of inertia (J) to extreme radial distance from the centroid axis (R).
i) For solid circular section of diameter d:

ii) For hollow circular section of outer diameter d 1 and inner diameter d2:

Torsional Rigidity/Stiffness of Shaft:

From torsion equation we can write,

The term GJ is known as torsional rigidity or stiffness which is the measure of torque
required to introduce unit angle of twist in unit length. Note that, this term is analogous to the
term flexural rigidity (EI) used in theory of bending.
Power transmitted by rotating member:
Power is the rate of doing work. Rotating members like shafts are often used to transmit
power from one end to other. To achieve this, a shaft must be rotated at desired speed to
transmit known amount of torque. Therefore, the power transmitted by a shaft it is given by,
2𝜋 𝑁 𝑇
𝑃=
60
Where, T = Torque in N-m, N = Speed of shaft in rpm, P is power transmitted in watt
Comparison between Solid and Hollow Shafts:
Illustration 1: Prove that a hollow shaft is stronger and stiffer than a solid shaft of same
material, length and weight.
Illustration-2:
A hollow shaft and a solid shaft has same material, same length, same outer radius R, and Ri
= 0.6 R for the hollow shaft, (a) For same T, compare their τ, θ and W
(b) Determine the strength to weight ratio
NUMERICAL:
P-1

P-2

P-3

P-4

Torsion of compound/stepped shafts:

A shaft may consist of a number of small shafts of different cross sections or different
materials. To analyse these shafts, first torque resisted by each portion is found and then
individual effects are clubbed. While finding torque resisted by each portion the following
points are to be noted.
a. At fixed end torque of required magnitude develops to keep the shaft in equilibrium
b. The torques developed at the ends of any portion are equal and opposite
c. At common point between two portions angle of twist is the same.
Example 1:
Example 2:

Numerical on compound/stepped shafts:

Solution Hint:
Solution Hint:

and
P-10
A stepped shaft is subjected to a torque as shown in figure. Determine the angle of twist at
the free end. Take G = 80 GPa. Also, determine maximum shear stress segment of the shaft.

Solution Hint:

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