 Analogy Between Axial Deformation and Torsion

 There is a direct analogy between axial deformation and torsion, as indicated by the
entries in Table 4.1.

Sign convention
A sign convention for torsion is defined as follows:
 The longitudinal axis of the bar is labeled the x axis, with one end of the member
being taken as the origin.
 A positive torque, T(x), is a moment that acts on the cross section at x in a right-
hand-rule sense about the outer normal to the cross section. On a cross sectional cut
at x there will be equal and opposite torques T(x), as indicated in Figure (4.2b).
 A positive angle of rotation, ∅(𝒙𝒙), is a rotation of the cross section at x in a right-
hand-rule sense about the x axis, as illustrated in Figure (4.2c).

Figure (4.2): Torsional deformation; Sign convention for torsion

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 Assumptions
Following assumptions are made, while finding out shear stress in a circular shaft
subjected to torsion:
1) The material of the shaft is uniform,
2) The twist along the shaft is uniform,
3) Normal cross – sections of the shaft, which were plane and circular before the twist,
remain plane and circular even after the twist, and
4) All diameters of the normal cross – section, which were straight before the twist, remain
straight with their magnitude unchanged, after the twist.

Strain-Displacement Analysis
To determine the distribution of shearing strains in a
circular shaft of length L and radius c that has been
twisted through an angle ∅ (Figure 4.3a).
 Detaching from the shaft a cylinder of radius r,
we consider the small square element before any
load is applied (Figure 4.3b).
 As the shaft is subjected to a torsional load, the
element deforms into a rhombus (Figure 4.3c).
 The shearing strain 𝜸𝜸 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 of the
element considered here remain unchanged, the
shearing strain 𝜸𝜸 must be equal to the angle
between lines AB and A'B.
 We observe from Figure (4.3c) that, for small
values of 𝜸𝜸, we can express the arc length AA' as:
𝐴𝐴𝐴𝐴′ = 𝛾𝛾𝛾𝛾
 But, on the other hand, we have:
𝐴𝐴𝐴𝐴′ = 𝜌𝜌∅
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  It follows that:
𝜌𝜌∅ = 𝛾𝛾𝛾𝛾
Or
𝜌𝜌∅
𝛾𝛾 = … (4.1)
𝐿𝐿
Where 𝜸𝜸 and ∅ are both expressed in radians.
 It follows from Eq. (4.1) that the shearing strain is maximum on the surface of the
shaft, where 𝝆𝝆 = 𝒄𝒄. We have:
𝑐𝑐. ∅
𝛾𝛾𝑚𝑚𝑚𝑚𝑚𝑚 = … (4.2)
𝐿𝐿
 Eliminating ∅ from Eqs. (4.1) and (4.2), we can express the shearing strain g at a
distance r from the axis of the shaft as:
𝜌𝜌
𝛾𝛾 = 𝛾𝛾 … (4.3)
𝑐𝑐 𝑚𝑚𝑚𝑚𝑚𝑚
STRESSES IN THE ELASTIC RANGE
 Let us now consider the case when the torque T is such that all shearing stresses in
the shaft remain below the yield strength 𝜏𝜏𝑦𝑦 .
 Recalling Hooke’s law for shearing stress and strain:
𝜏𝜏 = 𝐺𝐺𝐺𝐺 … (4.4)
Where G is the modulus of rigidity or shear modulus of the material.
Multiplying both members of Eq. (4.3) by G, we write:
𝜌𝜌
𝐺𝐺𝐺𝐺 = 𝐺𝐺𝛾𝛾 … (4.5)
𝑐𝑐 𝑚𝑚𝑚𝑚𝑚𝑚
𝜌𝜌
𝜏𝜏 = 𝜏𝜏𝑚𝑚𝑚𝑚𝑚𝑚 … (4.6)
𝑐𝑐
 Figure (4.4a) shows the stress distribution in a solid circular shaft of radius c, and
Figure (4.4b) in a hollow circular shaft of inner radius c1 and outer radius c2. From
Eq. (4.6), we find that, in the latter case,

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 𝑐𝑐1
𝜏𝜏𝑚𝑚𝑚𝑚𝑚𝑚 = 𝜏𝜏 … (4.7)
𝑐𝑐2 𝑚𝑚𝑚𝑚𝑚𝑚
 The sum of the moments of the elementary forces exerted on any cross section of
the shaft must be equal to the magnitude T of the torque exerted on the shaft:

Figure (4.4): Distribution of shearing stresses.

� 𝜌𝜌(𝜏𝜏𝜏𝜏𝜏𝜏) = 𝑇𝑇 … (4.8)

Substituting for 𝝉𝝉 from (4.6) into (4.8), we write:

𝜏𝜏𝑚𝑚𝑚𝑚𝑚𝑚
𝑇𝑇 = � 𝜌𝜌(𝜏𝜏𝜏𝜏𝜏𝜏) = � 𝜌𝜌2 𝑑𝑑𝑑𝑑 … (4.9)
𝑐𝑐
But, ∫ 𝜌𝜌2 𝑑𝑑𝑑𝑑 = 𝐽𝐽 ( 𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑜𝑜𝑜𝑜 𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢:), then:
𝜏𝜏𝑚𝑚𝑚𝑚𝑚𝑚 . 𝐽𝐽
𝑇𝑇 = … (4.10)
𝑐𝑐
𝑻𝑻. 𝒄𝒄
𝑜𝑜𝑜𝑜 𝝉𝝉𝒎𝒎𝒎𝒎𝒎𝒎 = … (4.11)
𝑱𝑱
 Substituting for 𝝉𝝉𝒎𝒎𝒎𝒎𝒎𝒎 from Eqs.(4.11) into (4.6), we express the shearing stress at
any distance 𝝆𝝆 from the axis of the shaft as:
𝑻𝑻𝑻𝑻
𝝉𝝉 = … (4.12)
𝑱𝑱
Equations (4.11) and (4.12) are known as the elastic torsion formulas.
 Substituting for (𝜸𝜸) from Eq. (4.1) into Eq. (4.4) and then substituting for (𝝉𝝉) from
Eq. (4.4) into Eq.(4.12), we express the angle of twist (∅) in term of the torque (T):
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 𝑇𝑇𝑇𝑇
∅= … (4.13)
𝐺𝐺𝐺𝐺
Recall from statics that the polar moment of inertia of a circle of radius (r) is:
1
𝐽𝐽 = 𝜋𝜋𝑟𝑟 4
2
 In the case of a hollow circular shaft of inner radius (c1) and outer radius (c2), the
polar moment of inertia is:
1 1 1
𝐽𝐽 = 𝜋𝜋𝑐𝑐24 − 𝜋𝜋𝑐𝑐14 = 𝜋𝜋(𝑐𝑐24 − 𝑐𝑐14 )
2 2 2
 In Eq. 4.13, the torque-twist equation, T, G, and J may each vary with x as shown
in Figure (4.5). This derivative form of the torque-twist equation may be integrated
over the length of the member to give:
𝐿𝐿
𝑇𝑇(𝑥𝑥). 𝑑𝑑𝑑𝑑
∅=� … (4.14)
𝐺𝐺(𝑥𝑥). 𝐽𝐽(𝑥𝑥)
0

Figure (4.5)
Examples
Example (4.1): A uniform shaft of radius r and length L is subjected to a uniform
distributed external torque t0 (moment per unit length). (See Figure 4.6)
(a) Determine an expression for the maximum shear stress 𝝉𝝉𝒎𝒎𝒎𝒎𝒎𝒎 .
(b) Determine an expression for the total twist angle ∅ = ∅𝐿𝐿 .

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