Mechanics of Materials (AM 551)

P. R. Shakya

P.R.Shaya 1
 Mechanics of Materials

Chapter 3
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Torsion

Mechanics of Materials
F.P. Beer, E.R. Johnston, Jr. J.T. DeWolf

P.R.Shakya 2
 Mechanics of Materials
Torsional Loads on Circular Shafts
• Stresses and strains of circular
shafts subjected to twisting couples
or torques

• Turbine exerts torque T on the shaft

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• Shaft transmits the torque to the

generator

• Generator creates an equal and

opposite torque T’

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 Mechanics of Materials
Torsional Loads on Circular Shafts
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 Mechanics of Materials
Net Torque Due to Internal Stresses
• 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

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stresses is known, the distribution of the stresses

is not

• Distribution of shearing stresses is statically

indeterminate – must consider shaft
deformations

• Unlike the normal stress due to axial loads, the

distribution of shearing stresses due to torsional
loads can not be assumed uniform.

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 Mechanics of Materials
Axial Shear Components
• Torque applied to shaft produces
shearing stresses on the faces
perpendicular to the axis.
• Conditions of equilibrium require the
existence of equal stresses on the faces of the
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two planes containing the axis of the shaft

• The existence of the axial shear components

is demonstrated by considering a shaft made
up of axial slats pinned at both ends of disks.

The slats slide with respect to each other

when equal and opposite torques are applied
to the ends of the shaft.
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 Mechanics of Materials
Shaft Deformations

• From observation, the angle of twist of the

shaft is proportional to the applied torque
and to the shaft length.
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 T
L
• When subjected to torsion, every cross-section
of a circular shaft remains plane and
undistorted.
• Cross-sections for hollow and solid circular
shafts remain plain and undistorted because a
circular shaft is axisymmetric.
• Cross-sections of noncircular (non-
axisymmetric) shafts are distorted when
subjected to torsion.
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 Mechanics of Materials
Shearing Strain

• Consider an interior section of the shaft. As

a torsional load is applied, an element on the
interior cylinder deforms into a rhombus.
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• Since the ends of the element remain planar,

the shear strain is equal to angle of twist.

• It follows that

L   or  
L
• Shear strain is proportional to twist and radius
c 
max and   max
L c
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 Mechanics of Materials
Stresses in Elastic Range
• Multiplying the previous equation by the
shear modulus,

G  G max
c
From Hooke’s Law,   G , so

  max
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c
J  12  c 4 The shearing stress varies linearly with
the radial position in the section.
• Recall that the sum of the moments from
the internal stress distribution is equal to
the torque on the shaft at the section,
 
T    dA  max   2 dA  max J
c c
• The results are known as the elastic

J  12  c24  c14  torsion formulas,
Tc T
 max  and  
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 Mechanics of Materials
Normal Stresses • Elements with faces parallel and perpendicular
to the shaft axis are subjected to shear stresses
only.
• For other orientations, Normal stresses,
shearing stresses or a combination of both may
be found.
• For Eg., Consider an element C at 45o to the
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shaft axis,
F  2 max A0 cos 45   max A0 2
F  max A0 2
 45o     max
A A0 2

• Element a is in pure shear.

• Element c is subjected to a tensile stress on
two faces and compressive stress on the other
two.
• Note that all stresses for elements a and c have
the same magnitude
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 Mechanics of Materials
Torsional Failure Modes

• Ductile materials generally fail in

shear.
• Brittle materials are weaker in
tension than shear.
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• When subjected to torsion, a ductile

specimen breaks along a plane of
maximum shear, i.e., a plane
perpendicular to the shaft axis.

(a) Ductile Failure • 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.
(b) Brittle Failure
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 Mechanics of Materials
Sample Problem 3.1
SOLUTION:
• Cut sections through shafts AB
and BC and perform static
equilibrium analysis to find
torque loadings TAB, TCD
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• Apply elastic torsion formulas to

find minimum and maximum
stress on shaft BC
Shaft BC is hollow with inner and outer
diameters of 90 mm and 120 mm, • Given allowable shearing stress
respectively. Shafts AB and CD are solid and applied torque, invert the
of diameter d. For the loading shown, elastic torsion formula to find the
determine (a) the minimum and maximum required diameter
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. P.R.Shakya 3 - 12
 Mechanics of Materials
Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB and BC
and perform static equilibrium analysis
to find torque loadings
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 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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 Mechanics of Materials
Sample Problem 3.1
• Apply elastic torsion formulas to
• Given allowable shearing stress and
find minimum and maximum
applied torque, invert the elastic torsion
stress on shaft BC
formula to find the required diameter
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c24  c14   0.060 4  0.0454 

 
J Tc Tc 6 kN  m
2 2  max   65MPa 
6 4 J  c4  c3
 13.92  10 m 2 2

T c 20 kN  m 0.060 m  c  38.9 103 m

 max   2  BC 2 
J 13.92 10 6 m 4 d  2c  77.8 mm
 86.2 MPa
 min c1  min 45 mm
 
 max c2 86.2 MPa 60 mm  max  86.2 MPa
 min  64.7 MPa  min  64.7 MPa
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 Mechanics of Materials
Angle of Twist  in Elastic Range
• Recall that the angle of twist and maximum
shearing strain are related, c
 max 
L
• In the elastic range, the shearing strain and
shear are related by Hooke’s Law,
 max Tc
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 max  
G JG
• Equating the expressions for shearing strain and
solving for the angle of twist, TL

JG
• If the torsional loading or shaft cross-section
changes along the length, the angle of rotation is
found as the sum of segment rotations
Ti Li
 
i J i Gi
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 Mechanics of Materials
Statically Indeterminate Shafts
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 Mechanics of Materials
Kinematic analysis of Gear meshing and Pullies
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 Mechanics of Materials
Kinematic analysis of Gear meshing and Pullies
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 Mechanics of Materials
Kinematic analysis of Gear meshing and Pullies
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 Mechanics of Materials
Sample Problem 3.4
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 Mechanics of Materials
Sample Problem 3.4
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 Mechanics of Materials
Sample Problem 3.4
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 Mechanics of Materials
Sample Problem 3.4
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 Mechanics of Materials
Design of Transmission Shafts
• Principal transmission shaft
performance specifications are:
- Power (P)…….. Watts (W)
- Speed of rotation () … rad/sec
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• Designer must select shaft

material and cross-section to
meet performance specifications • Find shaft cross-section which will not
without exceeding allowable exceed the maximum allowable
shearing stress and twisting shearing stress,
angle Tc
 max 
J
J  3 T
 c  solid shafts
c 2  max
J

 4 4
c2 2c2
 
c2  c1 
T
 max
hollow shafts
P.R.Shakya 3 - 24
 Mechanics of Materials
Stress Concentrations • The derivation of the torsion formula,
Tc
 max 
J
assumed a circular shaft with uniform
cross-section loaded through rigid end
plates.
• Cross-section discontinuities can cause
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stress concentrations K.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
 max  K
J

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 Mechanics of Materials
Plastic Deformations
• With the assumption of a linearly elastic material,
Tc
 max 
J
• If the yield strength is exceeded or the material has
a nonlinear shearing-stress-strain curve, this
expression does not hold.
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• Shearing strain varies linearly regardless of material

properties. Application of shearing-stress-strain
curve allows determination of stress distribution.
• The integral of the moments from the internal stress
distribution is equal to the torque on the shaft at the
section,
c c
T    2 d   2   2 d
0 0

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 Mechanics of Materials
Elastoplastic Materials
• At the maximum elastic torque,
J L Y
TY   Y  12 c3 Y Y 
c c
• As the torque is increased, a plastic region

(   Y ) develops around an elastic core (    Y )
Y
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L Y
Y 


2 c 3 1  1 Y3  
4 T 1  1 Y3 
T Y  3 Y
3

4
c 3

4
c3 
 3
4 T 1  1 Y 
T 3 Y 4 3
  

• As Y  0, the torque approaches a limiting value,

TP  43 TY  plastic torque

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 Mechanics of Materials
Residual Stresses
• Plastic region develops in a shaft when subjected to a
large enough torque
• When the torque is removed, the reduction of stress
and strain at each point takes place along a straight line
to a generally non-zero residual stress
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• On a T- curve, the shaft unloads along a straight line

to an angle greater than zero
• Residual stresses found from principle of superposition

Tc    dA  0
 
m
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 Mechanics of Materials
Example 3.08/3.09
SOLUTION:
• Solve Eq. (3.32) for Y/c and evaluate
the elastic core radius
• Solve Eq. (3.36) for the angle of twist
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• Evaluate Eq. (3.16) for the angle

A solid circular shaft is subjected to a which the shaft untwists when the
torque T  4.6 kN  m at each end. torque is removed. The permanent
Assuming that the shaft is made of an twist is the difference between the
elastoplastic material with  Y  150 MPa angles of twist and untwist
and G  77 GPa determine (a) the
• Find the residual stress distribution by
radius of the elastic core, (b) the
a superposition of the stress due to
angle of twist of the shaft. When the
twisting and untwisting the shaft
torque is removed, determine (c) the
permanent twist, (d) the distribution
of residual stresses.
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 Mechanics of Materials
Example
SOLUTION:3.08/3.09
• Solve Eq. (3.32) for Y/c and • Solve Eq. (3.36) for the angle of twist
evaluate the elastic core radius
1   Y
 1 Y3  Y  T  3  Y  
T  3 TY 1  4 3  
4   4  3  Y c Y c
 c  c  TY 

25 10 m Y 
TY L  
3.68 103 N 1.2 m 

 
1 c 4 1 3
J 
614 10-9 m 4 77 10 Pa 
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2 2 JG
 614 109 m 4 Y  93.4 103 rad
TY c  J
Y   TY  Y 93.4 103 rad
J c   148.3 103 rad  8.50o
0.630
TY 

150 106 Pa 614 109 m 4 
  8.50o
3
25 10 m
 3.68 kN  m
1
Y  4.6  3
 4 3   0.630
c  3.68 

Y  15.8 mm
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 Mechanics of Materials
Example 3.08/3.09
• Evaluate Eq. (3.16) for the angle • Find the residual stress distribution by
which the shaft untwists when a superposition of the stress due to
the torque is removed. The twisting and untwisting the shaft
permanent twist is the difference
between the angles of twist and  max
  
 
Tc 4.6 103 N  m 25 103 m 
J 614 10-9 m 4
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untwist
TL  187.3 MPa
 
JG
4.6 103 N  m 1.2 m 

6.14 109 m4 77 109 Pa 
 116.8 103 rad
φp    


 116.8 103  116.8 103 rad 
 1.81o
 p  1.81o
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 Mechanics of Materials
Torsion of Noncircular Members
• Previous torsion formulas are valid for
axisymmetric or circular shafts

• Planar cross-sections of noncircular

shafts do not remain planar and stress
and strain distribution do not vary
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linearly

• For uniform rectangular cross-sections,

T TL
 max  
c1ab 2 c2 ab3G

• 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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 Mechanics of Materials
Thin-Walled Hollow Shafts
• Summing forces in the x-direction on AB,
 Fx  0   A t Ax    B t B x 
 At A  Bt B   t  q  shear flow

shear stress varies inversely with thickness

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• Compute the shaft torque from the integral

of the moments due to shear stress
dM 0  p dF  p t ds   q pds   2q dA
T   dM 0   2q dA  2qA
T

2tA
• Angle of twist (from Chapt 11)
TL ds
 
4 A 2G t

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 Mechanics of Materials
Example 3.10
Extruded aluminum tubing with a rectangular
cross-section has a torque loading of 24 kip-
in. Determine the shearing stress in each of
the four walls with (a) uniform wall thickness
of 0.160 in. and wall thicknesses of (b) 0.120
in. on AB and CD and 0.200 in. on CD and
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BD.
SOLUTION:
• Determine the shear flow through the
tubing walls
• Find the corresponding shearing stress
with each wall thickness

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 Mechanics of Materials
Example 3.10
SOLUTION: • Find the corresponding shearing
stress with each wall thickness
• Determine the shear flow through the
tubing walls
with a uniform wall thickness,
q 1.335 kip in.
 
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t 0.160 in.
  8.34 ksi

with a variable wall thickness

1.335 kip in.
 AB   AC 
A  3.84 in.2.34 in.  8.986 in.2 0.120 in.
T 24 kip - in. kip  AB   BC  11.13 ksi
q 

2 A 2 8.986 in.2 
 1 .335
in.
1.335 kip in.
 BD   CD 
0.200 in.
 BC   CD  6.68 ksi
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