PETROVIETNAM UNIVERSITY

FUNDAMENTAL SCIENCES DEPARTMENT

STRENGTH OF MATERIALS

Chapter 3: Net Torque

Instructor: Le Van Sy, PhD

E-mail : [email protected]
 Contents

Introduction Statically Indeterminate Shafts

Torsional Loads on Circular Shafts Sample Problem 3.4
Net Torque Due to Internal Stresses Design of Transmission Shafts
Axial Shear Components Stress Concentrations
Shaft Deformations Plastic Deformations
Shearing Strain Elastoplastic Materials
Stresses in Elastic Range Residual Stresses
Normal Stresses Example 3.08/3.09
Torsional Failure Modes Torsion of Noncircular Members
Sample Problem 3.1 Thin-Walled Hollow Shafts
Angle of Twist in Elastic Range Example 3.10

Le Van Sy, PhD Strength of materials 3-2

 Torsional Loads on Circular Shafts

Le Van Sy, PhD Strength of materials 3

 Torsional Loads on Circular Shafts

• Interested in stresses and strains of

circular shafts subjected to twisting
couples or torques

• Turbine exerts torque T on the shaft

• Shaft transmits the torque to the

generator

• Generator creates an equal and

opposite torque T’

Le Van Sy, PhD Strength of materials 3-4

 Torsion

Le Van Sy, PhD Strength of materials 5

 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

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.

Le Van Sy, PhD Strength of materials 3-6

Le Van Sy, PhD Strength of materials 7
 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
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.

The slats slide with respect to each other when

equal and opposite torques are applied to the
ends of the shaft.

Le Van Sy, PhD Strength of materials 3-8

 Torsion of circular shaft

Le Van Sy, PhD Strength of materials 9

 Shaft Deformations

• From observation, the angle of twist of the

shaft is proportional to the applied torque and
to the shaft length.
 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.

Le Van Sy, PhD Strength of materials 3 - 10

 Circular and non-circular shaft

Le Van Sy, PhD Strength of materials 11

 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.

• 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

Le Van Sy, PhD Strength of materials 3 - 12

 Derivation of torsional shear stress circular cross section

Le Van Sy, PhD Strength of materials 13

 Stresses in Elastic Range
• Multiplying the previous equation by the
shear modulus,

G = G max
c
From Hooke’s Law, = G , so

=  max
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 torsion
(
J = 12  c24 − c14 ) formulas,
Tc T
 max = and  =
J J
Le Van Sy, PhD Strength of materials 3 - 14
 Twist of a Differential Element

Le Van Sy, PhD Strength of materials 15

 Normal Stresses

• Elements with faces parallel and perpendicular

to the shaft axis are subjected to shear stresses
only. Normal stresses, shearing stresses or a
combination of both may be found for other
orientations.
• Consider an element at 45o to the 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

Le Van Sy, PhD Strength of materials 3 - 16

 Torsional Failure Modes

• Ductile materials generally fail in

shear. Brittle materials are weaker in
tension than shear.

• When subjected to torsion, a ductile

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

• 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.

Le Van Sy, PhD Strength of materials 3 - 17

 Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB
and BC and perform static
equilibrium analysis to find
torque loadings
• 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.

Le Van Sy, PhD Strength of materials 3 - 18

 Sample Problem 3.1
SOLUTION:
• Cut sections through shafts AB and BC
and perform static equilibrium analysis
to find torque loadings

 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

Le Van Sy, PhD Strength of materials 3 - 19

 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

(c24 − c14 ) = (0.060 )4 − (0.045)4 

  Tc Tc 6 kN  m
J=  max = = 65MPa =
2 2 J  c4  c3
2 2
−6 4
= 13.92 10 m
c = 38.9 10−3 m
TBC c2 (20 kN  m )(0.060 m )
 max =  2 = = d = 2c = 77.8 mm
J 13.92 10− 6 m 4
= 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
Le Van Sy, PhD Strength of materials 3 - 20
 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
 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

Le Van Sy, PhD Strength of materials 3 - 21

 Statically Indeterminate Shafts

• Given the shaft dimensions and the applied

torque, we would like to find the torque reactions
at A and B.
• From a free-body analysis of the shaft,
TA + TB = 90 lb  ft

which is not sufficient to find the end torques.

The problem is statically indeterminate.
• Divide the shaft into two components which
must have compatible deformations,
TA L1 TB L2 LJ
 = 1 + 2 = − =0 TB = 1 2 TA
J1G J 2G L2 J1

• Substitute into the original equilibrium equation,

LJ
TA + 1 2 TA = 90 lb  ft
L2 J1

Le Van Sy, PhD Strength of materials 3 - 22

 Sample Problem 3.4

Two solid steel shafts are connected by

gears. Knowing that for each shaft G
= 11.2 x 106 psi and that the allowable SOLUTION:
shearing stress is 8 ksi, determine (a) • Apply a static equilibrium analysis on the two shafts to find a

the largest torque T0 that may be

relationship between TCD and T0
• Apply a kinematic analysis to relate the angular rotations of the
applied to the end of shaft AB, (b) the gears
corresponding angle through which • Find the maximum allowable torque on each shaft – choose the

end A of shaft AB rotates.

smallest
• Find the corresponding angle of twist for each shaft and the net
angular rotation of end A

Le Van Sy, PhD Strength of materials 3 - 23

 Sample Problem 3.4

Le Van Sy, PhD Strength of materials 24

 Sample Problem 3.4
SOLUTION:
• Apply a static equilibrium analysis on • Apply a kinematic analysis to relate
the two shafts to find a relationship the angular rotations of the gears
between TCD and T0

rB B = rCC
 M B = 0 = F (0.875 in.) − T0 rC 2.45 in.
B = C = C
 M C = 0 = F (2.45 in.) − TCD rB 0.875 in.
TCD = 2.8 T0  B = 2.8C

Le Van Sy, PhD Strength of materials 3 - 25

 Sample Problem 3.4
• Find the T0 for the maximum • Find the corresponding angle of twist for each
allowable torque on each shaft – shaft and the net angular rotation of end A
choose the smallest

A / B =
TAB L (561lb  in.)(24in.)
=
(
J AB G  (0.375 in.)4 11.2  106 psi
2
)
= 0.387 rad = 2.22o
TAB c T (0.375 in.) 2.8 (561lb  in.)(24in.)
 max = 8000 psi = 0
C / D =
TCD L
J AB  (0.375 in.)4
2
=
(
J CD G  (0.5 in.)4 11.2  106 psi
2
)
T0 = 663 lb  in.
= 0.514 rad = 2.95o
2.8 T0 (0.5 in.)
( )
TCD c
 max = 8000 psi =
J CD  (0.5 in.)4  B = 2.8C = 2.8 2.95o = 8.26o
2
T0 = 561lb  in. T0 = 561lb  in  A =  B +  A / B = 8.26o + 2.22o  A = 10.48o
Le Van Sy, PhD Strength of materials 3 - 26
 Design of Transmission Shafts

• Principal transmission shaft • Determine torque applied to shaft at

performance specifications are: specified power and speed,
- power P = T = 2fT
- speed P P
T= =
 2f
• Designer must select shaft
material and cross-section to • Find shaft cross-section which will not
meet performance specifications exceed the maximum allowable
without exceeding allowable shearing stress,
shearing stress.  max =
Tc
J
J  3 T
= c = (solid shafts )
c 2  max
J
=
 4 4
c2 2c2
c2 − c1 =( T
 max
) (hollow shafts )

Le Van Sy, PhD Strength of materials 3 - 27

 Stress Concentrations

• The derivation of the torsion formula,

Tc
 max =
J
assumed a circular shaft with uniform
cross-section loaded through rigid end
plates.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways, and cross-section discontinuities
can cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
 max = K
J

Le Van Sy, PhD Strength of materials 3 - 28

 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.
• 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

Le Van Sy, PhD Strength of materials 3 - 29

 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
L Y
Y =


2 c3 1 − 1 Y3  
4 T 1 − 1 Y3 
T= Y =
3

4
c 
3 3 Y

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

Le Van Sy, PhD Strength of materials 3 - 30

 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
• 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
J
Le Van Sy, PhD Strength of materials 3 - 31
 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
• Evaluate Eq. (3.16) for the angle
which the shaft untwists when the
A solid circular shaft is subjected to a torque is removed. The permanent
torque T = 4.6 kN  m at each end. twist is the difference between the
Assuming that the shaft is made of an angles of twist and untwist
elastoplastic material with  Y = 150 MPa
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.
Le Van Sy, PhD Strength of materials 3 - 32
 Example 3.08/3.09
SOLUTION:
• Solve Eq. (3.36) for the angle of twist
• Solve Eq. (3.32) for Y/c and
evaluate the elastic core radius   Y
1 = Y  =
 1 Y3  Y  T  3 Y c Y c
T = 3 TY 1 − 4 3  
4 =  4 − 3 

 c  c  TY 
Y =
TY L ( )
3.68  103 N (1.2 m )
(
J = 12 c 4 = 12  25 10−3 m ) JG
=
( )
614  10-9 m 4 (77  10 Pa )

= 614 10−9 m 4 Y = 93.4 10−3 rad

T c Y J 93.4  10−3 rad

Y = Y  TY = = = 148.3  10−3 rad = 8.50o
J c 0.630

TY =
(
150 106 Pa )(614  10−9 m 4 )  = 8.50o
25  10−3 m
= 3.68 kN  m
1
Y  4.6  3
= 4 −3  = 0.630
c  3.68 
Y = 15.8 mm

Le Van Sy, PhD Strength of materials 3 - 33

 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 Tc 4.6  103 N  m 25  10−3 m

 max = =
untwist J 614  10-9 m 4
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
Le Van Sy, PhD Strength of materials 3 - 34
 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
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.

Le Van Sy, PhD Strength of materials 3 - 35