Mechanics of Materials -I

CV-211
Introduction to Course Presentation Contents
Course Instructor
Contacts

Engr. Adil Poshad Khan

Lecturer

Department of Civil Engineering GIK Institute

of Engineering Sciences and Technology

E-Mail: [email protected]

September, 2023

10/18/2023 CV--211 Mechanics of Solid -I 1

 CONTENTS
• Introduction
• Assumptions
• Derivation of Torsion Formula
• Torsional Stress
• Angle of Twist

• Problems of Torsion

18 October 2023 CV 211 Mechanics of Solids I 2

 INTRODUCTION
Torque and Torsion: A moment applied about the
axis of member which tends to twist the member is
called twisting moment or torque (T). The
phenomenon of twisting of the member is known as
torsion.
Torsional Stress: The non-uniform shear stress
produced in a member when subjected to a torque
is known as torsional stress.
Angle of Twist: The angle through which a member
of certain length twists when subjected to a torque
is known as angle of twist (θ).

18 October 2023 CV 211 Mechanics of Solids I 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’

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 Typical cases

Torsion in civil engineering normally Mainly in mechanical

occurs coupled with other effects (e.g., engineering: shafts (tools,
beams loaded eccentrically by concrete, machine parts)
slabs, columns exposed to seismic loads).

Typical beam with a typical

loading:

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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.

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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.

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 DERIVATIONS
General Procedure for Non-Uniform Stress: The torsional stresses are non-uniformly
distributed on cross section of the member. Generally following steps are followed for
development of relation between stress (shear stress in this case) produced and the
applied force (torque in this case).

1. From the deformed shape which is compatible with boundary condition of the member,
write an expression for the deformations/ strains in the member.
2. Using Hook’s Law convert strains into corresponding stresses.
3. Apply equilibrium condition between the externally applied force and internal
resistance from the stresses developed. The equilibrium condition should be
compatible with the boundary/support conditions.

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 ASSUMPTIONS
1. The material is elastic, homogeneous and isotropic.
a) Elastic means that the stresses produced in the member are less than the elastic stress, i.e.
Hook’s law is applicable.
b) Homogeneous means that the elastic properties of materials (Young’s Modulus, Poisson Ratio,
etc.) are same every where in the member.
c) Isotropic means that the elastic properties of materials are same in all X , Y and Z directions of
the member.

1. The member is initially straight

2. Circular section remains circular after application of torque.
3. Plane sections remain plane and do not warp, i.e. a radial line drawn on cross section
remains straight after application of torque.

4. The member is subjected to pure torque. No other forces are acting on the member.

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 DERIVATIONS (CONT..)
Consider a shaft fixed at one end and free to twist at the
other end. The shaft is subjected to a torque T
L = length of shaft, d = diameter of shaft
θ = the angle of twist produced in length L of the
shaft
 = angular deformation at any radial distance, 
produced at the free end.
1. From the deformed shape of the shaft:
 = ρθ
The shearing strain is given by:
ρθ
γ= = −−−−−−−−− −(a)
L L
2. Using Hook’s Law:
ρθ Gθ
τ = Gγ = G = ρ − −(b)
L L

18 October 2023 CV 211 Mechanics of Solids I 10

 DERIVATIONS (CONT..)
Consider a shaft fixed at one end and free to twist at the
other end. The shaft is subjected to a torque T
L = length of shaft, d = diameter of shaft
θ = the angle of twist produced in length L of the
shaft
 = angular deformation at any radial distance, 
produced at the free end.
1. From the deformed shape of the shaft:
 = ρθ
The shearing strain is given by:
ρθ
γ= = −−−−−−−−− −(a)
L L
2. Using Hook’s Law:
ρθ Gθ
τ = Gγ = G = ρ − −(b)
L L

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 DERIVATIONS (CONT..)
As G , L and θ are constants, the shear stress varies linearly with radial distance . The shear
stress at  = 0 is zero and the shear stress at  = d/2 is maximum.

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 DERIVATIONS (CONT..)

3. Consider a differential element of area dA. The stress at this differential element is τ, given
by equation (b). The differential force dF on this differential element is given by:

Gθ
dF = τdA = ρdA
L
The differential moment resistance offered by the differential element is given by:
Gθ 2
dT = dFρ = ρ dA
L
Now apply equilibrium condition to relate the internal resistance with
the external torque, T.
Gθ 2 Gθ
T = ∫dT = ∫ ρ dA = ∫ ρ2 dA
L L

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 DERIVATIONS (CONT..)
The integral, ∫ ρ2 dA gives the polar moment of inertia about the axis of the member,
denoted by J, therefore:
Gθ Gθ Gθ T
T= ∫ ρ2 dA = J⇒ = −−−−−− −(c)
L L L J
TL
⇒θ= −−−−− −(d)
JG
Where JG is known as torsional rigidity of the member. Now putting value of Gθ/L from
equation (c) into equation (b)

Gθ Tρ
τ= ρ= −−−−−−− −(e)
L J
Equations (d) and (e) relate angle of twist and shear stress with applied torque, T.

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 DERIVATIONS (CONT..)
Polar moment of inertia for solid and hollow circular sections are respectively given by:
𝜋𝑑4 𝜋 𝑑𝑜4 − 𝑑4𝑖
J= , J=
32 32
For solid circular shaft, the shear stress is given by:
Tρ 32T
τ= = ρ
J πd 4

The maximum shear stress is at  = d/2, given by:

32T 32T 16T
τ max = 4 ρ = 4 d/2 = 3
πd πd πd
If a shaft is rotating with an angular velocity  in rad/sec, then the power transmitted by the
shaft is given by:
P = Tω = T 2πf
Where f is the frequency measure in Hertz (Hz), revolutions per second.

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 Complicated Deformations
Complicated deformation: cross sections do not only rotate about the axis of the beam but
undergo out-of-plane deformations called warping (only cross sections of circular symmetry do
not warp).
Two cases are possible:
warping is not restrained and shearing stresses ( τx ) arise only: Saint Venant torsion theory
warping is restrained; in addition to shear, normal stresses ( σx ) arise as well: Vlasov torsion
theory

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 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.

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 PROBLEMS: TORSION
Problem 304: A steel shaft 3 ft long that has a diameter of 4 in is subjected to a torque of 15 kip·ft.
Determine the maximum shearing stress and the angle of twist. Use G = 12 × 106 psi.
Given Data:
L = 3.0 ft = 36 in. d = 4.0 in.
T = 15 kip-ft = 15 x 12 = 180 kip-in.
G = 12 × 106 psi = 12 × 103 ksi
Required Data:
θ = ?, τmax = ?
Solution:

θ = TL = 32TL
= 32 X 180 X 36
= 0.0215 𝑟𝑎𝑑 = 0.0215𝑥180 = 1.23𝑜 Ans
JG π𝑑 4 G π4 4 12 X 103 𝜋

τmax = 16T3 = 16X180 = 14.32 ksi Ans

πd π43

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 PROBLEMS: TORSION
Problem 306: A steel marine propeller shaft 14 in. in diameter and 18 ft long is used to
transmit 5000 hp at 189 rpm. If G = 12 × 106 psi, determine the maximum shearing stress.
Given Data:
d = 14 in. L = 18 ft = 18 x 12 = 216 in.
P = 5000 hp = 5000 x 396 = 1.98 x 106 kip-in/min = 33000 kip-in/sec
f = 189 rpm = 189/60 = 3.15 Hz G = 12 × 106 psi = 12 × 103 ksi
Required Data:
Shearing Stress, τmax = ?
Solution:
T = P/(2πf) = 33000/(2πx3.15) = 1667.34 kip-in

τmax = 16T = 16X1667.34 = 3.095 ksi Ans

πd 3 π X 143

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 PROBLEMS: TORSION
Problem 311: An aluminum shaft with a constant diameter of 50 mm is loaded by torques applied
to gears attached to it as shown in figure. Using G = 28 GPa, determine the relative angle of twist
of gear D relative to gear A.
Solution:
A moment may be shown with moment vector shown with double headed arrow. The direction of
moment vector is decided based on the right-hand rule. If the fingers of right hand are rotated
in the direction of moment, the thumb will point to the direction of moment vector.
Torque in each segment may be determined
using equilibrium condition applied to the
free-body diagram.

TAB = -800 N-m

T BC = 1100 – 800 = +300 N-m
T CD = -600 N-m

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 PROBLEMS: TORSION
Problem 311 (Cont..): The relative angle of twist between A and D is:
θ AD = θAB + θ BC + θ CD = (TL/JG)AB + (TL/JG) BC + (TL/JG) CD
θ AD = {(TL)AB+(TL)BC+(TL)CD}/(JG)
θ AD = {(-800,000 x 2000) +(300,000 x 3000) + (-600,000 x 2000)}/(πx504/32 x 28 x 103)
θAD = 0.1106 rad = 6.34o. Ans

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 PROBLEMS: TORSION
Problem 312: A flexible shaft consists of a 0.20-in-diameter steel wire encased in a stationary
tube that fits closely enough to impose a frictional torque of 0.50 lb-in/in. Determine the
maximum length of the shaft if the shearing stress is not to exceed 20 ksi. What will be the
angular deformation of one end relative to the other end? G = 12 × 106 psi.
Solution:
If L is the length of shaft in inches, then the applied torque, equal to the frictional torque is:
T = 0.5 L lb-in.
The maximum shearing stress is given by:
τmax = 16 T/πd3 = > 20,000 = 16 x 0.5 L/(π x 0.23 ) = > L = 62.83 in.
This is the case of variable torque along the length of member.
The average torque is T/2, therefore, the angle of twist is:
θ = TaveL/JG = (0.5x62.83/2)x62.83/(π x 0.24/32x12x106) = 0.524 rad
= > θ = 30o. Ans

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 PROBLEMS: TORSION
Problem 317: A hollow bronze shaft of 3 in. outer diameter and 2 in. inner diameter is slipped
over a solid steel shaft 2 in. in diameter and of the same length as the hollow shaft. The two shafts
are then fastened rigidly together at their ends. For bronze, G = 6 × 106 psi, and for steel, G = 12
× 106 psi. What torque can be applied to the composite shaft without exceeding a shearing
stress of 8000 psi in the bronze or 12 ksi in the steel?
Solution:
Total torque resisted by the composite shaft is equal to sum of the torque resisted by solid steel
shaft and hollow bronze shaft, i.e.
T = Tst + Tbr.- - - - - -(a)
Since the two shaft are rigidly attached to each other, therefore the angle of twist for both shaft
will be same, i.e.
θst = θbr = > (TL/JG)st = (TL/JG)br
= > Tst L/(πx24/32 x12,000) = = > Tbr L/(πx(34-24)/32 x6,000)
= > Tst = 0.4923 Tbr - - - - - - -(b)

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 PROBLEMS: TORSION
Problem 317 (Cont..): Putting value of Tst from (b) in (a).
(a) = > T = Tbr + 0.4923 Tbr = 1.4923 Tbr - - - -- (c)
(b) = > Tst = 0.4923 (T/1.4923) = > T = 3.031 Tst - - - -- (d)
Now limiting stress in steel shaft,
τ max = 16 T/πd3 = > 12 = 16 x Tst /(πx23) = > Tst = 18.85 kip-in
(d) = > T = 3.031 x 18.85 = 57.13 kip-in
And limiting stress in bronze shaft,
τ max = 16 T do/π(do4-di 4) = > 8 = 16xTbrx3/π (3 4-2 4) = > Tbr = 34.03 kip-in

(c) = > T = 1.4923 x 34.03 = 50.78 kip-in

Selecting least value, T = 50.78 kip-in Ans

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 PROBLEMS: TORSION
Problem 319: The compound shaft shown in figure is attached to rigid supports. For the bronze
segment AB, the diameter is 75 mm, τ ≤ 60 MPa, and G = 35 GPa. For the steel segment BC, the
diameter is 50 mm, τ ≤ 80 MPa, and G = 83 GPa. If a = 2 m and b = 1.5 m, compute the maximum
torque T that can be applied.
Solution:
Let TA and TC are the reaction moments at support A and C respectively.
The equilibrium condition is:
TA + T C = T - - - - - - (a)
From the free-body diagram:
Tbr = TA Tst = TA – T - - - - - -(b)
The compatibility condition is:
θ AC = 0 = > θbr + θst = 0 = > (TL/JG)br + (TL/JG)st = 0
Tbr x 2/(π x 754/32x35) + Tst x 1.5/(π x 504/32x83) = 0

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 PROBLEMS: TORSION
Problem 319 (Cont..):
Tbr = -1.601 Tst = > TA = -1.601 (TA-T) = > TA = 0.6155 T From equation (b)
Tbr = TA = 0.6155 T
Tst = TA – T = 0.6155 T – T = -0.3845 T
Now limiting stress in bronze shaft,
τmax = 16 Tbr/πd3 = > 60 = 16 (0.6155T)/ (πx753)
= > T = 8.075 x 106 N-mm
Limiting stress in steel rod
τmax = 16 Tst/πd3 = > 80 = 16 (0.3845T)/ (πx503)
= > T = 5.106 x 106 N-mm
Selecting least value from above two values:
T = 5.106 x 106 N-mm Ans

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 PROBLEMS: TORSION
Problem 325 : The two steel shaft shown in figure, each with one end built into a rigid support have flanges
rigidly attached to their free ends. The shafts are to be bolted together at their flanges. However, initially
there is a 6° mismatch in the location of the bolt holes as shown in the figure. Determine the maximum
shearing stress in each shaft after the shafts are bolted together. Use G = 12 × 106 psi and neglect
deformations of the bolts and flanges.
Solution:
When the two shaft are bolted together, the mismatch of 6o
will cause twist in both shaft. The compatibility condition is:
θBA + θ BC = 6xπ/180 = > (TL/JG) BA + (TL/JG) BC = π/30
TA x 78/ /(πx24/32 x12,000) + TA x 39/ /(πx1.54/32 x12,000) = π/30
TA = 9.808 kip-in
Now the maximum shear stress in each shaft is:
τAB = 16 TAB/πd3 = 16 (9.808)/ (πx23) = 6.24 ksi
τ BC = 16 TBC/πd3 = 16 (9.808)/ (πx1.53) = 14.80 ksi

18 October 2023 CV 211 Mechanics of Solids I 27