ME 2404: Mechanics of Materials

Torsion

Dr. Faraz Junejo

 Torsion
• Torsion is a
moment that
twists/deforms a
member about its
longitudinal axis
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.
TORSIONAL DEFORMATION OF A CIRCULAR SHAFT
Fixed end
 The Torsion Formula

• For solid shaft, shear

stress varies from zero

at shaft’s longitudinal

axis to maximum value

at its outer surface.

 The Torsion Formula (contd.)

• The integral in the equation can be represented as

the polar moment of inertia J, of shaft’s x-sectional
area computed about its longitudinal axis

Tc
 max =
J
 max = max. shear stress in shaft, at the outer surface
T = resultant internal torque acting at x-section, from
method of sections & equation of moment
equilibrium applied about longitudinal axis
J = polar moment of inertia at x-sectional area
c = outer radius of the shaft
 Polar Moment of Inertia
• In simple terms it refers to how difficult it is to
get an object to rotate on an axis.

• The farther away from the axis of rotation the

mass is, the harder it is to make it turn.

• Conversely, if the mass is concentrated near

the centre, it is easier to make it turn.
 The Torsion Formula
• Shear stress at intermediate distance, 

T
=
J
• The above two equations are referred to as the
torsion formula
• Used only if shaft is circular, its material
homogenous, and it behaves in an linear-elastic
manner
 The Torsion Formula
Torque (N-m, N-
mm or lb-in, lb-
ft, etc)

Tc Outer radius of

 max  shaft (m or in)

J
Polar moment of
Max shear stress inertia (m4 or in4)
in shaft (MPa,
psi/ksi, etc.)

T
or  
J
 Summary: The Torsion Formula
• When material is linear-elastic, Hooke’s law
applies.
• A linear variation in shear strain leads to a
corresponding linear variation in shear stress
along any radial line on the cross section.
 Solid shaft
• J can be determined using area element in the form
of a differential ring or annulus having thickness d
and circumference 2 .
• For this ring, dA = 2 d


J= c 4
2

• J is a geometric property of the circular area and

is always positive.
• Common units used for its measurement are
mm4 and m4.
 Tubular Shafts
Shear stress profile – YOU
4 MUST UNDERSTAND
J= (co  ci4) THIS!!!!
2
Where is shear stress max?
zero? How does it vary along
the length and
circumference?
 Absolute maximum torsional stress

• Need to find location where ratio Tc/J is maximum

• Draw a torque diagram (internal torque  vs. x along

shaft)

• Sign Convention: T is positive, by right-hand rule, is

directed outward from the shaft

• Once internal torque throughout shaft is determined,

maximum ratio of Tc/J can be identified
 Procedure for analysis
Internal loading

• Section shaft perpendicular to its axis at point

where shear stress is to be determined

• Use free-body diagram and equations of

equilibrium to obtain internal torque at section
 Procedure for analysis (contd.)

Section property
• Compute polar moment of inertia and x-
sectional area
• For solid section, J = c4/2

• For tubular section, J = (co4  ci2)/2

 Procedure for analysis (contd.)

Shear stress

• Specify radial distance , measured from centre

of x-section to point where shear stress is to be
found

• Apply torsion formula,  = T /J or max = Tc/J

• Shear stress acts on x-section in direction that

is always perpendicular to 
 Examples
Tc
1.Analysis:  max  Want << tallow
J

J T
2. Design:  Find geometry
c  allow
 Example: 1

Shaft with 150 mm diameter supported by two bearings

and subjected to three torques as shown below.
Determine shear stress developed at points A and B,
located at section a-a of the shaft, figure c.
 Example: 1 (contd.)
Internal torque
Bearing reactions on shaft = 0, if shaft weight
assumed to be negligible.
It can be seen that, applied torques satisfy moment
equilibrium about shaft’s axis.
 Example: 1 (contd.)
Internal torque at section a-a determined from free-
body diagram of left segment.
Internal torque
 Mx = 0; 4250 kN·mm  3000 kN·mm  T = 0
T = 1250 kN·mm
Section property
J = /2(75 mm)4 = 4.97 107 mm4
Shear stress
Since point A is at  = c = 75 mm
A = Tc/J = ... = 1.89 MPa
 Example: 1 (contd.)
Shear stress
Likewise for point B, at  = 15 mm
B = T /J = ... = 0.377 MPa

Directions of the stresses

on elements A and B
established from
direction of resultant
internal torque T.
Example: 2
Exercise: 1

T = 7.95 kip. in
T ’= 6.38 kip. in
Exercise: 2

A = 6.04 MPa
B = 6.04 MPa
 Exercise: 3

max = 26.7 MPa

 Exercises

Mechanics of Materials 8th Edition by R.C. Hibbeler

 Q 5.1, Q 5.3, Q 5.5

 Q 5.6 – Q 5.8

 Q 5.14 – Q 5.16
 Power Transmission
• Shafts and tubes having circular cross sections are
often used to transmit power developed by a
machine
 Power Transmission (contd.)
• Power is defined as work performed per unit of time

• Units:
• SI system: Units of power is: Watt == Nm/s (joule/s)

• FPS system: Unite of power is; ft.lb/s

• However, horsepower is often used in engineering

practice

1 hp =746 watt

1 hp= 550 ft.lb/s

 Power Transmission (contd.)

• Instantaneous power is

P = T (d/dt)

• Since shaft’s angular velocity  = d/dt, we can

also express power as

P = T
• Where; P: Power and T : torque
 Power Transmission (contd.)
• Frequency f of a shaft’s rotation is often reported.
It measures the number of cycles per second
and since 1 cycle = 2  radians, and  = 2f T,
then power
P = 2f T Equation 5-11

Where, f: number of revolutions or cycles the shaft

makes per second and is expressed in hertz ( 1 Hz = 1
cycle/s)

 = 2πN/60 , if N is given as rpm(revolution per minute)

 Shaft Design
• If power transmitted by shaft and its frequency of
rotation is known, torque is determined from
Equation
P = 2f T

• Knowing T and allowable shear stress for

material, allow and applying torsion formula,

J T
=
c allow
We can determine the size of the shaft’s cross section
 Shaft Design (contd.)

• For solid shaft, substitute J = (/2)c4 to determine c

• For tubular shaft, an arbitrary choice can be made

for either co or ci and other radius can be

determined by substituting into J = (/2)(co2  ci2) to

determine co or ci accordingly
 Summary: Power Transmission
• Power is defined as the work performed per unit of time.
• For a rotating shaft with a torque, the power is

• Since , the power equation is

• For shaft design, the design or geometric parameter is

Shaft Design
 Example: 1
Solid steel shaft shown used to transmit 3750 W from
attached motor M. Shaft rotates at  = 175 rpm and
the steel allow = 100 MPa.
Determine required diameter of shaft to nearest mm.
 Example: 1 (contd.)

Torque on shaft determined from P = T,

Thus, P = 3750 N·m/s
175 rev 2 rad 1 min
 = (
min
)(
1 rev )
60 s
= 18.33 rad/s

Thus, P = T, T = 204.6 N·m

J  c4 T
= =...
c 2 c allow

c = 10.92 mm
Since 2c = 21.84 mm, select shaft with diameter of
d = 22 mm
Example: 2
Example: 2 (contd.)
 EXERCISE: 5.31
• The solid steel shaft AC has a diameter of 25 mm and is
supported by smooth bearings at D and E. It is coupled to a
motor at C, which delivers 3 kW of power to the shaft while it is
turning at 50 rev/s. If gears A and B remove 1 kW and 2 kW,
respectively, determine the maximum shear stress developed in
the shaft within regions AB and BC. The shaft is free to turn in
its support bearings D and E.

(allow)AB = 1.04 Mpa

(allow)BC = 3.11 MPa
 EXERCISE: 5.36

• The drive shaft of the motor is

made of a material having an
allowable shear stress of tallow
= 85 MPa. If the outer
diameter of the tubular shaft
is 20 mm and the wall
thickness is 2.5 mm,
determine the maximum
allowable power that can be
supplied to the motor when
the shaft is operating at an
angular velocity of 1500
rev/min.
P = 12.7 kW
 EXERCISE: 5.38
• The motor A develops a power of 300 W and turns its
connected pulley at 90 rev/min. Determine the required
diameters of the steel shafts on the pulleys at A and B if
the allowable shear stress is tallow = 85 MPa.

dA = 12.4 mm
dB = 16.83 mm
 Exercises

Mechanics of Materials 8th Edition by R.C. Hibbeler

 Q 5.31 – Q 5.38

 Q 5.43 – Q 5.45
 Angle of twist
• Angle of twist is important when analyzing reactions
on statically indeterminate shafts
L T(x) dx
 =
∫
0
J(x) G

 = angle of twist, in radians

T(x) = internal torque at arbitrary position x, found
from method of sections and equation of
moment equilibrium applied about shaft’s axis
J(x) = polar moment of inertia as a function of x
G = shear modulus of elasticity for material
 Angle of twist (contd.)

For constant
torque and
constant cross
sectional area
 Angle of twist (contd.)
Constant torque and x-sectional area
TL
 =
JG

If shaft is subjected to several different torques, or x-

sectional area or shear modulus changes suddenly from
one region of the shaft to the next, then apply Eqn 5-15 to
each segment before vectorially adding each segment’s
angle of twist:
 TL
 =
JG
 Sign convention (contd.)

Use right-hand rule: Both torque and angle of twist are

positive provided that the thumb is directed outward from
the sectioned end of the shaft when the fingers curls to
give the sense of torque rotation
Example: The angle of twist of end A w.r.t. end D is to be determined
Example (contd.)
 Procedure for analysis
Internal torque
• Use method of sections and equation of
moment equilibrium applied along shaft’s axis

• If torque varies along shaft’s length, section made

at arbitrary position x along shaft is represented
as T(x)

• If several constant external torques act on shaft

between its ends, internal torque in each segment
must be determined and shown as a torque
diagram
 Procedure for analysis (contd.)
Angle of twist
• When circular x-sectional area varies along shaft’s
axis, polar moment of inertia expressed as a
function of its position x along its axis, J(x)

• If J or internal torque suddenly changes between

ends of shaft,  = ∫ (T(x)/J(x)G) dx or  = TL/JG
must be applied to each segment for which J, T and
G are continuous or constant

• Use consistent sign convention for internal torque

and also the set of units
 Example: 5.5
• The gears attached to the fixed-end steel shaft are subjected to
the torques as shown. If the shear modulus of elasticity is 80
GPa and the shaft has a diameter of 14 mm, determine the
displacement of the tooth P on gear A. The shaft turns freely
within the bearing at B
• At first, determining internal torque in each segment
Example: 5.5 (contd.)
 Exercise: 5.47
• The propellers of a ship are connected to a A-36 steel
shaft that is 60 m long and has an outer diameter of
340mm and inner diameter of 260mm. If the power
output is 4.5 MW when the shaft rotates at 20 rad/s,
determine the maximum torsional stress in the shaft
and its angle of twist.

tmax = 44.3 MPa

 = 0.2085 rad
 Exercise: 5.53
• The 20-mm-diameter A-36 steel shaft is subjected to
the torques shown. Determine the angle of twist of
the end B.

 B = -0.1002 rad
 Exercise: 5.54
• The assembly is made of A-36 steel and consists of a
solid rod 20mm in diameter fixed to the inside of a
tube using a rigid disk at B. Determine the angle of
twist at D. The tube has an outer diameter of 40mm
and wall thickness of 5mm.
 Stress Concentration
• Three common
discontinuities of the x-
section are:
a) is a coupling, for
connecting 2 collinear
shafts together
b) is a keyway used to
connect gears or pulleys
to a shaft
c) is a shoulder fillet used
to fabricate a single
collinear shaft from 2
shafts with different
diameters
 Stress Concentration (contd.)
• Dots on x-section
indicate where
maximum shear
stress will occur

• This maximum shear

stress can be
determined from
torsional stress-
concentration factor, K
 Stress Concentration (contd.)
• K, can be obtained from
a graph as shown
• Find geometric ratio D/d
for appropriate curve
• Once abscissa r/d
calculated, value of K
found along ordinate
• Maximum shear stress is
then determined from

max = K(Tc/J)
 Stress Concentration: Summary
• Stress concentrations in shafts occur at points of
sudden x-sectional change. The more severe the
change, the larger the stress concentration
• For design/analysis, not necessary to know exact
shear-stress distribution on x-section. Instead,
obtain maximum shear stress using stress
concentration factor K
• If material is brittle, or subjected to fatigue
loadings, then stress concentrations need to be
considered in design/analysis.
 Example: 5.18
Stepped shaft shown is supported at bearings at A
and B. Determine maximum stress in the shaft due to
applied torques. Fillet at junction of each shaft has
radius r = 6 mm.
 Example: 5.18 (contd.)
Internal torque
By inspection, moment equilibrium about axis of
shaft is satisfied. Since maximum shear stress
occurs at rooted ends of smaller diameter shafts,
internal torque (30 N·m) can be found by applying
method of sections
Example: 5.18 (contd.)
 Example: 5.18 (contd.)
Maximum shear stress
From shaft geometry, we have
D 2(40 mm)
= d =
2(20 mm) 2

r 6 mm)
= 2(20 mm)= 0.15
d

Thus, from the graph, K = 1.3

max = K(Tc/J) = ... = 3.10 MPa

 Example: 5.18 (contd.)
Maximum shear stress
From experimental evidence, actual stress
distribution along radial line of x-section at critical
section looks similar to:
 Exercise: 5.120
• The steel used for the shaft has an allowable shear
stress of allow = 8MPa. If the members are connected
with a fillet weld of radius r = 4mm, determine the
maximum torque T that can be applied.

K = 1.25
T = 10.05 N .
m
 Exercise: 5.122
• The built-up shaft is designed to rotate at 540 rpm. If
the radius of the fillet weld connecting the shafts is r
= 7.20mm, and the allowable shear stress for the
material allow = 55MPa is determine the maximum
power the shaft can transmit.

K = 1.3
P = 101466 W
 Exercises

Mechanics of Materials 8th Edition by R.C. Hibbeler

 Q 5.55 – Q 5.58

 Q 5.123 – Q 5.124