COLLEGE OF SCIENCE AND TECHNOLOGY

School of Engineering

Civil, Environmental & Geomatics Engineering (CEGE)

 COLLEGE OF SCIENCE AND TECHNOLOGY

School of Engineering

Civil, Environmental & Geomatics Engineering (CEGE)

Course Lecturer: Ir. Philbert Habimana (MSc. & BSc.)

Course code: TRE1162

Course name: MECHANICS OF MATERIALS

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 Lecture xix - Torsion

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 Lecture xix. TORSION (1 of 60)
xix. 1. Introduction (1 of 3)
 If a member is subjected to moment about its
longitudinal axis it is said to be under torsion or
twist.
 The figure below shows a circular shaft having AO
as its longitudinal axis. It is fixed at one end and a
twisting moment Pl or couple acts on it at its free
end.
 The torque or twist moment applied at free end
will be resisted by the shaft and an equal but
opposite moment acts at the free end. School of Engineering
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 Lecture xix. TORSION (2 of 60)
xix. 1. Introduction (2 of 3)

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 Lecture xix. TORSION (3 of 60)
xix. 1. Introduction (3 of 3)
 In many engineering applications, we have rotating
shaft transmitting twisting moment or torque which
causes twisting of shaft.
 Shafts of these systems must be designed to be able
to transmit power and motion without causing
excessive twist (torsional deflections) or torsional
stresses beyond certain limit.
 If the member is subjected only to twisting moment
(torque) and not having direct axial force or bending
moment, it is said to be under pure torsion.
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 Lecture xix. TORSION (4 of 60)
xix. 2. Pure torsion (1 of 8)

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 Lecture xix. TORSION (5 of 60)
xix .2. Pure torsion (2 of 8)
 Let a solid cylindrical shaft of radius R and length L
be subjected to a torque T at free end.
 The fixed end will have a balancing couple of the
same magnitude but of opposite direction.
 Let a line AB marked on the shaft parallel to shaft
axis before deformation of the shaft due to T.
 Due to deformation, line AB takes a position AC.
 Shear strain due to torque T is indicated by ϕ.

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 Lecture xix. TORSION (6 of 60)
xix .2. Pure torsion (3 of 8)
 Looking at the end view of the shaft is the
angular movement of radius OB due to strain in
length L.
 Let be .
 If shear stress at the surface of the shaft is and
G is the modulus of rigidity of the shaft material.

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 Lecture xix. TORSION (7 of 60)
xix .2. Pure torsion (4 of 8)
This relationship of pure torsion has been worked on
the following assumptions:
 Material of shaft is homogeneous and isotropic
 Twist along the shaft is uniform
 Shear stress due to torsion is within the elastic limit
 Shaft is of uniform circular section throughout
 Cross – section which are plane before twist remain
plane after twist
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 Lecture xix. TORSION (8 of 60)
xix .2. Pure torsion (5 of 8)
All radii which are initially straight remain straight
after twist
 Shear stress varies from surface to centre of the
shaft.
 Max. shear stress is at surface and it is and shear
stress at the centre is zero.
 Shear stress at any radius r within the shaft is .

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 Lecture xix. TORSION (9 of 60)
xix .2. Pure torsion (6 of 8)
 Let us consider an elemental area which
experiences a shear stress

 Shear resistance offered by area

 Torsional moment of resistance

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 Lecture xix. TORSION (10 of 60)
xix .2. Pure torsion (7 of 8)
 Total torsional moment of resistance
Where is the polar moment of inertia about the
longitudinal axis of the shaft.

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 Lecture xix. TORSION (11 of 60)
xix .2. Pure torsion (8 of 8)

Where T = torsional moment of resistance (or torque), Nmm

I0= polar moment of inertia, mm4
= shear stress at radius r, N/mm2
r = radius of the element from the shaft material, mm
G= modulus of rigidity of the shaft material, N/mm2
= angle of twist, radian
L = length of the shaft, mm
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 Lecture xix. TORSION (12 of 60)
xix .3. Polar moment of inertia (1 of 4)
 Polar moment of inertia is computed about the
longitudinal axis of the shaft.
 It is sum of moment of inertia about X – X axis, I XX
and moment of inertia about Y – Y axis I YY.

So, I0 = IXX + IYY

For a shaft of circular cross – section as shown below

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 Lecture xix. TORSION (13 of 60)
xix .3. Polar moment of inertia (2 of 4)

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 Lecture xix. TORSION (14 of 60)
xix .3. Polar moment of inertia (3 of 4)
For the hollow circular shaft of outside
diameter D and inside diameter d,

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 Lecture xix. TORSION (15 of 60)
xix .3. Polar moment of inertia (4 of 4)
Polar modulus of section, is and torsional moment
of resistance
Hence , for solid circular shaft,

and

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 Lecture xix0 TORSION (16 of 60)
xix .4. Torsion rigidity (1 of 2)
If a torque of T produces a twist of Ɵ in a length L

Twist, Ɵ is similar to deflection in case of beams

under bending and twisting moment (torque) is
similar to bending moment.

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 Lecture xix. TORSION (17 of 60)
xix .4. Torsion rigidity (2 of 2)

As the quantity EI is termed as flexural rigidity

in case of beams under bending, the quantity
GI0 is termed as torsional rigidity in case of
shafts.

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 Lecture xix. TORSION (18 of 60)
xix .5. Power transmitted by a shaft (1 of 1)

If T is the torque to which the shaft is submitted

during power transmission through it and N is the
speed of the shaft in rpm. The power transmitted P is
given by

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 Lecture xix. TORSION (19 of 60)
xix .6. Composite shafts (1 of 12)
A.Shafts in series
When two shafts are connected and are continuous in
length, they are called shafts in series. In this case
same torque is applied on both shafts.

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 Lecture xix. TORSION (20 of 60)
xix .6. Composite shafts (2 of 12)
A.Shafts in series
If d1 and d2 are the diameters, L1 and L2 lengths, and
are surface shear stresses for two shafts. Also taking I 01
and I02 as polar moments of inertia of two shafts.

We then have,

Where G1 and G2 are moduli of rigidity of two shafts of different

materials. School of Engineering

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 Lecture xix. TORSION (21 of 60)
xix .6. Composite shafts (3 of 12)
A.Shafts in series

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 Lecture xix. TORSION (22 of 60)
xix .6. Composite shafts (4 of 12)
A.Shafts in series

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 Lecture xix. TORSION (23 of 60)
xix .6. Composite shafts (5 of 12)
B. Shafts in parallel
 When one shaft is connected to the other in such a way
that one surrounds the other, then the combination is said
to be in parallel.
 If T is the torque applied on the composite shaft it get
distributed in T1 and T2 on two shafts.
 Let G1 and G2 be moduli of rigidity and I01 and I02 be polar
moments of inertia for two shafts.
 Assuming no slip between two shafts twist θ will be the
same for two shafts i. e. θ1 = θ2 and T = T1 +T2School
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 Lecture xix. TORSION (24 of 50)
xix .6. Composite shafts (6 of 12)
B. Shafts in parallel

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 Lecture xix. TORSION (25 of 60)
xix .6. Composite shafts (7 of 12)
B. Shafts in parallel

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 Lecture xix. TORSION (26 of 60)
xix .6. Composite shafts (8 of 12)
B. Shafts in parallel

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 Lecture xix. TORSION (27 of 60)
xix .6. Composite shafts (9 of 12)
B. Shafts in parallel
A shaft fixed at both ends is subjected to a torque T at
the common point.

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 Lecture xix. TORSION (28 of 60)
xix .6. Composite shafts (10 of 12)
B. Shafts in parallel
Let the polar moment of inertia for the left and
right sides is I01 and I02 respectively. It being fixed

on both the sides resisting torques T1 and T2 will

be developed on two sides such that T = T1 + T2.

Here the twist on both ends is same i.e.
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 Lecture xix. TORSION (29 of 60)
xix .6. Composite shafts (11 of 12)
B. Shafts in parallel
Let the polar moment of inertia for the left and right sides
is I01 and I02 respectively. It being fixed on both the sides
resisting torques T1 and T2 will be developed on two sides
such that T = T1 + T2. Here the twist on both ends is
same i.e.

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 Lecture xix. TORSION (30 of 60)
xix .6. Composite shafts (12 of 12)

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 Lecture xix. TORSION (31 of 60)
GIVEN EXAMPLES
1. A solid bar of circular cross section is shown in figure below.

a) Determine the maximum shear stress ( or ) and the angle of twist

() if the torque () is 340 Nm.
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 Lecture xix. TORSION (32 of 60)
GIVEN EXAMPLES
1. b) If the allowable shear stress () is 42 MPa and the allowable
twist () is 2.5o, determine the allowable torque () .

2. A steel shaft of either solid bar or circular tube is shown in figure

below.

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 Lecture xix. TORSION (33 of 60)
GIVEN EXAMPLES
2. The steel shaft of either solid bar or circular tube has the
following characteristics: , ,
and .

a) Determine for the solid bar

b) Determine for the hollow shaft if
c) Determine the ratios and

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 Lecture xix. TORSION (34 of 60)
GIVEN EXAMPLES
3. A steel solid shaft in a rolling mill transmits of power at .
Determine the smallest safe dimeter of the shaft (a) if the shear
stressis not to exceed and (b) if the angle of twist
is limited to in a length of . Take .
4. A steel tube with the cross section show in figure below, carries a
torque . The tube is long and has a constant wall thickness of .

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 Lecture xix. TORSION (35 of 60)
GIVEN EXAMPLES
4. a) Compute the torsional of the tube.
b) If the tube is twisted through , determine the shear stress
on the wall of the tube.
Take , and neglect stress concentrations at the
corners.
5. The four rigid gears, loaded as shown in figure (a) below, are
attached to a . diameter steel shaft.
Compute the angle of the rotation of gear A relative to gear D.
Take for the shaft.
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 Lecture xix. TORSION (36 of 60)
GIVEN EXAMPLES
5.

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 Lecture xix. TORSION (37 of 60)
GIVEN EXAMPLES
1. Given data:

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 Lecture xix. TORSION (38 of 60)
GIVEN EXAMPLES
1. a)

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 Lecture xix. TORSION (39 of 60)
GIVEN EXAMPLES
1. b) Due to

Due to

Thus

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 Lecture xix. TORSION (40 of 60)
GIVEN EXAMPLES
2. Given data:

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 Lecture xix. TORSION (41 of 60)
GIVEN EXAMPLES

2. a) For the solid shaft

Due to

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 Lecture xix. TORSION (42 of 60)
GIVEN EXAMPLES
2. a) For the solid shaft
Due to

Thus, we choose
[In practical design, ]
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 Lecture xix. TORSION (43 of 60)
GIVEN EXAMPLES
2. b) For the hollow shaft

Due to

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 Lecture xix. TORSION (44 of 60)
GIVEN EXAMPLES
2. b) For the hollow shaft

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 Lecture xix. TORSION (45 of 60)
GIVEN EXAMPLES
2. b) For the hollow shaft
Due to

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 Lecture xix. TORSION (46 of 60)
GIVEN EXAMPLES
2. b) For the hollow shaft
Thus, we choose
[In practical design, ]

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 Lecture xix. TORSION (47 of 60)
GIVEN EXAMPLES
2. c) The ratios of hollow and solid bar are:

The hollow shaft has greater in diameter but less in

weight.

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 Lecture xix. TORSION (48 of 60)
GIVEN EXAMPLES
3. Given data:

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 Lecture xix. TORSION (49 of 60)
GIVEN EXAMPLES
3. a)

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 Lecture xix. TORSION (50 of 60)
GIVEN EXAMPLES
3. b)

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 Lecture xix. TORSION (51 of 60)
GIVEN EXAMPLES
3. To satisfy both strength and rigidity requirements, we must
choose the larger diameter namely .
4. Given data:

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 Lecture xix. TORSION (52 of 60)
GIVEN EXAMPLES
4. a)

The area of enclosed by the median line is

average width x height

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 Lecture xix. TORSION (53 of 60)
GIVEN EXAMPLES
4. a) The length of the median line is

Consequently, the torsional stiffness becomes

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 Lecture xix. TORSION (54 of 60)
GIVEN EXAMPLES
4. b) The torque required to produce an angle of twist of is

Which results in the shear flow

The corresponding shear stress is

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 Lecture xix. TORSION (55 of 60)
GIVEN EXAMPLES
5. Given data:

It is convenient to represent
the torques as vectors (using
the right-hand rule) on the FBDs.
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 Lecture xix. TORSION (56 of 60)
GIVEN EXAMPLES
5. Assume that the internal torques , and are positive
according to the sign convention (positive torque vectors
point away from the cross section).
Applying the equilibrium condition to each FBD, we
obtain

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 Lecture xix. TORSION (57 of 60)
GIVEN EXAMPLES
5. Therefore,

The minus sign indicates that the sense of is opposite to

that shown on the FBD, gear and gear were fixed.

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 Lecture xix. TORSION (58 of 60)
GIVEN EXAMPLES
5. Now let us compute the angle of rotation of gear relative to
gear .
This rotation is obtained by assuming the angles of twist of

three segments:

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 Lecture xix. TORSION (59 of 60)
GIVEN EXAMPLES
5. We obtain (converting the lengths to inches and torques to
pound-inches)

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 Lecture xix. TORSION (60 of 60)
GIVEN EXAMPLES
5. The positive result indicates that the rotation vector of
relative to is the positive – direction: that is, is directed
counter clockwise when viewed from toward .

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