V

T O R S I O NO F C I R C U L A R H A F T S S

VOB2-3

V-1

T O R S I O NO F C I R C U L A R H A F T S S

Fr om the shown in Figure

kinematics 1, the

of geometry

deformation of small

of

an

elastic gives

circular the

shaft following

deformation

relationship:

x tan y = r
where observed
y y

4 >(

x)
are small angles for (less all than 6 degrees). It can be

and that

1 jI( x)

y is the

same angle

x, and therefore,

y( x)

Taking

a derivative tany

of this

relation

with

respect

to x, gives

r[dljl(x)/dx]

as r is the the free-body tany then

y : r

same at of the

all

x being

the

radius for small

of the angles

cylindrical
y.

surface

of

shaft.

Since

" y

[d${x)/dx]

~----~~------~
Figure 1

--r--"~vmed

O :n fig u m m

Ki ntJ m 3 '//cof G Io IMP e/O rm lllionof' C/iru/~,. .Shaffs .s /

If element as

a finite of the in

slice

of length

zx is

isolated before observed

y

from

the

shaft,

and

an

si ze ~x by r~4I is Figure 2,
a

exc:rnined can be

and after that original

deformation, the torsional right angle Hal f

shown

then small

it angle angle

deformation of the of the

E

produces 'This

change is called the

in the

the shear strain

element. shear xs

small
y

deformation.

deformation
y/2

is

called

shear

where

s is

the

circllYlferential

coordinate

1n the

form of the

arc-length.

~~~~~~~~t---X
-. -_
J rH b d II= = _

~s=rdt#
;(J (H 1 lti

Figure

The stress-strain stress

(J

relation in the

between cross-section

the

shear is also

strain linear

and

the for

shear small

xs :

acting

deform ation
(J

xs

Gy

2GE

xs

G r [d4l(x)/dx]
(also called
E

where on the

the

Shear

Modulus of

Modulus the

of

Rigidity) Ratio

is
\I

dependent for the

t-bdulus

Elasticity

and

Poisson's

material,
G

E/2(1+v)

It

is
T

customary

to

use

for

the

torsional

shear

stress

(J

xs

G r [d4l(x)/dx)

where at

< $ (x)

designates about

the by it

small torsion.

angle

of

rotation the rigid shear

of

the

cross-section i tsel torsion. at f

T

brought

rbwever. like but the a thin actual

cross-section disk. stress In

remains
is

undeformed: an average

rotates stress

not

shear

acting

the

point. Torsion torsional manent of couple

M (T)

any

shaft

is by axis

produced a manent of the with

by
M (T). x

applying The

to

the

shaft couple-

measured along chosen the

torsional of the

acts is the is

shaft. the of axis

The x-axis of the of

frame

of reference to idea torsion of shafts is establish

to coincide

shaft. Shafts.

In order the same of

fundamental as for

Equation the

Torsion of beans.

followed

bending

The equation

establ

ished

by ex pressing strain

the

torsional of the by

stress

couple

M (-r)

in terms

of the

tor sional

by means is given

stress-strain

relation.

The torsional

couple-manent
s

M (T)
x

! r dF (T) shear

! r[TdA] acting on the cross-sectional element

dA

where is

the

torsional

force

dF (-r)

TdA
3.

as

shown in

Figure

Cross-Sed/on41Geometryof Shaff
Figure 3

Substi M

tuting

for

from

the dA

stress-strain

relation J r2 dA

gives

(T)

r{Gr[dt/dx ]l

G[d$(x)/dx]

as

G and

dlj)(x)/dx again, G gives of 2 torsion,

are can the

constant be naturall

over

the

entire into

cross-section. a product
d~/dx

This of gives three the

expression. factors: kinematics

J

y factored response to

material and

torsion,

= f r dA
A the Polar Second of Rate the Moment of the cross-section Cross-Section, of the shaft. is This entirel equation y a can

called geometric be solved

property for the

of Torsion:

d~(x)/dx which represents

M x (T)/GJ
the Equation the angle of Torsion of torsion of Circular at x: Shafts. It can be

integrated

to obtain

Ij)(x= J [d$(x)/dx] dx )

J [ M X ( T ) / G J J dx + C

where

the

integration deformation of the

constant of the

C is shaft. at

found

from

the

boundary the

cond ition small ang l e

of compatible of rotation

4 > ( x) represents

cross-section

x caused

by torsion.

Torsional It shear radial

T

Shear can stress distance

stress from the stress-strain at any relations x solely that the torsional upon the

be seen in r: the

cross-section

depends

r G[dlj)(x)/dx] that the torsional shear at stress stress the

T

It the

is

evident

is

zero

at

the center of the with r

of

shaft,

where

r = 0, and maxtmun shear

external varies

surface linearly

shaft from a

where

r = a.

The torsional

zero of

val ue at the shaft Substi

the where

ax is

f the

shaft

to

a maxImun at

the

ex ternal

sur fac e

r :: a. for

tuting shaft manent

d . <x) Idx
the

from

the shear

Equation stress

of in

Torsion terms

of of

the the

circular torsional
,

gives
M

torsional

<,):

:: M (,)r/J

For radius

a hollow r :: a, 'max

circular the

shaft

with

the

internal torsional

radius

r :: b, and external
are:

maximlll'l and minimlln

stresses

:: M (-r) al J

and
'min:: Mxh)b/J

If

the
T

shaft
mm
.

is

solid,

then

b :: 0, and

See distribution

Figure over

4 for the

illustration cross-section

of

the

torsional

shear

stress

r C r)

of the

t w o shafts.

Figure

On the In

Kinematics the

of Shear

Deformation of the

and Torsion torsion of the circular shaft, a

kinematical

model

tacit deforms observed sectional torsion this

assumption into from radius

was made

that That thought into 5.

any this

cross-sectional is a reasonable

radius asaunpt that

in

torsion be

a radius. a simple deforms

i.on can a shaft

experiment. line shaft that the is is the in

Assume a circular turned radius

crossunder about

a curved If the

as shown in Figure undeformed y to radius the it

180 degrees is rad ius s ane : the applied at

is

found side of

now deformed despite material, the ends the

symmetricall fact the of that

opposite about shaft, the

undeformed still the couples

everything of the

shaft

geometry the shaft.

and the

torsional

Figure

The shear for the two

deformation cases of

at

point

r in are the case

the

cross-section
y

of

the

shaft a

deformation of

obviousl shaft when can the

distinct. only have deforms the two

;;j

Since unique into rotated

linearly response straight

elastic to

deformation

load ing , so Lel y the line of that the is shaft

rad ius then

radial

admissible give the

because same of

configurations assunption

strain.

Therefore. shaft deforms

the in

a plane

cross-section

a circular

V-7

torsion conclusion.

into

plane

cross-section

without

distorsion

is

valid

The above cross-section. with other

arg unent s do not as can be easily

apply proven

if by

the

shaft

is

not

circular if the shafts rotation

in

similar are

argunents used in

than

circular

cross-sections

experiment.

Shear

Strain Consider

in a Plane:

a rectangular

element

in (x-y)

plane

as

shown in Figure

6.

lJ y

r
A )t

~ (J:+4lt):# lI)'(lt)f-.d.~

(1()

. . I "p-NJ~)={,Ix(X)+~U.jX)

J L
%

Sheiir D e fo r m 'd fioof P/~ni rB e m e n t n

Figure 6

~all right

shear angle,

strain where

by definition the average

is angle

hal f of change

the

angle

change

xy

in

_Yxy= tan

+ tan

=
-

{[u

(x + 6x;y)

- u (x;y)/~x}

+ {[ u (x ; y +6Y) llu.
x

(x; y) ] / t : y} .

= [ t :. u
y

/ t : .x +
x

I llY. ]

Imposing

the

1 imi t

V-7 ll.x + 0 and ll.y +0 gives

the

shear

deformation

at

the

V-8

point y

(x ,y) :
xy

= (au
strain

lax)

+ (au

x lay)

The shear
E:

xy

xy

12 = of

(1/2)

(au shaft,
rde

lax) the

+ (au

x lay)
element of the shaft is almost

For the planar,

a(

torsion for
)/ax

the
dx

small

which

=
(a(

ds,

and thus,

(1/r)

)/a~]

For
du y

the

torsion

of the

shaft

rdq,( x)

and
ux

Therefore, Yxs = r[aq,(x)/ax] as r r( x), the which global is prec isel y the deformation of same the resul t obtained shaft. earl ier
by

considering

circular

v -
,