Quick review

Statically Indeterminate, Thermal Strain, Poissons Ratio

Statically Indeterminate (Sections 4.4 & 4.5):
number of unknowns > number of the equilibrium equations
Additional equation is needed to solve the problem
Thermal Strain (Section 4.6):

T TL

T
L

Poissons ratio (Section 3.6):

lateral

longitudin
g
al

E
G
2(1 )

Lecture 3
Chapter 7: Torsion (Sections 5.1~5.4)
Internal torque in a shaft
Relating the stress in a shaft to its angle of twist
Relating to the shear stress to the internal torque in the shaft
A sign convention for shaft torsion
Torque diagrams

Ch t 8:
Chapter
8 BM & SF diagrams
di
by
b equilibrium
ilib i
(S
(Section
ti
6.1)
Point Forces and Couples
Distributed Forces

Chapter 7 Torsion
Rear
R
wheel

w
Engine

Shaft

Differential

For the drive-shaft

drive shaft in a rear wheel drive
car, the gearbox applies a twisting
moment or torque to one end of the
shaft,
h ft and
d the
th diff
differential
ti l applies
li an
opposite torque at the other end.

Cut
Internal torque in a shaft

M 0

ve

T Tint 0 Tint T

Relating the stress in a shaft to its angle of twist

B

Relationship

A
O

is radius of the shaft;

L is the length
g of the shaft
is the angle of twist under the internal
torque T.

Shear strain on the surface of the shaft is given by

surface

Relating the stress in a shaft to its angle of twist

r

at radius r surface
surface

at radius r
Untwisted

Twisted

Hookes Law

Gr

L
Note:
Shear stress and shear strain are greatest on the surface of the shaft and
zero at the centre.

Relating the shear stress to the internal torque in a shaft

dF dA

Gr

dA rddr

dM ELEMENT

Gr
G
dF
rddr
L
rdF
dF

dM ELEMENT
2

dM HOOP

dM

Gr 3

ddr
d
L

ELEMENT

dM HOOP

Gr 3
2
dr
L

M dM HOOP
0

4
2L

4
2

JG
M
L

Relating the shear stress to the internal torque in a shaft

T M
Torque is a moment that twists a member
about its longitudinal
g
axis.

JG
T
L

Where J is called the polar moment of area of the

shaft It is a geometric property of the cross
shaft.
cross-section
section
of the shaft.

Solid shaft

is the radius of the shaft

shaft.

Hollow shaft
i
o

( o 4 i4 )
2

o is the outer radius of the shaft.

i is the inner radius of the shaft.

Summary
Relationship between the shear stress and the angle of twist

Gr

L
Relationship between the internal torque T and the angle of twist

JG
T
L
The Engineers Theory of Torsion is as follows

TL

Gr GJ

L is the length of the shaft

G is the shear modulus
J is the polar moment of area
r is the radius at which we want to calculate the
shear stress

A sign convention for shaft torsion

When you look at the shaft
from an end, the end closer
to you is twisting positively.
We cut the shaft to investigate the internal
torque in a shaft with a positive twist.
We rotate our view of each portion, so that we
are looking straight onto the cut surface. We
see that
that, a positive internal torque appears
anticlockwise.

A
T

When the shaft is viewed from the side, Tint

and are p
positive if,, the torque
q at the left hand
T
end appears to act upward, and the torque at
the right end appears to act downward.

For multiple torques,

To determine the magnitude and sign of the

internal torque
q at Point P, between B and C.
Using equilibrium to determine Tint.

S ti A
Section
A-B-P:
BP

M 0

ve

Tint 15 10 0 Tint 5 Nm
Section P-C-D:

M 0

ve

Tint 5 0 Tint 5 Nm

For multiple torques,

Using the similar procedure, we can determine
the internal torque at other portions of the shaft
shaft.
Between A and B: Tint 10 Nm
Between B and C: Tint 5 Nm
Between C and D: Tint 0 Nm

Tint All torques to the left of P, that " point upward"

All torques to the left of P,

P that " point downward
downward"

Point P between B and C:

Tint 10 15 5 Nm

Torque Diagram,
Between A and B: Tint 10 Nm
Between B and C: Tint 5 Nm
Between C and D: Tint 0 Nm

Draw a diagram of the internal torque vs distance (x) along the shaft,
T int
A
B
C

D
x

We move from left to right, an

upwards torque causes an
increase in the torque diagram and
a downwards
downwards torque causes a
decrease in the torque diagram.

Torque Diagram,
Two points A and B are separated by a distance
x. The internal torque (T), shear modulus (G),
and polar moment of area (J) are all constant
between A and B. The angle
g of twist of B relative
to A is as follows

B / A

Torque diagram
Tint
A
T

x
T
JG

Tx

JG

T
Tx
T
Area
x
B / A
JG
JG
Tx
T
is
equal
to
the
area
under
a
graph
of
vs x
JG
JG

between A and B.
x

Weighted torque diagram

B / A Area under a graph of

T
vs x between A and B
JG

Example 1,
To determine the angles of twist of B relative to A, C relative to A

Between A and B,
J 1E - 9m 4 , G 70GPa, L 0.5m
Between B and C,
J 2E - 9m 4 , G 60GPa, L 0.6m

Torque diagram
T

Between A and B,

10

T/JG

-5

B / A 0.143 0.5 0.0714radd

B t
Between
A and
d C,
C

0.143

C / A 0.143 0.5 0.0417 0.6

-0.0417
0.5m

x
0.6m

0.0464rad

Example 2,

The torques shown are exerted on pulleys B

and C. The shafts are solid,
AB is made of aluminium (G=28GPa) with a
diameter of 30mm, and
BC is made of steel (G=77GPa) with a
diameter of 40mm.
Determine the angle of twist of C relative to B,
and
a
d C relative
e a e to
o A. Also
so de
determine
e
e the
e
maximum magnitude of the shear stress, and
where it occurs.
Torque diagramT vs x
Weighted Torque diagramT/JG vs x
Area under the weighted Torque diagram

B / A

Tx

JG

Step 1, Determine the support reaction at the wall

A

400Nm

300Nm

Twall

Use equilibrium
equilibrium,

M 0

ve

Twall 400 300 0 Twall 100 Nm

Step 2, Construct a torque diagram for this problem
T

Use cut
cut and equilibrium
equilibrium,

300Nm

TBC 300 Nm

A
-100Nm

Step 3, Determine the values of shear modulus (G) and polar moment
of area (J) for each part of the shaft
Between A and B,

3.142 (30 / 2) 4
J

7.953E 8m 4
2
2
JG (7.953E 8) (28E 9) (2.227 E 3) Nm 2
Between B and C,

3.142 (40 / 2) 4
J

(2.514 E 7)m 4
2
2
JG (2.514 E 7) (77 E 9) (1.935 E 4) Nm 2
Step 4, Weight the torque diagram by 1/JG
T/JG
0.0155
1.2m
-0.0449

0.9m

Step 5, the rotation of C relative to B is equal to the area under the

weighted torque diagram between B and C.
T/JG
0.0155
1.2m
-0.0449

0.9m

C / B 0.0155 0.9 0.0140rad

Step 6, the rotation of C relative to A is equal to the area under the
weighted torque diagram between A and C.

C / A 0.0155 0.9 0.0449 1.2 0.0399rad

The physical
Th
h i l direction
di ti off the
th rotation
t ti are given
i
b
by th
the signs
i
off C/B and
d
C/A, and the sign convention described earlier.

Step 7, The maximum shear stress can be calculated by rearranging

the Engineers Theory of Torsion

TL

Gr GJ

Tr Gr

J
L

O the
On
th outside
t id off shaft
h ft portion
ti AB
AB:

T 100 (30 E 3) / 2
18.861MPa

J
(7.953E 8)

On the outside of shaft portion BC:

T 300 (40 E 3) / 2

23.866MPa
J
(2.514 E 7)

Power: shafts are often to transmit power.

P T
is the angular velocity of the shaft in radians/second.

Chapter 8 Bending Moment and Shear Force Diagrams

To determine stresses in a beam being bent is to find the internal bending
moment and shear force being carried.
The procedures for construction bending moment and shear force diagrams
were presented in the unit Fundamentals of Mechanics
Mechanics.

Example 1Point forces and couples

Draw shear force and bending moment
diagrams for the beam shown.

10kN
4kNm

2m
3.5m
5m

1.

Cutting the beam

2
2.

Draw the free body diagram

3.

Use equilibrium

4.

0,

0,

Find internal bending moment and

shear
h
fforce

Step 1: Calculate the support reactions

10kN
4kNm

Use equilibrium.

2m
3.5m

0 H 0
ve

5m

0 R A R B 10 0
ve

M A 0

ve

10kN
4kNm

R B 5 10 2 4 0

RB

10 2 4
4.8kN
5

RA

2m
3.5m

RB
5m

R A 10 4.8 5.2kN
Step 2: Identify every point where the loading on the beam changes
At x=2m, a point force 10kN is applied
At xx=3
3.5m,
5m a point couple 4kNm is applied

0 x 2m

2m x 3.5m
3.5m x 5m

Step 3: Make an imaginary cut (0<x<2m)

10kN
4kNm

Make an imaginary cut through the

beam at K. The internal forces include

2m K
3.5m

RA

a normal (axial) force Nx

The subscripts x indicate that Nx, vx and Mx

may be functions of the distance along the
beam.
beam

5m

Mx
K

a shear force vx
a bending moment Mx

RB

Nx
5.2

vx

Sign Convention for Internal

Forces
Sign convention is established for internal forces for
the consistency in analysis
Internal forces at a specified point
Bending Moment
Axial Force
Shear Force

Axial force
(+) Axial force

Sign Convention for Internal

Forces
Shear force
(+) Shear force
Bending moment
((+)) Bendingg moment

Use the equilibrium equations to find

expressions for Nx, vx and Mx

0 Nx 0

ve

10kN
4kNm

H
2m K
3.5m

RA

ve

Mx

0
ve

K
Nx

M x 5.2 x 0

5.2

M x 5.2 xkNm
kN
Step 4: Make an imaginary cut (2m<x<3.5m)

10kN
4kNm

H
2m
2
3.5m

0 5.2 10 v x 0

RB
5m

ve

v x 4.8kN
k

Vx

RA

5m

0 5.2 v x 0
v x 5.2kN

RB

0
ve

M x 5.2 x 10 ( x 2) 0
M x (4.8 x 20)kNm

10

Mx
K
Nx

52
5.2

Vx

Step 5: Make an imaginary cut (3.5m<x<4m)

4kNm

0 5.2 10 v x 0
ve

RA

2m
3.5m

v x 4.8kN

0
ve

10kN

M x 5.2 x 10 ( x 2) 4 0
M x (4.8 x 24)kNm

5m

10

Mx
K
Nx

5.2

Vx

Step 6: Constructs graphs of shear force and bending moment

Bending moment
Shear force
vx

Mx

vx=5.2

Mx=5.2x

Mx=-4.8x+20
Mx=-4.8x+24

vx=-4.8

RB

Distributed Forces

wx

The intensity of the distributed force can be

constant or can vary along the beam, and is
given the symbol x.
Note:
x Is defined to be positive if it is acting downward, and it has units of
force per length (N/m)
(N/m).
The subscript x indicates that the intensity can be a function of distance
along the beam (x).
The equivalent point force of the distributed force Feq has a magnitude
equal to the area of the region under a graph of x versus x. The line of
action of Feq passes through the centroid of this region.
Uniformly distributed force (x=constant)

Linearly varying force

Feq=w ma xL/2

Feq =wL
wL

wmax

L/2

L
L/3

Example 2: Distributed Force

Find expressions for the shear force and
bending moment being carried by the beam
shown, as functions of the distance from the
l ft hand
left
h d end
d ((x).
)

1.

Cutting the beam

2
2.

Draw the free body diagram

3.

Use equilibrium

4.

0,

0,

Find internal bending moment and

shear
h
fforce

3kN/m
2m
A

B
x

C
5m

Step 1: Replace the distributed force by an equivalent point force

10kN

3kN/
3kN/m

F eq=9kN
9kN

2m
A

B
x

C
RA

5m

1.5m

RB

5m

Step 2: Use the equivalent point force, calculate the support reactions

0 H 0
ve

0 R A RB 9 0
ve

0
ve

RB 5 9 3.5 0
RB

9 3.5
6.3kN
5

R A 9 6.3 2.7 kN

3kN/m

Step 3: Identify every point where the

loading on the beam changes

2m
A

The loading changes where the

distributed force starts at p
point C ((at
x=2m).

C
5m

Mx
K

Step4: Make an imaginary cut (0<x<2m)

(0 x 2m)
Use the equilibrium equations to find
expressions for Nx, vx and Mx

0 Nx 0
ve

0 2.7 v x 0
ve

v x 2.7 kN

0
ve

M x 2.7 x 0
M x 2.7 xkNm

Nx
2.7

Vx

3kN/m

Step 4: Make an imaginary cut (2m<x<5m)

(2m x 5m)

2m
A

0 2.7 3( x 2) v x 0

C
5m

ve

v x (8.7 3x)kN

MK 0

x2
3( x 2) 0
2
ve
A
2
M x (1.5 x 8.7 x 6)kNm
M x 2.7 x

27
2.7

3kN/m
2
2m
vx Mx
x

K
5m

F eq=3(x-2)
2m
A
2.7

vx Mx
K
(x-2)/2

Step 5: Constructs graphs of shear force and bending moment

Bending moment
Sh
Shear
fforce
vx

Mx=-1.5x2+8.7x-6

Mx
Mx=2.7x

vx=2.7

x
vx =8.7-3x

Note
1. Make a cut and a new free body diagram for every change in the beams
loading.
2 Unfortunately
2.
Unfortunately, this can make drawing shear force and bending moment
diagrams very tedious. Chapter 9 and 10 will look at shortcut ways to
draw these.
3. When determining the shear force
f
and bending moment under a
distributed force, always cut the beam and replace the distributed force
by an equivalent point force.
4. We could use a free body diagram of section of the beam on the right
hand side of the cut point (K) instead of the left hand side, as used
above.
above
a. Since every action has an equal and opposite reaction, the positive
directions for vx and Mx on the right hand portion are equal and
opposite to those on the left hand portion.
b. The length of the portion is equal to the overall length minus x.