Circular Shafts

When a pure torque acts upon a shaft, shear stresses will be set
up which act in directions perpendicular to the radius at all
points.
The complimentary shear stresses on longitudinal planes will
cause the distortion of filaments which were originally in the
longitudinal direction. Assume that the points lying on a radius
before twisting will remain on that radius and that the angle of
twist is uniformly over the length of the shaft.

The diagram shows the shear strain of elements which are at a

distance r from the axis ( When T is constant is constant) so
that the line originally OA has twisted to OB and the angle ACB is
now , the relative angle of twist for cross sections a distance
l apart .
(1)

But
(2)

From the above two equations

(3)

The torque T can be equated to the sum of the moments of the

tangential stresses on the element
(4)

substituting from equation (3)

(5)

(6)

But J, the polar moment of inertia which

Combing equations (3) and (6)
(7)

This equation shows that the shear stress is proportional to the

radius (the equation is analogous to that proven in the section on
linear bending stress.)

For a solid shaft and for a hollow shaft

(8)

The maximum stress for a solid shaft and for a

hollow shaft
Torsional stiffness ;is defined as torque per radian twist. i.e.
(9)

Example 1:
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Shafts Of Varying Diameter

Angle of twist in larger shaft = and for the thinner =

(15)
(16)

If the shafts are made of the same material

Composite Shafts

The angle of twist per unit length is the same for both materials.
(17)

(18)

(19)

(20)
From which
(21)

(22)

(23)

(24)

Combined Bending And Twisting.

This occurs frequently in practice when a shaft is subjected to

both a bending and inertia forces. Stresses are set up due to
gravity; torque and shear forces although the latter is usually
unimportant since its maximum value occurs at the neutral axis
where the bending stress is zero.
For the purposes of design it is necessary to calculate all the
principle stresses( maximum shear stress; shear strain energy
etc) so that these can be used to compare them with the
criterion of failure.
If is the greatest bending stress and s is the greatest shear
stress due to bending then:
(25)
(26)

For loading in the vertical plane, these stresses will occur

together at the end of a vertical diameter, since there is no
normal stress on longitudinal planes of the shaft, they are
maximum principle stress.
(27)

(28)

(29)

Note: that is the equivalent bending moment

that would produce the same maximum stress.
The maximum shear stress q is given by;-
(30)

(31)

and this is the same shear stress as would be produced by a pure

torque of magnitude

Example 2:
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Strain Energy In Torsion.

When a shaft of length l is gradually twisted through an angle

under the influence of a Torque T. The work done (equals the
total strain energy U) is given by:-
(42)

Substituting value for T and in equations (35)gives:-

(43)

(44)
(45)

This gives the total strain energy over the whole shaft. The shear
stress varies from zero at the axis to at the outside.
For a hollow tube :-
(46)

(47)

Example 3:
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Moments Of Inertia