Prismatic Bar Subjected to End Loadings

x
y
z
P
M

S
R
0 = t = o = o
xy y x
: Assume
Semi-Inverse Method
0
0
2
2
2
2
2
2
2
=
c c
o c
=
c
o c
=
c
o c
=
c
o c

=
c
t c
=
c
t c

y x z y x
z z
z z z z
yz
xz
Equations ity Compatibil
Equations m Equilibriu
6 5 4 3 2 1
C yz C xz C z C y C x C
z
+ + + + + = o
g Integratin
Extension of Cylinders
Assumptions
- Load P
z
is applied at centroid of cross-
section so no bending effects
- Using Saint-Venant Principle, exact end
tractions are replaced by statically
equivalent uniform loading
- Thus assume stress o
z
is uniform over any
cross-section throughout the solid
0 , = t = t = o
yz xz
z
z
A
P

x
y
z P
z

S
R
Using stress results into Hookes law and combining with the strain-
displacement relations gives
0 , 0 , 0
, ,
=
c
c
+
c
c
=
c
c
+
c
c
=
c
c
+
c
c
=
c
c v
=
c
c v
=
c
c
z
u
x
w
y
w
z
v
x
v
y
u
AE
P
z
w
AE
P
y
v
AE
P
x
u
z z z
Integrating and dropping
rigid-body motion terms
such that displacements
vanish at origin
z
AE
P
w
y
AE
P
v
x
AE
P
u
z
z
z
=
v
=
v
=
0 = t = o = o
xy y x
and
Torsion of Cylinders
x
y
z
T

S
R
Guided by Observations from Mechanics of Materials

projection of each section on x,y-plane rotates as
rigid-body about central axis
amount of projected section rotation is linear
function of axial coordinate
plane cross-sections will not remain plane after
deformation thus leading to a warping displacement
Torsional Deformations
x
y
O
|
u
P'
P
r
R
S
x r v
y r u
| = u | =
| = u | =
cos
sin
z o = |
o = angle of twist per unit length
) , ( y x w w
xz v
yz u
=
o =
o =
w = warping displacement
Now must show assumed displacement form
will satisfy all elasticity field equations!
Stress Function Formulation
) , ( y x w w
xz v
yz u
=
o =
o =
|
|
.
|

\
|
o +
c
c
=
|
.
|

\
|
o
c
c
=
= = = =
x
y
w
e
y
x
w
e
e e e e
yz
xz
xy z y x
2
1
2
1
0
|
|
.
|

\
|
o +
c
c
= t
|
.
|

\
|
o
c
c
= t
= t = o = o = o
x
y
w
y
x
w
yz
xz
xy z y x
0
0 =
c
t c
+
c
t c
y x
yz
xz
o =
c
t c

c
t c
2
x y
yz
xz
Equilibrium Equations Compatibility Relation
Introduce Prandtl Stress Function | = |(x,y) :
x y
yz xz
c
| c
= t
c
| c
= t ,
Equilibrium will be identically satisfied and compatibility relation gives
o =
c
| c
+
c
| c
= | V 2
2
2
2
2
2
y x
a Poisson equation that is amenable to several analytical solution techniques
Boundary Conditions
Stress Function Formulation

x
y
z
T

S
R
0 0 0
0
0 0 0
0 0 0
= = | =
|
=
c
| c
+
c
| c
= o + t + t =
= = t + o + t =
= = t + t + o =
constant
ds
d
ds
dy
y ds
dx
x
n n n T
n n n T
n n n T
z z y yz x xz
n
z
z zy y y x xy
n
y
z zx y yx x x
n
x
}} }}
}}
}}
}}
}}
}}
| = = =
= =
= =
= =
= =
= =
R R
n
x
n
y z
R
n
z y
R
n
z x
R
n
z z
R
n
y y
R
n
x x
dxdy T T dxdy yT xT M
dxdy xT M
dxdy yT M
dxdy T P
dxdy T P
dxdy T P
2 ) (
0
0
0
0
0
On Lateral Side: S
On End: R (z = constant)
dn
dy
ds
dx
n
dn
dx
ds
dy
n
y
x
= =
= =
Normal Unit
n



Displacement Formulation
0 =
c
t c
+
c
t c
y x
yz
xz
0
2
2
2
2
=
c
c
+
c
c
y
w
x
w
Displacement component satisfies Laplaces equation
) ( 0
0
y x y x
z z y yz x xz
n
z
xn yn
dn
dw
n x
y
w
n y
x
w
n n n T
o = =
|
|
.
|

\
|
o +
c
c
+ |
.
|

\
|
o
c
c
= o + t + t =
or
On Lateral Side: S
}}
}}
|
|
.
|

\
|
c
c

c
c
+ + o =
= =
R
R
n
x
n
y z
dxdy
x
w
y
y
w
x y x T
T dxdy yT xT M
) (
) (
2 2
On End: R
J T o = Rigidity Torsional . . .
2 2
}} |
|
.
|

\
|
c
c
o

c
c
o
+ + =
R
dxdy
x
w y
y
w x
y x J
Formulation Comparison
S
R
y x
e = |
e o =
c
| c
+
c
| c
= | V
0
2
2
2
2
2
2
S n x
y
w
n y
x
w
R
y
w
x
w
y x
e =
|
|
.
|

\
|
o +
c
c
+
|
.
|

\
|
o
c
c
e =
c
c
+
c
c
0
0
2
2
2
2

x
y
O
R
S
Stress Function Formulation
Displacement Formulation
Relatively Simple Governing Equation
Very Simple Boundary Condition
Very Simple Governing Equation
Complicated Boundary Condition
Multiply Connected Cross-Sections
Boundary conditions of zero tractions on all lateral surfaces
apply to external boundary S
o
and all internal boundaries
S
1
, . . . Stress function will be a constant and displacement
be specified as per (9.3.20) or (9.3.21) on each boundary S
i
,
i = 0, 1, . . .

x
y
C
S
o
R
S
1
i y x i i
S n x
y
w
n y
x
w
S e =
|
|
.
|

\
|
o +
c
c
+ |
.
|

\
|
o
c
c
e | = | 0 or
where |
i
are constants. Value of |
i
may be arbitrarily chosen
only on one boundary, commonly taken as zero on S
o
.
Constant stress function values on each interior boundary are found by
requiring displacements w to be single-valued, expressed by
}
=
1
0 ) , (
S
y x dw
1
2
1
A ds
S
o = t
}
where A
1
is area enclosed by S
1

Value of |
1
on inner boundary S
1
must therefore be chosen so that relation is satisfied. If cross-
section has more than one hole, relation must be satisfied for each hole.
Boundary conditions on cylinder ends will be satisfied, and resultant torque condition will give
1 1
2 2 A dxdy T
R
| + | =
}}
Membrane Analogy
Stress function equations are identical to those governing static deflection of an elastic membrane
under uniform pressure. This creates an analogy between the two problems, and enables particular
features from membrane problem to be used to aid solution of torsion problem. Generally used to
providing insight into qualitative features and to aid in developing approximate solutions.
x
y
S

z
R
p
Deflected Membrane
Static Deflection of a Stretched Membrane

Ndy

Ndy

Ndx

Ndx

Membrane Element
dx
dy

x
z
Ndy
Ndy
x
z
c
c
dx
x
z
x
z
2
2
c
c
+
c
c
pdxdy
Equilibrium of Membrane Element
N
p
y
z
x
z
F
z
=
c
c
+
c
c
=

2
2
2
2
0
S z on 0 =
}}
=
R
zdxdy V
Membrane Equations
o =
c
| c
+
c
| c
2
2
2
2
2
y x
S on 0 = |
}}
| =
R
dxdy T 2
Torsion Equations
Equations are same with: | = z , p/N = 2o , T = 2V

dn
dz
s
z
z
zt
zn
= t = t
= t =
c
c

=
0 0
constant : Line Contour
n
t
Torsion Solutions Derived from
Boundary Equation
x
y
R
S
If boundary is expressed by relation f(x,y) = 0, this
suggests possible simple solution scheme of
expressing stress function as | = Kf(x,y) where K is
an arbitrary constant. Form satisfies boundary
condition on S, and for some simple geometric
shapes it will also satisfy the governing equation
with appropriate choice of K. Unfortunately this is
not a general solution method and works only for
special cross-sections of simple geometry.
S
R
y x
e = |
e o =
c
| c
+
c
| c
0
2
2
2
2
2
Problem Value - Boundary
0 ) , ( = y x f
Example 9.1 Elliptical Section
x
y
a
b
1
2
2
2
2
= +
b
y
a
x
Look for Stress Function Solution
|
|
.
|

\
|
+ = | 1
2
2
2
2
b
y
a
x
K
| satisfies boundary condition and will satisfy governing governing if
2 2
2 2
b a
b a
K
+
o
=
Since governing equation and boundary condition are satisfied, we have found solution
Elliptical Section Results
Loading Carrying Capacity
Angle of Twist
|
.
|

\
|
+
+
o
=
}} }} }}
R R R
dxdy dxdy y
b
dxdy x
a b a
b a
T
2
2
2
2 2 2
2 2
1 1 2
Stress Field
(Stress Function Contours)

(Displacement Contours)



3 2 2
2
3 2 2
2
2 2
2 2
ba
Tx
x
b a
b
ab
Ty
y
b a
a
yz
xz
t
=
+
o
= t
t
=
+
o
= t
4
2
4
2
2 2
2
b
y
a
x
ab
T
yz xz
+
t
= t + t = t
Displacement Field
xy
b a
a b T
w
t

=
3 3
2 2
) (
t
+
= o
+
o t
=
3 3
2 2
2 2
3 3
) (
b a
b a T
b a
b a
T or
2
max
2
) , 0 (
ab
T
b
t
= t = t
Elliptical Section Results
3-D Warping Displacement Contours
T
Example 9.2 Equilateral Triangular Section
x
y
a 2a
For stress function try product form of each boundary line equation
) )( 2 3 )( 2 3 ( a x a y x a y x K + + + = |
| satisfies boundary condition and will satisfy governing governing if
Since governing equation and boundary condition are satisfied, we have found solution
a
K
6
o
=
Equilateral Triangular Section Results
Loading Carrying Capacity
Angle of Twist
Stress Field
(Stress Function Contours)

(Displacement Contours)

Displacement Field
3
max
2 2
18
3 5
2
3
) 0 , (
) 2 (
2
) (
a
T
a a
y ax x
a
y a x
a
yz
yz
xz
= o = t = t
+
o
= t

o
= t
p
I a T o = o =
5
3
3 5
27
4
) 3 (
6
2 2
y x y
a
w
o
=
Additional Examples That Allow Simple
Solution Using Boundary Equation Scheme
Section with Higher Order
Polynomial Boundary (Example 9-4)
Circular Shaft with Circular
Keyway (Exercise 9-19)
r = b
r = 2acosu
r
u
x
y
.
)
cos 2
1 )( (
2
2 2
r
a
r b
u

o
= |
2 of ion Concentrat Stress
2
2
) (
) (
0 / As
max
max

=
o
o

t
t

a
a
a b
shaft solid
keyway
x
y
2 2
cx a y + =
2 2
cy a x + =
2 2
cy a x + =
2 2
cx a y + =
a
a
) )( (
2 2 2 2 2 2
y cx a cy x a K + + = |
8 3 ,
) 2 1 ( 4
2
=

o
= c
a
K
a a a o = t = t = t 2 ) , 0 ( ) 0 , (
max
Examples That Do Not Allow Simple
Solution Using Boundary Equation Scheme
x
y
a
b

x = a
y = m
1
x
y = -m
2
x
x
y
General Triangular Section Rectangular Section
Example 9.4 Rectangular Section
Fourier Method Solution
Previous boundary equation scheme will not create a
stress function that satisfies the governing equation.
Thus we must use a more fundamental solution
technique - Fourier method. Thus look for stress
function solution of the standard form
with
p h
| + | = | ) ( ) , (
2 2
x a y x
p
o = |
) ( ) , ( , 0 ) , ( , 0
2 2 2
x a b x y a
h h h
o = | = | = | V
homogeneous solution must then satisfy
) ( ) ( ) , ( y Y x X y x
h
= | Separation of Variables Method o =
c
| c
+
c
| c
2
2
2
2
2
y x
a
y n
a
x n
B y x
n
n h
2
cosh
2
cos ) , (
1
t t
= |

=
|
.
|

\
| t
t o =

a
b n
n a B
n
n
2
cosh / ) 1 ( 32
3 3 2 / ) 1 ( 2
x
y
a
b
a
y n
a
x n
a
b n
n
a
x a
n
n
2
cosh
2
cos
2
cosh
) 1 ( 32
) (
5 , 3 , 1
3
2 / ) 1 (
3
2
2 2
t t
t

t
o
o = |

Rectangular Section Results

a
y n
a
x n
a
b n
n
a
x
x
a
y n
a
x n
a
b n
n
a
y
n
n
yz
n
n
xz
2
cosh
2
sin
2
cosh
) 1 ( 16
2
2
sinh
2
cos
2
cosh
) 1 ( 16
5 , 3 , 1
2
2 / ) 1 (
2
5 , 3 , 1
2
2 / ) 1 (
2
t t
t

t
o
o =
c
| c
= t
t t
t

t
o
=
c
| c
= t

a
b n
n
a b a
T
n
2
tanh
1 1024
3
16
5 , 3 , 1
5 5
4 3
t
t
o

o
=

=
t
t
o
o = t = t
5 , 3 , 1
2
2
max
2
cosh
1 16
2 ) 0 , (
n
yz
a
b n
n
a
a a
a
y n
a
x n
a
b n
n
a
xy w
n
n
2
sinh
2
sin
2
cosh
) 1 ( 32
5 , 3 , 1
3
2 / ) 1 (
3
2
t t
t

t
o
o =

Stress Field
Displacement Field
Loading Carrying Capacity/Angle of Twist
Rectangular Section Results

(Stress Function Contours)
(Displacement Contours, a/b = 1.0)
(Displacement Contours, a/b = 0.5) (Displacement Contours, a/b = 0.9)
Torsion of Thin Rectangular Sections (a<<b)
x
y
a
b



Investigate results for special case of a very thin
rectangle with a << b. Under conditions of b/a >> 1
1
2
tanh
2
cosh
t

t
a
b n
a
b n
and
b a T
a
x a
3
max
2 2
3
16
2
) (
o =
o = t
o = |

x
y
1
2
3
(Stress Function Contours)
(Composite Section)
Composite Sections

=
o =
N
i
i i
b a T
1
3
3
16
Torsion of sections composed of thin
rectangles. Neglecting local regions where
rectangles are joined, we can use thin
rectangular solution over each section.
Stress function contours shown justify these
assumptions. Thus load carrying torque for
such composite section will be given by
Example 9.5 Hollow Elliptical Section
x
y

1
2
2
2
2
= +
b
y
a
x
1
) ( ) (
2
2
2
2
= +
kb
y
ka
x
For this case lines of constant shear stress
coincide with both inner and outer boundaries,
and so no stress will act on these lateral
surfaces. Therefore, hollow section solution is
found by simply removing inner core from solid
solution. This gives same stress function and
stress distribution in remaining material.
( ) 1
2
2 2
2 2

+
o
= | k
b a
b a
i
|
|
.
|

\
|
+
+
o
= | 1
2
2
2
2
2 2
2 2
b
y
a
x
b a
b a
Constant value of stress function on inner boundary is
Load carrying capacity is determined by subtracting load carried by the
removed inner cylinder from the torque relation for solid section
) 1 (
) ( ) (
) ( ) (
4 3 3
2 2 2 2
3 3
2 2
3 3
k b a
b a kb ka
kb ka
b a
b a
T
+
to
=
+
o t

+
o t
=
Maximum stress still occurs at x = 0 and y = b
4 2
max
1
1 2
k ab
T
t
= t
Hollow Thin-Walled Tube Sections
a
a
A B
Tube Centerline
t
(Section aa)
A B
|
o

Membrane
C
With t<<1 implies little variation in membrane slope, and BC can be approximated
by a straight line. Since membrane slope equals resultant shear stress
t
o
|
= t
Load carrying relation:
c o i o
o
i o
R
A A A A dxdy T | = | + |
.
|

\
| |
= | + | =
}}
2 2
2
2 2 2
where A = section area, A
i
= area enclosed by inner boundary, A
c
= area enclosed by centerline
Combining relations
t A
T
c
2
= t
Angle of twist:
t A
TS
A ds
c
c
c
S
c
= o o = t
} 2
4
2
where S
c
= length of tube centerline
Cut Thin-Walled Tube Sections
Cut creates an open tube and produces significant changes to stress function,
stress field and load carrying capacity. Open tube solution can be
approximately determined using results from thin rectangular solution.
Stresses for open and closed tubes can be compared and for identical applied
torques, the following relation can be established (see Exercise 9-21)
stronger is tube closed thus and open tube in higher are Stresses
1 since but 6
2
2
3

>> >> >> ~ ~

ClosedTube OpenTube
ClosedTube
OpenTube
s c
s
c
c
s
ClosedTube
OpenTube

A A ,
A
A
t A
T
aA
T

Cut
Torsion of Circular Shafts
of Variable Diameter
x
y
z
u
r
.
Displacement Assumption
u
r
= u
z
= 0
u
u
= u
u
(r,z)
z
u
e
r
u
r
u
e
e e e e
z r
rz z r
c
c
= |
.
|

\
|

c
c
=
= = = =
u
u
u u
u
u
2
1
,
2
1
0
z
u
r
u
r
u
z r
rz z r
c
c
= t |
.
|

\
|

c
c
= t
= t = o = o = o
u
u
u u
u
u
,
0
Equilibrium Equations
0
3 3
=
(

|
.
|

\
|
c
c
c
c
+
(

|
.
|

\
|
c
c
c
c
u u
r
u
z
r
z r
u
r
r
r
Stress Function Approach
z
r
r
r
u
z
r
r
r
r
u
r
r
z
u
u
u
u
t

= |
.
|

\
|
c
c
=
c
+ c
t

= |
.
|

\
|
c
c
=
c
+ c
2
3
2
3
0
3
2
2
2
2
=
c
+ c
+
c
+ c

c
+ c
z r r r
constant = + =
+
= |
.
|

\
|
c
+ c
+
c
+ c
0 0
2
ds
d
ds
dz
z ds
dr
r r
Boundary Condition
)] , 0 ( ) ), ( ( [ 2 z z z R T + + t =
Load Carrying Torque
Conical Shaft Example 9-7
z
2
r
Stress Function Solution
|
|
.
|

\
|
+

+
= +
2 / 3 2 2
3
2 2
) ( 3
1
z r
z
z r
z
C
) cos
3
1
cos
3
2
( 2
3
+ t
=
T
C
Stresses Displacement
2 / 5 2 2
2 / 5 2 2
2
) (
) (
z r
rz C
z r
r C
z
r
+

= t
+

= t
u
u
r
z r
Cr
u e +
+
=
u
2 / 3 2 2
) ( 3
er is rigid-body rotation about z-axis and
e can be determined by specifying shaft
rotation at specific z-location
boundary on constant cos
2 2
= =
+ z r
z
Conical Shaft Example 9-7
Exercise 9-23 = 30
o
Comparison with Mechanics of Materials
4 5 6 7 8 9 10
0
0.01
0.02
0.03
0.04
0.05
0.06
z
(
t
u
z
)
m
a
x

/

T
Max Shear Stress Comparison


Mechanics of Materials
Elasticity Theory
Numerical FEA Torsion Solutions
(4224 Elements, 2193 Nodes)
(4928 Elements, 2561 Nodes)
(4624 Elements, 2430 Nodes)
(Stress Function Contours)
(Stress Function Contours)
(Stress Function Contours)
-
A
Flexure of Cylinders
x
y
z

S
R
P
x

P
y

. (x
o
,y
o
)
Consider flexure of cantilever beam of
arbitrary section with fixed end at z = 0
and transverse end loadings P
x
and P
y
at
z = . Problem is solved in Saint-Venant
sense, so only resultant end loadings P
x

and P
y
will be used to formulate boundary
conditions at z = .
0 = t = o = o
xy y x
) )( ( z l Cy Bx
z
+ = o
From general formulation , and motivated
from strength of materials choose ,
where B and C are constants. Stresses t
xz
and t
yz
will be
determined to satisfy equilibrium and compatibility
relations and all boundary conditions.
Remaining equilibrium equation will be identically

satisfied if we introduce stress function F(x,y) such that
0 ) ( = +
c
t c
+
c
t c
Cy Bx
y x
yz
xz
2
2
2
1
2
1
Cy
x
F
Bx
y
F
yz
xz
+
c
c
= t
+
c
c
= t
Flexure Formulation
Remaining Beltrami-Michell Compatibility Relations
0
1
) (
0
1
) (
2
2
=
v +
v
+ V
c
c

=
v +
v
+ V
c
c
C
F
x
B
F
y
o
v +
v
= V 2 ) (
1
2
By Cx F
Zero Loading Boundary Condition on Lateral Surface S
0 = t + t
y yz x xz
n n
) (
2
1
2 2
ds
dx
Cy
ds
dy
Bx
ds
dF
=
Separate Stress Function F into Torsional Part | and Flexural Part
) , ( ) , ( ) , ( y x y x y x F + | =
S
ds
d
R
on 0
in 2
2
=
|
o = | V
S
ds
dx
Cy
ds
dy
Bx
ds
d
R By Cx
on ) (
2
1
in ) (
1
2 2
2
=

v +
v
= V
Flexure Formulation
General solution to
) (
1
2
By Cx
v +
v
= V
) (
1 6
1
) , ( ) , (
3 3
By Cx y x f y x
v +
v
+ = where V
2
f = 0
Boundary Conditions on end z =
}}
}}
= t
= t
R
y yz
R
x xz
P dxdy
P dxdy
x xy y
P CI BI = +
y x xy
P CI BI = +
2
2
xy y x
xy x y y
xy y x
xy y x x
I I I
I P I P
C
I I I
I P I P
B

=
x o y o
R
P y P x dxdy
y
y
x
x y Bx Cxy J =
|
|
.
|

\
|
c
c
+
c
c
+ o
}}
) ( ) (
2
1
2 2
x o y o
R
xz yz
P y P x dxdy y x = t t
}}
] [
where I
x
, I
y
and I
xy
are the area moments of inertia of section R
where J is the torsional rigidity final relation determines angle of twist o
Flexure Example - Circular Section with No Twist
x
y
z
a
P

u
v +
v
= V cos
1
2
r
I
P
x
a r a
I
P
a
x
= u =
u c
c
on sin
2
1 1
3 2
Polar Coordinate Formulation
Solution:
(

v +
v
+
v +
v +

v +
v +
=
3 2 2
) 1 ( 24
2 1
) 1 ( 8
2 1
) 1 ( 8
2 3
x xy x a
I
P
x
Stress Solution:
) (
]
2 3
2 1
[
) 1 ( 8
2 3
1
2 1
4
2 2 2
z l y
I
P
x y a
I
P
xy
I
P
x
z
x
yz
x
xz
= o
v +
v

v +
v +
= t
v +
v +
= t
) 1 ( 2
2 3
) 0 , 0 (
2
max
v +
v +
t
= t = t
a
P
yz
Strength of Materials:
2
max
3
4
a
P
t
= t