Chapter 9

Chapter 9
Extension, Torsion and

Flexure
of Elastic Cylinders
Prismatic Bar Subjected to
End Loadings
Semi-Inverse
Method
Assume
: x y xy 0
Equilibrium Equations
xz yz
0
z
z
Compatibility Equations
2 z 2 z 2 z 2 z
0
x 2
y 2
z 2
xy
Integrating
z C1 x C2 y C3 z C4 xz C5 yz C6
Elasticity
Theory, Applications and Numerics

M.H. Sadd , University of Rhode Island
Extension of Cylinders
Assumptions
- Load Pz 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
Pz stress z is uniform
- Thusassume
, xz yz 0
z
A
over any cross-section throughout
andsolid
x y xy 0
the
Using stress results into Hookes law and combining
with the strain-displacement relations gives
P
u z x
u
P v
P w Pz
AE
Integrating and
z ,
z ,
x
AE y
AE z AE
P
dropping rigid-body
v z y
motion terms such
AE
u v
v w
w u
0,
0,
0 that displacements
Pz
y x
z y
x z
w
z
vanish at origin
AE
Elasticity

Torsion of Cylinders
Guided by Observations from Mechanics

of Materials
projection of each section on x,yplane rotates as rigid-body about
central axis
amount of projected section rotation
is linear function of axial coordinate
plane cross-sections will not remain
planeand
after
deformation thus leading
Elasticity Theory, Applications
Numerics
M.H. Sadd , University of to
Rhode
a Island
warping displacement
Torsional Deformations
y
P
'
r
u r sin y
v r cos x
S
x
R
= angle of twist per unit
length
u yz
v xz
w w( x, y )
w = warping
displacement
Now must show assumed
displacement form
will satisfy all elasticity field equations
Elasticity

Stress Function Formulation

e x e y e z e xy 0
u yz
v xz
x y z xy 0
e xz
1 w
2 x
xz
e yz
1 w
x
2 y
yz
x
y
w w( x, y )
y
x
Equilibrium Equations Compatibility Relation

xz yz
0
x
y
xz yz
2
y
x
xz:
Introduce Prandtl Stress Function = (x,y)
, yz
y
x
Equilibrium will be identically satisfied and compatibility

relation gives
2
2
2
2
x 2 y 2
a Poisson equation that is amenable to several analytical

solution techniques
Elasticity Theory, Applications and Numerics
Boundary Conditions
Stress Function
Formulation
On Lateral Side: S
Txn x nx yx n y zx nz 0 0 0
T xy nx y n y zy nz 0 0 0
n
y
T xz
n
z
n n
x
yz
z nz 0
dx dy
d
0
0 constant 0
x ds y ds
ds
n
On End: R (z = constant)
UnitNormal
dy dx
nx
ds dn
dx dy
ny
ds dn
Px Txn dxdy 0
R
Py Tyn dxdy 0
R
Pz Tzn dxdy 0
R
M x yTzn dxdy 0
R
M y xTzn dxdy 0
R
M z ( xTyn yTxn )dxdy T T 2 dxdy

R
Elasticity

Displacement Formulation
xz yz
0
x
y
2w 2w
0
x 2 y 2
Displacement component satisfies Laplaces

equation
On Lateral Side: S
Tzn xz nx yz n y z n z 0
w
dw
w
y n x
x n y 0 or
( ynx xny )
y
dn
On End: R
M z ( xTyn yTxn )dxdy T
R
w
w
dxdy
T ( x 2 y 2 ) x
y
R
y
x
T J
Elasticity
x w y w
dxdy . . . TorsionalRigidity
J x 2 y 2

Formulation
Comparison
Stress Function Formulation

2 2
2 2 2 R
x
y
0 S
2
Displacement Formulation
2w 2w
0 R
x 2 y 2
w
n y 0 S
Relatively Simple Governing Equation Very Simple Governing Equation

Very Simple Boundary Condition Complicated Boundary Condition
Elasticity

Multiply Connected Cross-Sections

Boundary conditions of zero tractions on all
lateral surfaces apply to external boundary So
and all internal boundaries S1, . . . Stress
function will be a constant and displacement
be specified as per (9.3.20) or (9.3.21) on each
w
boundary
i S
S ii, or i = 0, 1,
y . n.x .
x n y 0 S i
x
where i are constants. Value of i may be

arbitrarily chosen only on one boundary,
Constant
stress function
values
commonly
taken as
zero on
on each
So . interior boundary
are found by requiring displacements w to be singlevalued, expressed by
A1 is area enclosed by S1
1
Sds 2Awhere
dw( x, y) 0
S1
Value of 1 on inner boundary S1 must therefore be chosen so that relation is

satisfied. If cross-section has more than one hole, relation must be satisfied
Boundary
conditions on cylinder ends will be satisfied, and resultant torque
for
each hole.
condition will give
T 2 dxdy 21 A1
R
Elasticity

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

2 , T = 2V
Elasticity

Torsion Solutions
Derived from
Boundary Equation
f ( x, y ) 0
Boundary- Value Problem

2 2
2 R
x 2 y 2
0S
Elasticity
If boundary is expressed by relation

f(x,y) = 0, this suggests possible simple
solution scheme of expressing stress
function as = K f(x,y) where K is
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.

Example 9.1 Elliptical Section

y
x2 y2
1
a2 b2
b
a
x2 y2
K 2 2 1
Look for Stress Function Solution
b
a
a 2 b 2
satisfies boundary condition and will satisfy governingK 2
a b2
governing if
Since governing equation and boundary condition are satisfied, we
have found solution
Elasticity

Elliptical Section
Results
(Displacement
Contours)
(Stress Function
Contours)
Stress Field
Displacement Field
2a
2Ty
y
a2 b2
ab 3
2b 2
2Tx
2
x
a b2
ba 3
T (b 2 a 2 )
w
xy
a 3 b 3
xz
yz
2xz 2yz
max
Loading Carrying Capacity

Angle of Twist
2T x
y
4
4
ab a
b
2T
(0,b)
ab2
2a 2b 2 1
T 2
a b2 a2
x 2 dxdy
1
b2
y 2 dxdy
a 3b 3
T (a 2 b 2 )
T 2
or
a b2
a 3b 3
Elasticity

dxdy
R
Elliptical Section Results

3-D Warping Displacement Contours
Elasticity

Example 9.2 Equilateral

Triangular Section
For stress function try product form of each boundary line equation
K ( x 3 y 2a )( x 3 y 2a )( x a )
satisfies boundary condition and will satisfy governingK
6a
governing if
Since governing equation and boundary condition are satisfied, we
have found solution
Equilateral Triangular Section Results
(Stress Function
Contours)
Stress Field
xz
( x a) y
a
2
yz
( x 2ax y 2 )
2a
max yz (a,0)
Elasticity
3
5 3T
a
2
18a 3

(Displacement
Contours)
Displacement Field
w
y (3 x 2 y 2 )
6a
Loading Carrying Capacity

Angle of Twist
T
27
3
a 4 I p
5
5 3
Additional Examples That Allow

Simple Solution Using
Boundary Equation Scheme
y a 2 cx 2
r=
2acos
y
x a 2 cy 2
a
a
r
r=
b
x a 2 cy 2
y a 2 cx 2
Section with Higher Order Circular Shaft with Circular

(Exercise 9-22/23)
Polynomial Boundary (Example Keyway
9-3)
K (a 2 x 2 cy 2 )( a 2 cx 2 y 2 )
4a (1 2 )
, c 3 8
max ( a,0) (0, a) 2a
Elasticity

2
2a cos
(b r 2 )(1
)
2
r
As b / a 0
( max ) keyway
( max ) solid shaft
2a
2
a
Stress Concentrat ion of 2
Examples That Do Not Allow

Simple Solution Using
Boundary Equation Scheme
y
b
a
x
Rectangular Section
General Triangular Section
Elasticity

Example 9.4 Rectangular

Section
Fourier Method
Solution
Previous boundary equation scheme will
y
b
a
x
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
of the
p ( x,standard
y ) ( a 2 form
x2 )
solution
with
h p
homogeneous solution must then
satisfy
2 h 0 , h ( a, y ) 0 , h ( x,b) (a 2 x 2 )
Separation of Variables Method h ( x, y ) X ( x)Y ( y )
h ( x, y ) Bn cos
n 1
nx
ny
cosh
2a
2a
32a 2
(a x )
3
2
Elasticity

2 2
2
x 2 y 2
nb
Bn 32a 2 (1) ( n 1) / 2 / n 3 3 cosh
2a
(1) ( n 1) / 2
nx
ny
cos
cosh
nb
2a
2a
n 1, 3,5 3
n cosh
2a
Rectangular Section Results

Stress Field
16a
(1) ( n 1) / 2
nx
ny
xz
cos
sinh
nb
y
2a
2a
2 n 1,3,5 2
n cosh
2a
16a
(1) ( n 1) / 2
nx
ny
yz
2x
sin
cosh
nb
x
2a
2a
2 n 1,3,5 2
n cosh
2a
16a
1
max yz (a,0) 2a
2 n 1,3,5 n 2 cosh nb
2a
Loading Carrying Capacity/Angle of Twist

16a 3 b 1024a 4
T
3
5
1
nb
tanh
5
2a
n 1, 3, 5 n
Displacement Field
32a 2
w xy
3
Elasticity
(1) ( n 1) / 2
nx
ny
sin
sinh
nb
2a
2a
n 1, 3, 5 3
n cosh
2a

Rectangular Section Results
Elasticity

Torsion of Thin Rectangular

Sections
(a<<b)
Investigate results
for special case of a
y
very thin rectangle with a << b. Under

nbb/a >> 1
nb
conditions
of
cosh
and tanh
1
2a
2a
(a 2 x 2 )
max 2a
16
a 3 b
3
Composite Sections
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
N such composite
carrying torque
16 for
T be
ai3by
bi
section will
given
3
i 1
Elasticity

Example 9.5 Hollow Elliptical

Section
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
a 2b 2 x 2 y 2
2 2 1
2 material.
in remaining
2
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
3
relation
a 3b 3
( k a) 3for
( k b)solid
section
3 3
4
T 2
a
b
(
1
k
)
2
2
2
2
2
a b
(ka) ( kb)
a b
a 2b 2 2
i 2
k 1
2
a b
Maximum stress still occurs at x = 0

and y = b
Elasticity

max
2T
1
ab 2 1 k 4
Hollow Thin-Walled Tube

Sections
Tube
Centerline
C Membra
ne
a
a
A
B
A
(Section
aa)
With t<<1 implies little variation in membrane slope, and BC can

o
be approximated by a straight line. Since membrane slope equals

t
resultant shear stress

T 2 dxdy 2 o Ai 2 A o 2o Ai 2o Ac
Load carrying relation:
R
2
ere A = section area, Ai = area enclosed by inner boundary, Ac = area enclosed by centerl
T
Combining relations
2 Ac t
TS c
Angle of twist: ds 2Ac
where Sc = length of tube
Sc
4 Ac2t
centerline
Elasticity

Cut Thin-Walled Tube Sections
Cut
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
T
following3 relation
can be established (see Exercise 9-24)
OpenTube 2 aAs
OpenTube
Ac
6
, but since Ac As
1 OpenTube ClosedTube
T
ClosedTube
As
ClosedTube
2 Ac t
Stresses are higher in open tube and thus closed tube is stronger
Elasticity

Torsion of Circular Shafts of Variable Diameter

x
Displacement
Assumption
ur = uz = 0
u = u (r,z)
er e e z erz 0
er
1 u u
1 u
, ez
2 r
r
2 z
r z rz 0
u
u u
, z
r
z
r
3 u
3 u
r
Equilibrium Equations r r r z r z r 0
Stress Function Approach
r2
3 u
r
r
z
r r
r2
3 u
r
z

r
z r
Boundary Condition
dr dz
d
0 constant
ds
r 2 r ds z ds
Elasticity

2 3 2
2 0
r 2 r r
z
Load Carrying Torque

T 2[ ( R ( z ), z ) (0, z )]
Conical Shaft Example

9-7
z
r2 z2
cos constant on boundary

r
z
Stress Function Solution
1
z3
2
2 3/ 2
2
2
3
(
r
z
)
r z
Stresses
Cr 2
r 2
(r z 2 ) 5 / 2
Crz
z 2
(r z 2 ) 5 / 2
Elasticity

T
2
1
2( cos cos 3 )
3
3
Displacement
u
Cr
r
3(r 2 z 2 ) 3 / 2
r is rigid-body rotation about zaxis and can be determined by

specifying shaft rotation at
specific z-location
Conical Shaft Example 9-7 = 30o

Comparison with Mechanics of
Materials
Max Shear Stress Comparison
0.06
Mechanics of Materials
Elasticity Theory
0.05
(z )max / T
0.04
0.03
0.02
0.01
Elasticity

7
z
10
Numerical FEA Torsion Solutions
(4224 Elements, 2193

Nodes)
(4928 Elements,
2561 Nodes)
(4624 Elements, 2430

Nodes)
Elasticity

(Stress Function
Contours)
(Stress Function
Contours)
(Stress Function
Contours)
Flexure of Cylinders
y
Consider flexure of cantilever

beam of arbitrary section with
S
fixed end at z = 0 and transverse
x
end loadings Px and Py at
z = . Problem is solved in SaintP
Venant sense, so only resultant
end loadings Px and Py will be

(x ,y .
R
P
)
From general used
formulation
,
x y xy 0
to formulate
boundary
.materials
( Bx Cy)(l z )
and motivatedconditions
from strength
zof
at z=
choose
, where B and C
are constants. Stresses xz and yz will be
determined to satisfy equilibrium and
xz relations
yz
compatibility
and
( Bx Cy
) all
0 boundary
Remaining equilibrium equation
x
y
will be identically conditions.
F 1 2
xz
Bx
y 2
satisfied if we introduce stress function F(x,y) such that
F 1 2
yz
Cy
x 2
y
Elasticity

Flexure Formulation
Remaining Beltrami-Michell Compatibility
Relations
B
( 2 F )
0
y
1
2F
(Cx By ) 2
1
C
( 2 F )
0
x
1
Zero Loading Boundary Condition on Lateral
Surface S
dF
1
dy
dx
xz n x yz n y 0
( Bx 2
Cy 2 )
ds
2
ds
ds
Separate Stress Function F into Torsional Part and
Flexural Part
F ( x, y ) ( x, y ) ( x, y )
2
2
(Cx By ) in R
2 in R
1
d
d
1
dy
dx
0 on S
( Bx 2
Cy 2 ) on S
ds
ds
2
ds
ds
Elasticity

Flexure
Formulation
General solution
(Cx By )
2
1
to
1
( x, y ) f ( x, y )
(Cx 3 By 3 ) where 2f =
6 1
0
Boundary Conditions on end z =
xz dxdy Px
BI y CI xy Px
yz dxdy Py
BI xy CI x Py
where x, y and
of section R
[ x
R
yz
xy
B
C
Px I x Py I xy
I x I y I xy2
Py I y Px I xy
I x I y I xy2
are the area moments of inertia
y xz ]dxdy xo Py yo Px

J (Cxy 2 Bx 2 y ) ( x
y ) dxdy x o Py y o Px
R 2
x
y
where J is the torsional rigidity final relation determines

angle of twist
Flexure Example - Circular Section

with No Twist
a
P
x
Polar Coordinate Formulation

2
P
r cos
1 Ix
1 1 P 2
a sin 3 on r a
a 2 I x
P 3 2 2
1 2
1 2 3
2
a
x
xy
I x 8(1 )
8(1 )
24(1 )
P 1 2
xz
xy
4I x 1
P 3 2
Stress Solution:
P 3 2 2
1 2 2
max yz (0,0) 2
yz
[a y 2
x ]
I x 8(1 )
3 2
a 2(1 )
P
4 P
z y (l z )
max
Strength
of
Materials:
Ix
3 a 2
Solution:
Elasticity


Chapter 9

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Chapter 9

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Chapter 9

Extension, Torsion and

Theory, Applications and Numerics

Theory, Applications and Numerics

Guided by Observations from Mechanics

= angle of twist per unit

Theory, Applications and Numerics

Stress Function Formulation

Equilibrium Equations Compatibility Relation

Equilibrium will be identically satisfied and compatibility

a Poisson equation that is amenable to several analytical

M z ( xTyn yTxn )dxdy T T 2 dxdy

Theory, Applications and Numerics

Displacement component satisfies Laplaces

Theory, Applications and Numerics

Stress Function Formulation

Relatively Simple Governing Equation Very Simple Governing Equation

Theory, Applications and Numerics

Multiply Connected Cross-Sections

where i are constants. Value of i may be

Value of 1 on inner boundary S1 must therefore be chosen so that relation is

Theory, Applications and Numerics

Equations are same with: = z , p/N =

Theory, Applications and Numerics

Boundary- Value Problem

If boundary is expressed by relation

Theory, Applications and Numerics

Example 9.1 Elliptical Section

Theory, Applications and Numerics

Loading Carrying Capacity

Theory, Applications and Numerics

Elliptical Section Results

Theory, Applications and Numerics

Example 9.2 Equilateral

satisfies boundary condition and will satisfy governingK

Equilateral Triangular Section Results

Theory, Applications and Numerics

Loading Carrying Capacity

Additional Examples That Allow

Section with Higher Order Circular Shaft with Circular

max ( a,0) (0, a) 2a

Theory, Applications and Numerics

( max ) solid shaft

Stress Concentrat ion of 2

Examples That Do Not Allow

Theory, Applications and Numerics

Example 9.4 Rectangular

not create a stress function that satisfies

Separation of Variables Method h ( x, y ) X ( x)Y ( y )

Theory, Applications and Numerics

Bn 32a 2 (1) ( n 1) / 2 / n 3 3 cosh

Rectangular Section Results

Loading Carrying Capacity/Angle of Twist

Theory, Applications and Numerics

Rectangular Section Results

Theory, Applications and Numerics

Torsion of Thin Rectangular

very thin rectangle with a << b. Under

Theory, Applications and Numerics

Example 9.5 Hollow Elliptical

For this case lines of constant shear

Constant value of stress function on inner

Maximum stress still occurs at x = 0