CHAPTER 3 TORSION

Notes are based on Mechanics of Materials by Beer, et.al., 7th Edition

Mechanics of Materials by RC Hibbeler, 9th Edition
and Strength of Materials by A. Pytel and F. L. Singer, 4th Edition
CHAPTER OBJECTIVES
1. To discuss the effects of applying a torsional
loading to a long straight member such as a
shaft or tube of circular cross section;

2. To determine both the stress distribution within

the member and the angle of twist under linear-
elastic behavior;
3. To discuss statically indeterminate analysis of
shafts and tubes; and

4. To discuss the effects of applying a torsional

loading to thin-walled tubes, flanged bolt
couplings and helical springs
3.1 TORSIONAL DEFORMATION OF A CIRCULAR SHAFT
3.1 TORSIONAL DEFORMATION OF A CIRCULAR SHAFT
 Effects of Twisting
Circles Remain circles

Longitudinal Deforms into a helix that

Grid Lines intersects the circles at equal
angles
End cross Remain flat; no warping or
sections bulging in or out

End radial lines Remain straight during

deformation
3.1 TORSIONAL DEFORMATION OF A CIRCULAR SHAFT (cont.)

Fig. 3.2
Fig. 3.3

=

Fig. 3.4
3.2 THE TORSION FORMULA

Fig. 3.5
3.2 THE TORSION FORMULA (cont.)

By similar triangles or Hookes Law and = ,


=

Stress distribution over the cross section in terms of geometry of
the shaft.
Each element of area , located at , is subjected to a force
=
For the entire cross section,

= =


Since is constant,


= 2

3.2 THE TORSION FORMULA (cont.)
3.2 THE TORSION FORMULA (cont.)
3.2 THE TORSION FORMULA (cont.)
3.2 THE TORSION FORMULA (cont.)
If a volume element of material on the cross
section is isolated (Fig. 3.6a), then due to
the complementary property of shear, equal
shear stresses must also act on four of
its adjacent faces.

Hence, not only does the internal torque T

develop a linear distribution of shear
stress along each radial line in the plane
of the cross-sectional area, but also an
associated shear-stress distribution is
Fig. 3.6
developed along an axial plane (Fig. 3.6b).
3.2 THE TORSION FORMULA (cont.)
General assumptions in the derivation and use of the Torsion
Formula:
1. Shaft is circular and homogeneous.
2. Circular cross sections remain circular.
3. Plane sections remain plane and do not warp.
4. Radial lines projection remain straight.
5. Twisting moments are applied at planes
perpendicular to axis of shafts.
6. Stresses do not exceed proportional limit. Material
behaves in a linear-elastic manner.
3.2 THE TORSION FORMULA (cont.)
IMPORTANT POINTS
1. The SHEAR STRAIN within the shaft varies LINEARLY along
any RADIAL LINE, from ZERO at the axis of the shaft to a
MAXIMUM at its outer boundary.
2. Due to the complementary property of shear, the LINEAR
SHEAR STRESS DISTRIBUTION within the plane of the cross
section is also DISTRIBUTED ALONG AN ADJACENT AXIAL
PLANE OF THE SHAFT.
3. The TORSION FORMULA is based on the requirement that the
RESULTANT TORQUE on the cross-section is equal to the
TORQUE PRODUCED BY THE LINEAR SHEAR STRESS
DISTRIBUTION. It is necessary that the shaft or tube have a
circular cross-section and material is homogeneous which has a
linear-elastic behavior.
3.2 THE TORSION FORMULA (cont.)
PROCEDURE FOR ANALYSIS

1. Internal Loading. Section the shaft perpendicular to its axis

at the point where the shear stress is to be determined, and use
the necessary FBD and equations of equilibrium to obtain the
internal torque at the section.
2. Shear Stress. Specify the radial distance , measured from
the center of the cross section to the point where the shear
stress is to be found. Then apply the torsion formula = or
if the maximum shear stress is to be determined, = .
 SAMPLE PROBLEM 1

Determine the torque T

that causes a maximum
shearing stress of 45 MPa
in the hollow cylindrical
steel shaft shown. Also,
determine the maximum
shearing stress caused by
the same torque T in a
solid cylindrical shaft of
the same cross-sectional
area.

Beer, 7th ed
 3.3 ANGLE OF TWIST

Fig. 3.7a
Important in shaft design is the
computation of allowable amount of
rotation or twist that may occur when the
shaft is subjected to a torque and
reactions analysis on statically
indeterminate shafts.
3.3 ANGLE OF TWIST
General Assumptions:
1. The shaft has a circular cross section that can gradually vary
along its length.

2. Material is homogeneous.

3. Material behaves in a linear-elastic manner when the torque is

applied.

4. Neglect localized deformations that occur at points of

application of the torques and where the cross section changes
abruptly.
3.3.1 DERIVATION OF THE ANGLE OF TWIST

Fig. 3.7
3.3.1 DERIVATION OF THE ANGLE OF TWIST
3.3.1 DERIVATION OF THE ANGLE OF TWIST
 3.3.1 DERIVATION OF THE ANGLE OF TWIST (cont.)
Since material is homogeneous, G is constant and,
also, the shafts cross-sectional area and the
applied torque are constant. Hence, = ,
() = and upon integration

=

= angle of twist of one end of the shaft
with respect to the other end,
measured in radians
= internal torque found from the
method of sections and the equation
of moment equilibrium applied about
the shafts axis
= the shafts polar moment of inertia
= the shear modulus of elasticity for the
Fig. 3.7 material
3.3.1 DERIVATION OF THE ANGLE OF TWIST (cont.)
If the shaft is subjected to several different torques, or the
cross-sectional area or shear modulus changes abruptly

from one region of the shaft to the next, = can be applied

to each segment of the shaft, where these quantities are all
constant.

The angle of twist of one end of the shaft with respect to the
other end is then found from the vector addition of the angles
of twist of each segment. Therefore,

=

3.3.2 SIGN CONVENTION
For the internal torque and the angle of twist of one end of the
shaft with respect to the other end.
RIGHT-HAND RULE
Both the torque and angle will be POSITIVE, provided the THUMB
is directed OUTWARD from the shaft when the fingers curl to give
the tendency for rotation.

Fig. 3.8
 SAMPLE PROBLEM 2

The two shafts are made of

A-36 steel (G = 11.0 x 106
psi). Each has a diameter of
1 in., and they are supported
by bearings at A, B, and C,
which allow free rotation. If
the support at D is fixed,
determine the angle of twist
of end A when the torques
are applied to the assembly
as shown.

Hibbeler, 2010
 SAMPLE PROBLEM 3
The device serves as a compact torsion spring. It is made of A-
36 steel (G = 11.0 x 106 psi) and consists of a solid inner shaft
CB which is surrounded by and attached to a tube AB using a
rigid ring at B. The ring at A can also be assumed rigid and is
fixed from rotating. If the allowable shear stress for the material
is 12 ksi and the angle of twist at C is limited to 3, determine
the maximum torque T that can be applied at the end C.

Hibbeler, 2010
3.4 POWER TRANSMISSION
Shafts and tubes having circular cross
sections are often used to transmit power
developed by a machine.
Hence, they are subjected to torques that
depend on the power generated by the
machine and the angular speed of the
shaft.

= = ; =


= ; = ; = 2

= =
Where:
= Power, watts, ft-lb/s, hp, = rotation
(1 = 550 /) = shafts angular velocity, rad/s
= Work = frequency, rev or cycles/s
= time 1 cycle = 2rad
SAMPLE PROBLEM 4
A motor delivers 275 hp at 1000 rpm to the end of a shaft.
The gears at B and C take out 125 and 150 hp,
respectively. Determine the required diameter d of the shaft
if the allowable shear stress is 7500 psi. (L1 = 6 ft, and L2 =
4 ft.)
3.5 STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS
A torsionally loaded shaft may be classified as statically indeterminate
if the moment equation of equilibrium, applied about the axis of the
shaft, is not adequate to determine the unknown torques acting on the
shaft.
PROCEDURE FOR ANALYSIS
1. Equilibrium Equations
Draw FBD of the shaft in order to identify all the torques that act on it.
Then write the equations of moment equilibrium about the axis of the
shaft.

2. Compatibility Equations
To write the compatibility equation, investigate the way the shaft will twist
when subjected to the external loads, and give consideration as to how the
supports constrain the shaft when it is twisted.
Express the compatibility condition in terms of the rotational displacements
caused by the reactive torques, and then use a torque-displacement

relation, such as = , to relate the unknown torques to the unknown
displacements.
Solve the equilibrium and compatibility equations for the unknown reactive
torques.
 SAMPLE PROBLEM 5
The compound shaft, composed of steel, aluminum,
and bronze segments, carries the two torques shown
in the figure. If TC = 250 lb-ft, determine the
maximum shear stress developed in each material.
The moduli of rigidity for steel, aluminum, and bronze
are 12 x 106 psi, 4 x 106 psi, and 6 x 106 psi,
respectively.

Pytel & Kiusalaas, 2011

3.6 FLANGED BOLT COUPLINGS
A flanged bolt coupling is used as a
connection between two shafts consisting of
flanges rigidly attached to the ends of the
shafts and bolted together.
3.6 FLANGED BOLT COUPLINGS
 3.6 FLANGED BOLT COUPLINGS (cont.)
The torque resistance for number of bolts or torque capacity of
the coupling
 3.6 FLANGED BOLT COUPLINGS (cont.)
Coupling with TWO Concentric Rows of Bolts
 3.6 FLANGED BOLT COUPLINGS (cont.)

Relationship between and :

The rigid flanges cause shear
deformations in the bolts that are
proportional to their radial distances from
the shaft axis.
1 2
=
1 2
1 2
= =
1 1 2 2 Bolts on the two circles:
If 1 = 2 1 = 2
1 2

=
= 1 2

 SAMPLE PROBLEM 6
A plate is fastened to a fixed member by five steel (G = 75
Gpa) rivets. Rivets A, B, and E have a diameter of 15 mm
while rivets C and D have a diameter of 10 mm. Determine
the maximum shearing stress developed in the rivets when
the loads are applied.
 SAMPLE PROBLEM 7
Segment AB is a solid shaft of cold-rolled bronze (D = 120 mm;
G = 45 GPa), and the segment CD is a hollow shaft of aluminum
alloy (OD= 120 mm; ID = 60 mm; G = 28 GPa) with a core of
low-carbon steel (D = 60 mm; G = 80 GPa). The ends A and D
are fixed to the rigid walls and the steel core is connected to the
flange at C so that the aluminum and steel act together as a unit.
The two flanges B and C are bolted together, and the bolt
clearance permits flange B to rotate through 0.03 rad before CD
will carry any of the load. The flange bolt coupling has a bolt
circle diameter of 200 mm and uses ten 18-mm diameter bolts.
Determine the maximum torque T that can be applied at flange B
if the allowable stresses in the shafts and bolts are as follows:
Bronze= 100 MPa, Aluminum= 60 MPa, Steel= 80 MPa, and Bolts=
75 MPa.
SAMPLE PROBLEM 7
3.7 TORSION OF THIN-WALLED TUBES
Thin-walled tubes of non-circular
shape are often used to construct
lightweight frameworks (e.g.
aircraft).

Assumptions:
1.Walls are thin and have a variable thickness, t.
2.Shear stress is uniformly distributed across the
thickness of the tube, hence, average shear stress in
the tube at any given point can be determined.
3.7.1 SHEAR FLOW
3.7.1 SHEAR FLOW (cont.)
3.7.2 AVERAGE SHEAR STRESS (cont.)
3.7.2 AVERAGE SHEAR STRESS (cont.)
can be related to the torque
by considering the torque produced
by the shear stress about a
selected point O within the tubes
boundary (Fig. 5.28e)

= ; =
=
* acts tangent to the centerline of the
tubes wall

= = ( )

*line integral is performed around the

entire boundary of the area
3.7.2 AVERAGE SHEAR STRESS (cont.)
=

1
= 2 ; =
2
= 2
3.7.2 AVERAGE SHEAR STRESS (cont.)
3.7.2 AVERAGE SHEAR STRESS (cont.)


= = =


Where:
= the average shear stress acting over the thickness of the
tube
= the resultant internal torque at the cross section, which is
found using the method of sections and the equations of
equilibrium
= the thickness of the tube where is to be determined
= the mean area enclosed within the boundary of the center
line of the tubes thickness
= angle of twist of a thin-walled tube
L = length of thin-walled tube

=

 SAMPLE PROBLEM 8
A torque 50 kipin is applied to the thin-walled tube shown (G
= 11 106 psi). Determine (a) the maximum shearing stress
and (b) the angle of twist per length of tube.

Pytel and Kiusalaas, 2012

3.8 HELICAL SPRINGS
 3.8 HELICAL SPRINGS (cont.)
Torsion of straight and of curved segments

Heavy Springs

.
=
+

Light Springs

.
=
+

3.8 HELICAL SPRINGS (cont.)
3.8 HELICAL SPRINGS (cont.)
Spring constant, : =

= =

Spring constant for springs in SERIES:

= + +

Spring constant for springs in PARALLEL:

= + +
 SAMPLE PROBLEM 9
Two steel springs are arranged in series as
shown. The upper spring has 12 turns of
30-mm-diameter wire on a mean radius of
130 mm. The lower spring consists of 10
turns of 20-mm diameter wire on a mean
radius of 90 mm.

If the ultimate shearing stress in either

spring must not exceed 450 MPa, (a)
compute the maximum value of P and
total elongation using factor of safety equal
to 2.0. (b) What is the equivalent spring
constant? Use G = 83GPa.

Pytel, 1987
 Sample Problem 10
A rigid bar ABCD is pinned at A and
supported by series and parallel
springs (G = 5 x 106 ksi) at B and
C. Find the magnitude of force P
applied at D that will make the rigid
bar horizontal with 12-inch
deflection from D. Also, compute
the shear stresses in the parallel
springs (at C).
-END OF CHAPTER 3-