Third Edition

CHAPTER MECHANICS OF

3 MATERIALS
Ferdinand P. Beer
E. Russell Johnston, Jr.
John T. DeWolf

Lecture Notes:
Torsion

J. Walt Oler
Texas Tech University

© 2002 The McGraw-Hill Companies, Inc. All rights reserved.

 MECHANICS OF MATERIALS
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Third
Beer • Johnston • DeWolf

Contents

Introduction Statically Indeterminate Shafts

Torsional Loads on Circular Shafts Sample Problem 3.4
Net Torque Due to Internal Stresses Design of Transmission Shafts
Axial Shear Components Stress Concentrations
Shaft Deformations Plastic Deformations
Shearing Strain Elastoplastic Materials
Stresses in Elastic Range Residual Stresses
Normal Stresses Example 3.08/3.09
Torsional Failure Modes Torsion of Noncircular Members
Sample Problem 3.1 Thin-Walled Hollow Shafts
Angle of Twist in Elastic Range Example 3.10

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Torsional Loads on Circular Shafts

• Interested in stresses and strains of

circular shafts subjected to twisting
couples or torques
• Turbine exerts torque T on the shaft

• Shaft transmits the torque to the

generator
• Generator creates an equal and
opposite torque T’

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Net Torque Due to Internal Stresses

• Net of the internal shearing stresses is an

internal torque, equal and opposite to the
applied torque,
T    dF      dA

• Although the net torque due to the shearing

stresses is known, the distribution of the
stresses is not
• Distribution of shearing stresses is statically
indeterminate – must consider shaft
deformations
• Unlike the normal stress due to axial loads, the
distribution of shearing stresses due to torsional
loads can not be assumed uniform.

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Axial Shear Components

• Torque applied to shaft produces shearing

stresses on the faces perpendicular to the
axis.

• Conditions of equilibrium require the

existence of equal stresses on the faces of the
two planes containing the axis of the shaft

• The existence of the axial shear components is

demonstrated by considering a shaft made up
of axial slats.

The slats slide with respect to each other when

equal and opposite torques are applied to the
ends of the shaft.

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Shaft Deformations

• From observation, the angle of twist of the

shaft is proportional to the applied torque and
to the shaft length.
 T
  L
• When subjected to torsion, every cross-section
of a circular shaft remains plane and
undistorted.
• Cross-sections for hollow and solid circular
shafts remain plain and undistorted because a
circular shaft is axisymmetric.
• Cross-sections of noncircular (non-
axisymmetric) shafts are distorted when
subjected to torsion.

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Shearing Strain

• Consider an interior section of the shaft. As a

torsional load is applied, an element on the
interior cylinder deforms into a rhombus.

• Since the ends of the element remain planar,

the shear strain is equal to angle of twist.

• It follows that

L   or  
L

• Shear strain is proportional to twist and radius

c 
 max  and    max
L c

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Stresses in Elastic Range

• Multiplying the previous equation by the
shear modulus,

G  G max
c
From Hooke’s Law,   G , so

  max
c

J  12  c 4
The shearing stress varies linearly with the
radial position in the section.
• Recall that the sum of the moments from
the internal stress distribution is equal to
the torque on the shaft at the section,
 
T    dA  max   2 dA  max J
c c
• The results are known as the elastic torsion

J  12  c24  c14  formulas,
Tc T
 max  and  
J J
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Normal Stresses
• Elements with faces parallel and
perpendicular to the shaft axis are subjected to
shear stresses only. Normal stresses, shearing
stresses or a combination of both may be
found for other orientations.
• Consider an element at 45o to the shaft axis,
F
2 A
max
0 cos

45 A
02
max

F A
02
o
45
 max
max
A A
02

• Element a is in pure shear.

• Element c is subjected to a tensile stress on
two faces and compressive stress on the other
two.
• Note that all stresses for elements a and c have
the same magnitude

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Torsional Failure Modes

• Ductile materials generally fail in

shear. Brittle materials are weaker
in tension than shear.

• When subjected to torsion, a ductile

specimen breaks along a plane of
maximum shear, i.e., a plane
perpendicular to the shaft axis.
• When subjected to torsion, a brittle
specimen breaks along planes
perpendicular to the direction in
which tension is a maximum, i.e.,
along surfaces at 45o to the shaft
axis.

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Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB
and BC and perform static
equilibrium analysis to find
torque loadings
• Apply elastic torsion formulas to
find minimum and maximum
stress on shaft BC
Shaft BC is hollow with inner and outer
diameters of 90 mm and 120 mm, • Given allowable shearing stress
respectively. Shafts AB and CD are solid and applied torque, invert the
of diameter d. For the loading shown, elastic torsion formula to find the
determine (a) the minimum and maximum required diameter
shearing stress in shaft BC, (b) the
required diameter d of shafts AB and CD
if the allowable shearing stress in these
shafts is 65 MPa.
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Sample
SOLUTION:Problem 3.1
• Cut sections through shafts AB and BC
and perform static equilibrium analysis
to find torque loadings

 M x  0   6 kN  m   TAB 
M
x
06
 
kN
m
14

kN
m
T
BC
TAB  6 kN  m  TCD T
20
BC 
kN
m

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Sample Problem 3.1

• Apply elastic torsion formulas to • Given allowable shearing stress and
find minimum and maximum applied torque, invert the elastic torsion
stress on shaft BC formula to find the required diameter

Jc
2
2


c1 0
4 4

2
. 4
0600
. 4
045 
    TcTc

max 4

65
6
kN
 3
MPa

m
J c c
2 2
64

13
.
92
10m 3

c 38
.
9 
10m
 

T c
BC
2
 20
kN
m  0
. 
060
m
max2 
64
J 13
.
92
10m d  2c  77.8 mm


86
.
2MPa

min

c
1  45
min

mm

maxc
2 86
.
2 MPa
60 max
mm 86
.2MPa
 
64
min.7MPa min
64.7MPa
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Angle of Twist in Elastic Range

• Recall that the angle of twist and maximum
shearing strain are related,
c
 max 
L
• In the elastic range, the shearing strain and shear
are related by Hooke’s Law,
 max Tc
 max  
G JG
• Equating the expressions for shearing strain and
solving for the angle of twist,
TL

JG
• If the torsional loading or shaft cross-section
changes along the length, the angle of rotation is
found as the sum of segment rotations
TLi
 i
i JiGi

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Design of Transmission Shafts

• Principal transmission shaft • Determine torque applied to shaft at
performance specifications are: specified power and speed,
­ power P T  2fT
­ speed P P
T 
 2f
• Designer must select shaft
material and cross-section to • Find shaft cross-section which will not
meet performance specifications exceed the maximum allowable
without exceeding allowable shearing stress,
shearing stress. max

Tc
J
J 3 T
 c  solid 
shafts
c 2 max
J  4 4

c2 2c2
c2c
1 T
max

 hollow 
shafts

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Stress Concentrations
• The derivation of the torsion formula,
Tc
 max 
J
assumed a circular shaft with uniform
cross-section loaded through rigid end
plates.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways, and cross-section discontinuities
can cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
 max  K
J

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Plastic Deformations
• With the assumption of a linearly elastic material,
Tc
 max 
J
• If the yield strength is exceeded or the material has
a nonlinear shearing-stress-strain curve, this
expression does not hold.
• Shearing strain varies linearly regardless of
material properties. Application of shearing-stress-
strain curve allows determination of stress
• distribution.
The integral of the moments from the internal stress
distribution is equal to the torque on the shaft at the
section,
c c

T
 
2d

2

d 2
0 0

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Elastoplastic Materials
• At the maximum elastic torque,
J L Y
TY   Y  12 c3 Y Y 
c c

• As the torque is increased, a plastic region


  
( )Ydevelops around an elastic core (  ) Y
Y
LY
Y 


  
1 41
3 
3

T23
c
3 Y

1
4

Y

3
3

T
Y
1
4

Y

3
 c  c
 1 3
4
T3T 
1
Y 4 3
Y
 

• As Y  0 , the torque approaches a limiting
value,
TP  4 TY  plastic torque
3

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Torsion of Noncircular Members

• Previous torsion formulas are valid for
axisymmetric or circular shafts
• Planar cross-sections of noncircular
shafts do not remain planar and stress
and strain distribution do not vary
linearly
• For uniform rectangular cross-sections,

 
max
T
2


TL
3
c
ab c
1 ab
2 G

• At large values of a/b, the maximum

shear stress and angle of twist for other
open sections are the same as a
rectangular bar.

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Thin-Walled Hollow Shafts

• Summing forces in the x-direction on AB,
 Fx 0 AtA x Bt
B x

At
A
Bt
B
t
qshear
flow

shear stress varies inversely with thickness

• Compute the shaft torque from the integral

of the moments due to shear stress
dM 0pdF  p tds q pds
 2qdA
T 0
dM 2
q 
dA2
qA
T

2
tA
• Angle of twist (from Chapt 11)
TLds
 2 t
4AG

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