CHAPTER FOUR

TORSION

DR. ELIZA BINTI M. YUSUP

 INTRODUCTION
When a uniform circular shaft is subjected to a torque, it can be shown
that every section of the shaft is subjected to a state of pure shear, the
moment of resistance developed by the shear stresses being everywhere
equal to the magnitude, and opposite in sense, to the applied torque.

For the purposes of deriving a simple theory to describe the behaviour of

shafts subjected to torque it is necessary to make the following basic
assumptions:

DR. ELIZA BINTI M. YUSUP

 SIMPLE TORSION THEORY ASSUMPTIONS

Simple torsion theory states that the following assumptions are to be considered:

1. The material is homogeneous, i.e. of uniform elastic properties throughout

2. The material is elastic, following Hooke's law with shear stress
proportional to shear strain.
3. The stress does not exceed the elastic limit or limit of proportionality.
4. Circular sections remain circular.
5. Cross-sections remain plane. (This is certainly not the case with the
torsion of non-circular sections.)
6. Cross-sections rotate as if rigid, i.e. every diameter rotates through the
same angle.

DR. ELIZA BINTI M. YUSUP

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 unknown
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.

DR. ELIZA BINTI M. YUSUP

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.

DR. ELIZA BINTI M. YUSUP

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.

DR. ELIZA BINTI M. YUSUP

TORSION OF CIRCULAR BAR

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

DR. ELIZA BINTI M. YUSUP

STRESSES IN ELASTIC RANGE

Multiplying the previous equation

G G max
by the shear modulus, c

From Hookes Law, G , so max
c

1 c4
The shearing stress varies linearly with the radial
J 2 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 formulas,

J 12 c24 c14 max
Tc
and
T J is the polar moment
J J of inertia
DR. ELIZA BINTI M. YUSUP
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 max A0 cos 45 max A0 2
F max A0 2
45o max
A A0 2
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
DR. ELIZA BINTI M. YUSUP
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.

DR. ELIZA BINTI M. YUSUP

Example 1

The stress distribution in a solid shaft has been plotted along three arbitrary
radial lines as shown below. Determine the resultant internal torque at the
section.
= 30 mm

DR. ELIZA BINTI M. YUSUP

The polar moment of inertia for the cross-sectional area is

J (50mm) 4 9.82 106 mm4
2

Apply the torsion formula, with tmax = 56 MPa = 56 N/mm2, we have

Tc T (50mm)
max ; 56 N/mm 2
J (9.82 10 6 )mm4

T 11.0 kN.m

DR. ELIZA BINTI M. YUSUP

Example 2

The shaft shown is supported by two bearings and is subjected to three

torques. Determine the shear stress developed at points A and B, located
at section a-a of the shaft.

DR. ELIZA BINTI M. YUSUP

DR. ELIZA BINTI M. YUSUP
 Example 3

Shaft BC is hollow with inner and outer

diameters of 90 mm and 120 mm, respectively.
Shafts AB and CD are solid of diameter d. For
the loading shown, determine
(a) the minimum and maximum 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.

SOLUTION: Apply elastic torsion formulas to find

minimum and maximum stress on shaft BC
Cut sections through shafts AB and Given allowable shearing stress and applied
BC and perform static equilibrium torque, invert the elastic torsion formula to
analysis to find torque loadings find the required diameter
DR. ELIZA BINTI M. YUSUP
SOLUTION:
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 TBC
TAB 6 kN m TCD TBC 20 kN m

DR. ELIZA BINTI M. YUSUP

 Apply elastic torsion formulas to find minimum and maximum stress
on shaft BC
TBC c2 20 kN m 0.060 m
max 2
J 13.92 10 6 m 4
86.2 MPa

min c1 min 45 mm
max 86.2 MPa
c24 c14 0.0604 0.0454
max c2 86.2 MPa 60 mm
J
2 2 min 64.7 MPa min 64.7 MPa
13.92 10 6 m 4

Given allowable shearing Tc Tc 6 kN m

max 65MPa
stress and applied J c4 c3
2 2
torque, invert the elastic
torsion formula to find c 38.9 103 m
the required diameter d 2c 77.8 mm

DR. ELIZA BINTI M. YUSUP

ANGLE OF TWIST IN ELASTIC RANGE

Recall that the angle of twist and c

max
maximum shearing strain are L
related,
In the elastic range, the
max Tc
shearing strain and shear are max
G JG
related by Hookes Law,

Equating the expressions for TL

shearing strain and solving for
JG
the angle of twist,
If the torsional loading or shaft cross-
Ti Li
section changes along the length, the
angle of rotation is found as the sum i J i Gi
of segment rotations
DR. ELIZA BINTI M. YUSUP
STATICALLY INDETERMINATE SHAFTS

Given the shaft dimensions and the applied torque,

we would like to find the torque reactions at A and B.
From a free-body analysis of the shaft,
TA TB 90 lb ft

which is not sufficient to find the end torques.

The problem is statically indeterminate.
Divide the shaft into two components which must
have compatible deformations,
TA L1 TB L2 LJ
1 2 0 TB 1 2 TA
J1G J 2G L2 J1

Substitute into the original equilibrium equation,

LJ
TA 1 2 TA 90 lb ft
L2 J1
DR. ELIZA BINTI M. YUSUP
COMPOSITE SHAFTS - SERIES CONNECTION

Two or more shafts of different material,

diameter or basic form are connected
together in such way that each carries
the same torque, then the shafts

G 1 J 11 G 2 J 2 2
T
L1 L2

DR. ELIZA BINTI M. YUSUP

COMPOSITE SHAFTS - PARALLEL CONNECTION

Two or more materials are rigidly fixed

together such that the applied torque is
shared between them.

Total torque, T T1 T2
if the angle of twist of each portion are equal
T1L1 T2 L 2

G1J1 G 2 J 2

T1 R 1 T2 R 2
1 ; 2
J1 J2

DR. ELIZA BINTI M. YUSUP

DESIGN OF TRANSMISSION SHAFTS
Principal transmission shaft performance specifications are:
- power
- speed
Designer must select shaft material and cross-section to meet performance
specifications without exceeding allowable shearing stress.

Determine torque applied to shaft at Find shaft cross-section which will not
specified power and speed, exceed the maximum allowable
P T 2fT shearing stress,
Tc
P
T
P max
2f J
J 3 T
c solid shafts
c 2 max
J

4 4
c2 2c2

c2 c1
T
max
hollow shafts
DR. ELIZA BINTI M. YUSUP
Example 4

DR. ELIZA BINTI M. YUSUP

DR. ELIZA BINTI M. YUSUP
EXAMPLE 5
Two shafts, each of 20mm diameter, are
connected by the gears shown. Knowing
that G= 77GPa and that the shaft at F is
fixed, determine the angle through
which end A rotates when a 85 N.m
torque is applied at A.

DR. ELIZA BINTI M. YUSUP

DR. ELIZA BINTI M. YUSUP
EXAMPLE 6

DR. ELIZA BINTI M. YUSUP

DR. ELIZA BINTI M. YUSUP
DR. ELIZA BINTI M. YUSUP
EXAMPLE 7

DR. ELIZA BINTI M. YUSUP