Old Dominion University

Chapter 03
Torsion

Engr. Muhammad Fahim

mfahi001@odu.edu
hmf_engr@yahoo.com
1
 3.2 TORSIONAL DEFORMATIONS OF A CIRCULAR BAR
• Since every cross section of the bar is
identical, and since every cross section is
subjected to the same internal torque T,
we say that the bar is in pure torsion.
• From considerations of symmetry, it can be
proved that cross sections of the bar do
not change in shape as they rotate about
the longitudinal axis. (No Warping)
• In other words, all cross sections remain
plane and circular and all radii remain FIG. 3-3 Deformations of a
straight. circular bar in pure torsion
• Furthermore, if the angle of rotation
between one end of the bar and the other
is small, neither the length of the bar nor
its radius will change.

Chap 04 ` Engr. M. Fahim 2

 3.2 TORSIONAL DEFORMATIONS OF A CIRCULAR BAR

• The angle of twist changes along the axis of the bar, and at intermediate cross sections
it will have a value φ(x) that is between zero at the left-hand end and φ at the right-
hand end.
• If every cross section of the bar has the same radius and is subjected to the same
torque (pure torsion), the angle φ(x) will vary linearly between the ends.

Chap 04 ` Engr. M. Fahim 3

 3.2 TORSIONAL DEFORMATIONS OF A CIRCULAR BAR
Shear Strains at the Outer Surface

• The angles at the corners of the element (Fig. 3-4b) are no longer equal to 90°.
• The element is therefore in a state of pure shear. (Shear strains but no axial strains.)

Chap 04 ` Engr. M. Fahim 4

 3.2 TORSIONAL DEFORMATIONS OF A CIRCULAR BAR
Shear Strains at the Outer Surface

Chap 04 ` Engr. M. Fahim 5

 3.2 TORSIONAL DEFORMATIONS OF A CIRCULAR BAR
Shear Strains at the Outer Surface
• In the special case of pure torsion, the rate of twist is equal to the total angle of
twist φ divided by the length L, that is,
θ =φ/L.
• Therefore, for pure torsion only, we obtain:

• This equation can be obtained directly from the geometry of Fig. 3-3a.

Chap 04 ` Engr. M. Fahim 6

 3.2 TORSIONAL DEFORMATIONS OF A CIRCULAR BAR
Shear Strains Within the Bar

Chap 04 ` Engr. M. Fahim 7

 3.2 TORSIONAL DEFORMATIONS OF A CIRCULAR BAR
Circular Tubes

Chap 04 ` Engr. M. Fahim 8

 3.2 TORSIONAL DEFORMATIONS OF A CIRCULAR BAR

All of the preceding equations for the strains in a circular bar are based upon geometric
concepts and do not involve the material properties.
Therefore, the equations are valid for any material, whether it behaves elastically
or inelastically, linearly or nonlinearly. However, the equations are limited to bars having
small angles of twist and small strains.

Chap 04 ` Engr. M. Fahim 9

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS

The torque T tends to rotate the right-hand end

of the bar counterclockwise when viewed from
the right. Therefore the shear stresses τ acting
on a stress element located on the surface of the
bar will have the directions shown in the figure.

Chap 04 ` Engr. M. Fahim 10

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS

The shear stresses acting on a cross-sectional plane are accompanied by shear

stresses of the same magnitude acting on longitudinal planes (Fig. 3-7). This
conclusion follows from the fact that equal shear stresses always exist on mutually
perpendicular planes, as explained in Section 1.6. If the material of the bar is weaker
in shear on longitudinal planes than on cross-sectional planes, as is typical of wood
when the grain runs parallel to the axis of the bar, the first cracks due to torsion
will appear on the surface in the longitudinal direction.

Chap 04 ` Engr. M. Fahim 11

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS

Chap 04 ` Engr. M. Fahim 12

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS
The Torsion Formula

3.7b

3.9

Chap 04 ` Engr. M. Fahim 13

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS
The Torsion Formula
3.7b

Equation (3-13) is a generalized torsion formula, and we see once again that the
shear stresses vary linearly with the radial distance from the center of the bar.

Equation (3-12) shows that the shear stress is inversely proportional to the cube
of the diameter. Thus, if the diameter is doubled, the stress is reduced by a factor
of eight.

Chap 04 ` Engr. M. Fahim 14

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS
Angle of Twist
3.7a

Chap 04 ` Engr. M. Fahim 15

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS
Circular Tubes

The limits of integration are from ρ = r1 to ρ = r2.

Chap 04 ` Engr. M. Fahim 16

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS
Circular Tubes
The torsion formula (Eq. 3-11) may be used for a circular tube of
linearly elastic material provided IP is evaluated according to Eq. (3-16). The
same comment applies to the general equation for shear stress (Eq. 3-13), the
equations for rate of twist and angle of twist (Eqs. 3-14 and 3-15), and the
equations for stiffness and flexibility (Eqs. a and b).

Chap 04 ` Engr. M. Fahim 17

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS

Chap 04 ` Engr. M. Fahim 18

 3.3 CIRCULAR BARS OF LINEAR ELASTIC MATERIALS
Examples 3.1
Examples 3.2
Examples 3.3

Chap 04 ` Engr. M. Fahim 19

 3.4 NON UNIFORM TORSION
Case 1: Prismatic Segments with Constant Torque in each Segment

An internal torque is positive when its vector points away from the
cut section and negative when its vector points toward the section.
Chap 04 ` Engr. M. Fahim 20
 3.4 NON UNIFORM TORSION
Case 1: Prismatic Segments with Constant Torque in each Segment

Chap 04 ` Engr. M. Fahim 21

 3.4 NON UNIFORM TORSION
Case 2: Continuously varying cross sections and constant Torque

Chap 04 ` Engr. M. Fahim 22

 3.4 NON UNIFORM TORSION
Case 3: Continuously varying cross sections and
continuously varying Torque

Chap 04 ` Engr. M. Fahim 23

 3.4 NON UNIFORM TORSION
Limitations

Chap 04 ` Engr. M. Fahim 24

 3.4 NON UNIFORM TORSION

Examples 3.4
Examples 3.5

Chap 04 ` Engr. M. Fahim 25

 3.5 STRESSES AND STRAINS IN PURE SHEAR

Chap 04 ` Engr. M. Fahim 26

 3.5 STRESSES AND STRAINS IN PURE SHEAR
Stresses on Inclined Planes

FIG. 3-23 Stress elements oriented at θ = 0 and θ = 45°for pure shear

If a stress element is oriented at an angle other than 45°, both normal and shear
stresses will act on the inclined faces.

Chap 04 ` Engr. M. Fahim 27

 3.5 STRESSES AND STRAINS IN PURE SHEAR
Strains in Pure Shear

FIG. 3-25 Strains in pure shear: (a) shear distortion of an element oriented at θ = 0, and
(b) distortion of an element oriented at θ = 45°

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 3.5 STRESSES AND STRAINS IN PURE SHEAR
Strains in Pure Shear

The strain in the perpendicular direction is a negative strain of the same amount. In other
words, pure shear produces elongation in the 45°direction and shortening in the 135°
direction.

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 3.5 STRESSES AND STRAINS IN PURE SHEAR
Examples 3.6

Chap 04 ` Engr. M. Fahim 30

 3.6 RELATIONSHIP BETWEEN MODULI OF
ELASTICITY E AND G

Chap 04 ` Engr. M. Fahim 31

 3.7 TRANSMISSION OF POWER BY CIRCULAR SHAFTS

Chap 04 ` Engr. M. Fahim 32

 3.8 STATICALLY INDETERMINATE TORSIONAL MEMBERS

Chap 04 ` Engr. M. Fahim 33

 3.8 STATICALLY INDETERMINATE TORSIONAL MEMBERS
Examples 3.9

Chap 04 ` Engr. M. Fahim 34

 3.9 STRAIN ENERGY IN TORSION AND PURE SHEAR

Chap 04 ` Engr. M. Fahim 35

 3.9 STRAIN ENERGY IN TORSION AND PURE SHEAR
Strain-Energy Density in Pure Shear

Chap 04 ` Engr. M. Fahim 36

 3.9 STRAIN ENERGY IN TORSION AND PURE SHEAR
Examples 3.10

Examples 3.11

Examples 3.12

Chap 04 ` Engr. M. Fahim 37

 3.10 THIN WALLED TUBES

Chap 04 ` Engr. M. Fahim 38

 3.10 THIN WALLED TUBES
Shear Stresses and Shear Flow

Chap 04 ` Engr. M. Fahim 39

 3.10 THIN WALLED TUBES
Shear Stresses and Shear Flow

Chap 04 ` Engr. M. Fahim 40

 3.10 THIN WALLED TUBES
Torsion Formula for Thin-Walled Tubes

Am: Area enclosed by median line.

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 3.10 THIN WALLED TUBES
Torsion Formula for Thin-Walled Tubes: Circular Tube

Polar Moment of inertia

Chap 04 ` Engr. M. Fahim 42

 3.10 THIN WALLED TUBES
Torsion Formula for Thin-Walled Tubes: Rectangular Tube

Chap 04 ` Engr. M. Fahim 43

 3.10 THIN WALLED TUBES
Strain Energy and Torsion Constant
Strain Energy Density: Volume of Element = tdsdx

Chap 04 ` Engr. M. Fahim 44

 3.10 THIN WALLED TUBES
Strain Energy and Torsion Constant

Torsion Constant:

It has the same form as the equation for strain energy in a circular bar (3-51a), J has replaced the polar
moment of inertia IP. Note that the torsion constant has units of length to the fourth power.

Chap 04 ` Engr. M. Fahim 45

 3.10 THIN WALLED TUBES
Strain Energy and Torsion Constant: Circular Tube

Chap 04 ` Engr. M. Fahim 46

 3.10 THIN WALLED TUBES
Strain Energy and Torsion Constant: Rectangular Tube

Chap 04 ` Engr. M. Fahim 47

 3.10 THIN WALLED TUBES
Angle of Twist

Chap 04 ` Engr. M. Fahim 48

 3.10 THIN WALLED TUBES
Limitations

Chap 04 ` Engr. M. Fahim 49

 3.10 THIN WALLED TUBES
Example 3.13

Chap 04 ` Engr. M. Fahim 50

 3.10 THIN WALLED TUBES
Example 3.14

Chap 04 ` Engr. M. Fahim 51

 3.11 STRESS CONCENTRATION IN TORSION

Chap 04 ` Engr. M. Fahim 52

 3.11 STRESS CONCENTRATION IN TORSION

Chap 04 ` Engr. M. Fahim 53

 PROBLEMS

Chap 04 ` Engr. M. Fahim 54