Chapter 3 Torsion

Introduction
-- Analyzing the stresses and strains in machine
parts which are subjected to torque T
Circular
-- Cross-section Non-circular
Irregular shapes
-- Material (1) Elastic
(2) Elasto-plastic
-- Shaft (1) Solid
(2) Hollow

3.1 Introduction
- T is a vector
- Two ways of expression

-- Applications:
a. Transmission of torque in shafts,
e.g. in automobiles
Assumptions in Torque Analysis:
a. Every cross section remains plane and undistorted.
b. Shearing strain varies linearly along the axis of the shaft.
3.2 Preliminary Discussion of the Stresses in a Shaft
( ) t = dA T
dF T =
Free-body Diagram
Where = distance (torque arm)
Since dF = t dA
The stress distribution is Statically
Indeterminate.
-- Must rely on deformation to solve the problem.
Analyzing a small element:
3.3 Deformations in a Circular Shaft
| = | (T, L) -- the angle of twist
(deformation)
Rectangular cross section
warps under torsion
' ' = CD C D

A circular plane remains

circular plane
L
|
=
(in radians)
Determination of Shear Strain
The shear strain
max
c
L
|
=
max

=
c
max

| =
L
c
= c = radius of the shaft
L
|
=
Since
t G =
3.4 Stresses in the Elastic Range
Hookes Law
max

=
c
max

t = = G G
c
t G =

max max
t = G
max

t t =
c
Therefore, (3.6)
1
2
min max
c
c
max
t
=
J
T
c
2
max
max
t
t t = = =
} } }
T dA dA dA
c c
( ) t = dA T
(3.1)
max

t t =
c
(3.9)
But
2
= dA J
Therefore, Or,
max
t =
Tc
J
(3.6)
Substituting Eq. (3.9) into Eq. (3.6)
J
T
t =
max
t =
Tc
J
4
1
2
t = J c
(3.10)
(3.9)
These are elastic torsion formulas.
For a solid cylinder:
For a hollow cylinder:
4 4
2 1
1
2
( ) t = J c c
0 0
2 45 2
max max
( )cos t t = = F A A
2 =
o
A A
3 13 . ( ) Eq
A
Since
max 0
max
0
2
2
= = =
F A
A
A
t
o t

(3-13)
Mohrs Circle (Sec. 7.4)
-- Pure Shear Condition
Ductile materials fail
in shear (90
o
fracture)
Brittle materials are weaker in
tension (45
o
fracture)
3.5 Angle of Twist in the Elastic Range
max
c
L
|
=
max
max max
sin
Tc
ce
G J
t
t = =
TL
JG
| =
(3.3)
max
Tc
JG
=
(3.15)
max
c Tc
L JG
|
= =
Eq. (3.3) = Eq. (3.15)
Therefore,
Hence,
=

i i
i
i i
T J
J G
|
For Multiple-Section Shafts:

Shafts with a Variable Circular Cross Section
0
| =
L
Tdx
JG
| =
Tdx
d
JG
3.6 Statically Indeterminate Shafts
-- Must rely on both
(1) Torque equations and
(2) Deformation equation, i.e.
TL
JG
| =
0 T E =
Example 3.05
3.7 Design of Transmission Shafts
P power Te = =
2t = P f T
f
P
T
t 2
=
-- Two Parameters in Transmission Shafts:
a. Power P
b. Speed of rotation
where e = angular velocity (radians/s) = 2t]
] = frequency (Hz)
[N.m/s = watts (W)] (3.21)
max
t =
Tc
J
f
P
T
t 2
=
max
t
=
J T
c
(3.21)
(3.9)
4 3
1 1
2 2
/ J c and J c c t t = =
For a Solid Circular Shaft:
Therefore,
3
1
2
max
T
c t
t
=
1 3
2
/
max
T
c
tt
| |
=
|
\ .

3.8 Stress Concentrations in Circular Shafts
max
t =
Tc
K
J
3.9 Plastic Deformation sin Circular Shafts
max

=
c
(3.4)
c = radius of the shaft
c

d
dA = 2t d
c

t t t = = = ( ) T dF dA d 2
dF T =
(3.1)
Knowing dF = t dA
2
0
2 =
}
c
T d t t
Where t = t()
(3.26)
=
U
T
T c
R
J
max
t =
Tc
J
(3.9)
If we can determine experimentally an Ultimate
Torque, T
U,
then by means of Eq. (3.9), we have
R
T
= Modulus of Rupture in Torsion
L
|
=
3.10 Circular Shafts Made of an Elasto-Plastic Material
t =
Y Y
J
T
c
max
t =
Tc
J
Case I: t < t
Y
Hookes Law applies, t < t
max

Case I
Case II
Case II: t < t
Y
Hookes Law applies, t = t
max

T
Y
= max elastic torque
Since

Case III: Entering Plastic Region
3
1
2
t t =
Y Y
T c
3
1
2
/ J C c t =
Y
t t =
Case III
0 s s
Y
:
t
t

=
Y
Y

Y
region within the plastic
range

Y
s s c:
(3-29)
2
0
2 =
}
c
T d t t
2 2
0
3 3 3
3
3
3
2 2
1 2 2
2 3 3
2 1
1
3 4
( )
Y
Y
c
Y
elastic plastic Y
Y
Y Y Y Y Y
Y
Y
T T T d d
c
T c
c

t
t t t

t t t t t t

t t
=
| |
= + +
|
\ .
= +
=
} }
3
3
4 1
1
3 4
( )

=
Y
Y
T T
c
(3.26)
By evoking Eq. (3.26)
(3.31)
3
1
2
t t =
Y Y
T c
Case IV
Case IV -- Fully Plastic
4
3
=
P Y
T T
3
3
4 1
1
3 4
( )

=
Y
Y
T T
c

Y
0:
= Plastic Torque (3-33)

|
=
Y
Y
L
3
3
4 1
(1 )
3 4
=
Y
Y
T T
|
|
=
Y Y
c
|
|
Y
Y
L
c
|

=
t = T A
3.11 Residual Stresses in Circular Shafts
'
| | | =
P
( ) 0 =
}
dA t
3.12 Torsion of Noncircular Members
0 0 t t = =
yx yz
0 0 t t = =
zx zy
0 0 t t = =
xy xz
A rectangular shaft does not axisymmetry.
2
1
max
t =
T
c ab
3
2
| =
TL
c ab G
From Theory of Elasticity:
1 2
1
1 0 630
3
( . / ) (for b/a = 5 only) 3.45 = = c c b a
3.13 Thin-Walled Hollow Shafts
0
A B
F - F = 0 E =
x
F
( ) t = A
A A A
F t x
0 ( ) ( ) t t
t t
A A =
=
A A B B
A A B B
t x t x
t t
tan t = = q t cons t
( ) ( ) t t t = = = = dF dA tds t ds qds
( ) ( ) = = =
O
dM pdF p qds q pds
2 ( ) =
o
dM q dA
2 T q = A
2
4
TL ds
G t
| =
}
A
2
t =
T
tA