Russell C.

 Hibbeler
ll bb l

Ch
Chapter 5: Torsion 
   T i  
Objectives
• The effects of applying a torsional loading to a long
straight member such as shaft or tube.

• To determine both stress distribution within the

member and the angle of twist when the material
behaves in a linear-elastic
linear elastic manner and also when it is
inelastic.
 Due to axial distribution of shear
stress
stress, shafts made from wood
tend to split along the axial plane
when subjected to excessive
torque

This tubular drive shaft for a truck was

subjected to an overload resulting in failure
caused by yielding of the material.
 Torsional Loads on Circular Shafts
• Stresses and strains of circular
shafts subjected to twisting couples
or torques*

• T
Turbine
bi exerts
t torque
t T on the
th
shaft

• Shaft transmits the torque to the

generator

• Generator creates an equal and

opposite torque T’

Chapter 5: Torsion
* Momen that tends to twist a member about its longitudinal axis. Its effect is of
Mechanics of Material 7th Edition
primary
© concern
2008 Pearson Education in theAsiadesign
South Pte Ltd of axles or drive shafts used in vehicle and machinery.
Example
 Net Torque
q Due to Internal Stresses
• Net of the internal shearing stresses is an internal
torque, equal and opposite to the applied torque,

T   r dF   r  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.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 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 p plane and
undistorted.
• Cross‐sections for hollow and solid circular
shafts remain p plain and undistorted because a
circular shaft is axisymmetric.

• Cross‐sections of noncircular (non‐

axisymmetric)
i t i ) shafts
h ft are distorted
di t t d when
h
Chapter 5: Torsion subjected to torsion.
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 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.
rhombus

• Since the ends of the element remain planar,

the shear strain is equal to angle of twist.
twist

• It follows that

r
L  r or  
L
• Shear strain is proportional to angle of twist
and radius

c r
 max  and    max
Chapter 5: Torsion
Mechanics of Material 7th Edition
L c
© 2008 Pearson Education South Asia Pte Ltd
 Stresses in Elastic Range
M l i l i the
• Multiplying h previous
i i
equation b the
by h shear
h
modulus,
r
G  G max
c
From Hooke’s Law,   G , so shear stress
r
   max
 c4 d 4 c
J  The shearing stress varies linearly with the radial
2 32
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,
 max  max
T   r dA   r dA 
2
J
c c
• The results are known as the elastic torsion

c24 c14  d24  d14 

formulas,
J
Chapter 5: Torsion
  max 
Tc
and  
Tr
2
Mechanics of Material th 32
7 Edition J J
© 2008 Pearson Education South Asia Pte Ltd
 Tc Tr
 max  and  
J J
Where
τmax = the maximum shear stress in the shaft, which occurs at the
outer surface
T = the resultant internal torque acting at the cross section. 
Its  value is determine from the method of sections and 
the equation of moment equilibrium applied about the 
shaft’s longitudinal axis.
h ft’ l it di l i
J = the polar moment of inertia of the cross‐sectional area
c = the outer radius of the shaft.
= the outer radius of the shaft
 Angle of Twist in Elastic Range
• Recall that the angle off 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
T
 max  
G JG
• Equating the expressions for shearing strain and
solving
l i for
f the
th angle
l off twist,
t it
TL

JG
• If the
th torsional
t i l loading
l di or shaft
h ft cross‐section
ti
changes along the length, the angle of rotation is
found as the sum of segment rotations
Ti Li
 
Chapter 5: Torsion i J i Gi
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Con ention
Sign Convention
• Sign convention for the
internal
i t l torque
t and
d the
th
angle of twist of one end
of the shaft with respect to
the other end.
end

• Use right hand rule: both

torque and angle will be
positive,
iti provided
id d theth
thumb is directed outward
from the shaft when the
fingers curl to give the
tendency for rotation.
Example

TAB = +80N.m, TBC = -70N.m, TCD = -10 N.m

φA/D = (+80) LAB + (-70) LBC + (-10) LCD

JG JG JG
 Example 1
Determine the maximum shearing stress caused by a 
torque of magnitude  T 
torque of magnitude T = 800 N.m.
800 N.m.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 2
Knowing that the internal diameter of the hollow shaft shown
is d = 23 mm, determine the maximum shearing stress caused
by a torque of magnitude T = 1.0 kN.m.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 3
The shaft 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.

C =75 mm
A

r =15 mm
Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 4
Under normal operating conditions, the electric motor exerts a torque of
2.4 kN.m at A. Knowing that each shaft is solid, determine the maximum
shearing stress (a) in shaft AB, (b) in shaft BC, (c) in shaft CD.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 E l 5
Example
The allowable stress is 104 MPa in the 38 mm diameter rod AB and 55 MPa
in the 46 mm diameter rod BC. BC Neglecting the effect of stress
concentrations, determine the largest torque that may be applied at A.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Power Transmission
 Power is defined as the work performed per unit of
time.
time
 For a rotating shaft with a torque, the power is

P  T where shaft angular velocity,   d / dt

 Since 1 cycle  2 rad    2f , the power equation is

P  2fT
 For shaft design,
design the design or geometric parameter
is J T

c  allow
ll

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
 Example 6
Example 6
A solid steel shaft AB as shown in the figure is to be used to transmit 3750
W from the motor M to which it is attached. If the shaft rotates at N = 175
rpm and d the
h steell has
h an allowable
ll bl shear
h stress off tallow = 100 MPa,
MP
determine the required diameter of the shaft to the nearest mm.

Chapter 5: Torsion
Mechanics of Material 7th Edition
© 2008 Pearson Education South Asia Pte Ltd
Example 7
Example 7
The motor delivers 30 kW to the shaft while it rotates at 20 Hz. The shaft is
supported on smooth bearings at A and B, which allow free rotation of the
shaft. The gear C and D fixed to the shaft removed 18 kW and 12 kW
respectively. Determine the diameter of the shaft to the nearest mm if the
allowable shear stress is τallow = 56 MPa and the allowable angle of twist of C
respect to D is 0 20o. G = 76 GPa.
i 0.20 GP