TORSION

! !

Torsion in a Circular Shaft The Torsion Formula

! !

Stress Strain

! ! ! !

Torque Diagram Angle of Twist Power Transmission Statically Indeterminate Torque-Loaded Members

Torsion in a Circular Shaft y

(x)
deformed plane undeformed plane z x

The angle of twist (x) increases as x increases.

The Torsion formula

max

max
c

max

max
c

= constant

dA

max
c

dF

dT = (dF ) = (dA)

dA c

dT = [ (

max
c

)dA]

T = (
T =(

max
c
c

constant ) 2 dA J

max

) 2 dA

max
c

max = (

Tc ) J T = J

 Solid Shaft max T c

1 J = dA = (2d ) = 2 3 d = 2 ( ) 4 4 0 0 A
2 2

c 0

J=

c4

Tubular Shaft

max

min

co ci

J=

(co ci )

 Stress strain relationship

(MPa)

G=

(rad)

 Equilibrium and compatibility condition

TA B A T TA LAB LBC TA + T1 TA + T1 - T2 = TB x T1 C LCD D do T2 di TB

Equilibrium equation: TA + T1 - T2 - TB = 0 Compatibility equation:

D/A = B/A + C/B + D/C = 0

 Torsion and shear stress diagram

TA B LAB LBC TA + T1 + TA + T1 - T2 = T3 x
(TA )(co ) 4 ( / 2)(co )

T1

T2

di = 2ci T3 D

A T TA

C LCD

do = 2co

AB =

BC =
+

(TA + T1 )(co ) 4 ( / 2)(co )

CD =
x

(T3 )(co ) 4 4 ( / 2)(co ci )

Angle of twist

d c

cd

max
Tc ) J T = J

max = (
dx

cd = max dx
d =
d =

max dx
c

G=
= Tcdx JGc

max dx

, = G

Gc Tdx d = JG

Tdx JG

TL JG

 Sign Convention

x x +(x) +(x) +(x) +(x)

Positive sign convention for T and

10

 Torsion and angle of twist diagram TA B LAB LBC TA + T1 + TA + T1 - T2 = T3 x

(TA + T1 )( LBC ) 4 ( / 2)(co )G

T1

T2

di = 2ci T3 D

A T TA

C LCD

do = 2co

C / A = B / A +

x/A

B / A

(TA )( LAB ) = 4 ( / 2)(co )G

D / A = C / A +
x

(T3 )( LCD ) 4 4 ( / 2)(co ci )G

11

Example 1 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.

a 5 kNm 3 kNm 2 kNm

A z 30 mm A B 10 mm Section a-a y

12

a 5 kNm 0 T (kNm) A a B 3 kNm 2 kNm 0

z 30 mm A B 10 mm Section a-a 47.17 MPa y 2 kNm x 47.17 MPa Section Property

J =

-2 -5 -5

A B

4 c = ( 0 . 03 m ) 4 = 1 . 272 (10 6 ) m 4 2 2

A
Top view A

Shear Stress
A B ( 2 10 3 N m )( 0 . 03 m ) Tc = = = 47 . 17 MPa J 1 . 272 (10 6 ) m 4 T ( 2 10 3 N m )( 0 . 01 m ) = = = 15 . 72 MPa 6 4 J 1 . 272 (10 ) m

15.72 MPa

13

Example 2 The pipe shown in has an inner diameter of 30 mm and an outer diameter of 60 mm. If its end is tightened against the support at A using a torque wrench at B, determine the shear stress developed in the material at the inner and outer walls along the central portion of the pipe when the 80-N forces are applied to the wrench. A 80 N B 200 mm 300 mm C 80 N do = 60 mm di = 30 mm

14

di = 30 mm T do = 60 mm C z B 200 mm 300 mm D 1.006 MPa x A

Internal Torque

= 0;

80 N (0.5 m) T = 0

80 N

T = 40 Nm 80 N Section Property
J = [( 0 . 03 m ) 4 ( 0 . 015 m ) 4 ] = 1 . 193 (10 6 ) m 4 2

Shear Stress - For any point lying on the outside surface of the pipe, = co = 0.03 m

D = 1.006 MPa E = 0.503 MPa

E

o =

Tco 40 N m(0.03 m) = = 1.006 MPa 1.193(10 6 ) m 4 J

- For any point located on the inside surface, = ci = 0.015 m

i = Tc i 40 N m ( 0 . 015 m ) = = 0 . 503 MPa J 1 . 193 (10 6 ) m 4

40 Nm Section C 0.503 MPa

15

Example 3 A solid steel shaft shown in the figure (G = 80 GPa), having an inner diameter of 30 mm and outer diameter of 60 mm. Draw the quantitative torsion, shear stress and the angle of twist diagram of the shaft.

1.0 m 0.6 m 1200 Nm

C di = 30 mm do = 60 mm 800 Nm B

16

1.0 m 0.6 m 1200 Nm

C di = 30 mm do = 60 mm T (Nm) B

J = (/2)(co4 - ci4)

JAB = (/2)(0.034 ) 800 Nm = 1.272 (10-6) m4 JBC = (/2)(0.034 - 0.0154 ) = 1.193 (10-6) m4 400 400 x (m) +

-800 -800

AB =

( 400 N m )( 0 . 03 m ) = 9 . 43 MPa (1 . 272 10 6 m 4 )

(MPa) =
Tc J

9.43 +

x (m)

20.12
BC =

( 800 N m )( 0 . 03 m ) = 20 . 12 MPa (1 . 193 10 6 m 4 )

17

1.0 m 0.6 m 1200 Nm

C di = 30 mm do = 60 mm T (Nm) B

J = (/2)(co4 - ci4)

JAB = (/2)(0.034 ) 800 Nm = 1.272 (10-6) m4 JBC = (/2)(0.034 - 0.0154 ) = 1.193 (10-6) m4 400 400 x (m) +

-800 -800

B/A =

( 400 )(1 . 0 ) (1 . 272 10 6 )( 80 10 9 )

= 0 . 00393 rad = 0 . 23 o (rad)

0.00393

TL JG

( 800 )( 0 . 6 ) x (m) C /B = = 0 . 00503 rad = 0 . 29 o 6 9 (1 . 193 10 )( 80 10 ) 0.00393 - 0.00503 = -0.0011

18

Example 4 A solid steel shaft shown in the figure(G = 80 GPa), having an inner diameter of 30 mm and outer diameter of 60 mm. Draw the quantitative torque, shear stress and the angle of twist diagrams of the shaft.

400 Nm

2800 Nm

di = 30 mm 1500 Nm D

B 0.5 m 0.4 m

C 0.6 m

do = 60 mm

19

TA B 0.5 m

400 Nm

2800 Nm

di = 30 mm 1500 Nm D

C 0.4 m 0.6 m

do = 60 mm

T (Nm) TA

TA + 400 +

TA + 400 + 2800 = 1500

x (m)

Equilibrium equation: TA + 400 + 2800 -1500 = 0 TA = -1700 Nm

20

1700 Nm A B 0.5 m

400 Nm

2800 Nm

di = 30 mm 1500 Nm D

C 0.4 m 0.6 m

do = 60 mm

T (Nm)

JAC = (/2)(0.034 ) = 1.272 (10-6) m4

JCD = (/2)(0.034 - 0.0154 ) = 1.193 (10-6) m4 1500 +

AB = ( 1700 N m)( 0 . 03 m ) ( / 2 )( 0 . 03 4 ) m 4 = 40 . 08 MPa ( 1300 N m )( 0 . 03 m ) ( / 2 )( 0 . 03 4 ) m 4 = 30 . 65 MPa

-1700 -1300 37.73 + -40.08 -30.65

x (m)

(MPa)

BC =

x (m)
CD =

(1500 N m )( 0 . 03 m ) ( / 2 )( 0 . 03 4 0 . 015 4 ) m 4

= 37 . 73 MPa

21

1700 Nm A B 0.5 m

400 Nm

2800 Nm

di = 30 mm 1500 Nm D

C 0.4 m 0.6 m

do = 60 mm

T (Nm)

JAC = (/2)(0.034 ) = 1.272 (10-6) m4

JCD = (/2)(0.034 - 0.0154 ) = 1.193 (10-6) m4 1500 +

B/A = ( 1700 )( 0 . 5 ) ( / 2 )( 0 . 03 4 )( 80 10 9 ) = 0 . 00835 rad

x (m)

x/A (rad)

-1700

-1300

C / B =
-0.00835 -0.00835 -0.00511 = -0.0135 x (m) -0.00403

( 1300)(0.4) ( / 2)(0.034 )(80 109 ) = 0.00511 rad

D / C =

(1500)(0.6) ( / 2)(0.034 0.0154 )(80 109 ) = 0.00943 rad

22

The meshed gears

T A E F C B rC
d AB

D
d CD

CD

L AB

rB

23

T A E F
L AB

TD D
L

T A
CD

Ez Fz

TD = T rC D rB

Ex C B rC Fx

F =

T rB

C
T rB

B rB F =

rC

rB Internal torque

+ MAB = 0: T - F(rB) = 0
T F= rB F'= F = T rB

+ MCD = 0:
TD T rC = 0 rB

TD =

rC T rB

24

T A E F
L AB

TD D
L

CD

C B rC rB

B
P

C
P

rC

rB Angle of twist

Direction of motion

arc PP = arc PP

B rB = C rC
B =
rC C rB

25

T A

Ez Fz

TD = T rC rB D

Start at D C B A
rC T ) LCD rB = J CD GCD (

Ex Fx

T F= r B B rB rC

C / D
C T F = r B

C = C / D

A = A/ B + B =

TLAB J AB G AB

rC rC )( T ) LCD rB rB +[ ] J CDGCD (

rC T ) LCD rC rC rB B = C = [ ] rB rB J CD GCD TLAB A/ B = J AB G AB (

26

Example 5a The two solid steel shafts are coupled together using the meshed gears. Determine the shearing stress in two solid and the angle of twist of end A of shaft AB when the torque T = 45 Nm is applied. The upper shaft has a diameter of 17.5 mm and the lower shaft has a diameter of 22.5 mm. Take G = 80 GPa. Shaft AB is free to rotate within bearings E and F, whereas shaft DC is fixed at D. T = 45 Nm A E F
2 m

1. 5

C B 150 mm 75 mm

27

G = 80 MPa. T = 45 Nm A E F AB =2 D
CD

Internal Torque T = 45 Nm Ez A

Fz

TD

D rC =75 mm C FC = 300 N

=1 7. 5

1. 5
m m

Ex

E Fx F FB=300 N

Shearing Stress
AB = CD = T AB c AB ( 45 N m )( 0 . 01125 m ) = = 20 . 12 MPa 4 J AB ( / 2 )( 0 . 01125 m ) T CDc CD ( 22 . 5 N m )( 0 . 00875 m ) = = 21 . 38 MPa 4 J CD ( / 2 )( 0 . 00875 m )

2 m

2.

C B 150 mm 75 mm

rB =150 mm

B r 75 mm ( 45 N m) TD = C T A = 150 mm rB
= 22 . 5 N m

28

G = 80 MPa. T = 45 Nm A E
F AB =2

Internal Torque T = 45 Nm Ez
TD = T A =

CD

Fz

TD

A
=1 7. 5

D FB

75 mm ( 45 N m ) 150 mm = 22 . 5 N m

1. 5
m m

Ex

E Fx F

rC =75 mm

2.

C B 150 mm 75 mm

B C
B
B =

Angle of twist of end A

T LAB rC rC T LCD TAB LAB rC TCD LCD A = + ( )[ ] = + ( )[( ) ] J AB G rB rB J CD G J AB G rB J CD G
A =

A = A/B + B = A/B + 0.5C

( 45 N m )( 2 m ) (. 5 )( 45 N m )(1 . 5 m ) 0 . 5 [ ] + 4 9 4 9 ( / 2 )( 0 . 01125 m ) ( 80 10 Pa ) ( / 2 )( 0 . 00875 m ) ( 80 10 Pa )

A = 0.0447 + 0.0229 = 0.0676 rad = 0.0676(180/) = 3.87o

rB =150 mm

C FC

rC C = 0 . 5 C rB

29

Example 5b The two solid steel shafts are coupled together using the meshed gears. Shaft AB is free to rotate within bearings E and F, whereas shaft DC is fixed at D. The upper shaft has a diameter of 17.5 mm and the lower shaft has a diameter of 22.5 mm. Determine the maximum torque the shaft can have if it is restricted not to twist more than 10o and the allowable shear stress is allow = 50 MPa. Take G = 80 GPa. T A E F
2 m

1. 5

C B 150 mm 75 mm

30

allow = 50 MPa.
T A E F AB =2 D
CD

Internal Torque T A Ez Fz
TD = rC 75 mm T = = 0 . 5T rB 150 mm

TD

D FB rC =75 mm

=1 7. 5

1. 5
m m

Ex

E Fx F

Allowable Shearing Stress: = Tc/J (AB)allow = 50x106 Pa = (T)(0.01125 m) (/2)(0.01125 m)4 (0.5T)(0.00875) (/2)(0.00875 m)4 , T1 = 111.8 Nm

(CD)allow = 50x106 Pa =

2 m

2.

C B 150 mm 75 mm

rB =150 mm

C FC

T2 = 105.2 Nm

31

G = 80 MPa. Angle of Twist () = 10o T A E F AB =2 D

CD

T A
=1 7. 5

Ez Fz

TD =

TB

rC rB

T =

75 mm = 0 . 5T 150 mm

D FB rC = 75 mm

1. 5
m m

Ex

E Fx F

Angle of twist

A = A/B + B = A/B + 0.5C

10 ( 10 ( T L T L ) rad = A AB + 0 . 5 [ D CD ] 180 J AB G J CDG

( 0 . 5T )(1 . 5 m) T ( 2 m) ) rad = 0 . 5 [ ] + 4 9 4 9 180 ( / 2 )( 0 . 01125 m) ( 80 10 Pa ) ( / 2 )( 0 . 00875 m) ( 80 10 Pa )

T3= 116.15 Nm

2 m

2.

C B 75 mm 150 mm

B C
B

rB =150 mm

B =

rC C = 0.5 C rB

C FC

The maximum torque at A is 105.2 Nm

32

Power transmission
T Power = Work performed per unit of time dA c P = Power in Nm/s, or W or watts 1 W = 1 Nm/s dP = (dF) (d)/(dt) =(dT) P=T = Angular velocity, in rad/s P = 2 f T f = Frequency, in Hz Note 1 hp = 745.7 Nm/s

dF

33

Example 6a A solid steel shaft AB is to be used to transmit 5 hp from the motor M to which it is attached. If the shaft rotates at = 175 rpm and the steel has an allowable shear stress of allow = 100 MPa, determine the required diameter of the shaft.

34

Solution

5 hp = 175 rpm allow = 100 MPa =?

P = T
175 rev 2 rad 1 min 745 . 7 N m/s (5 hp )( ) =T 1 hp min 1 rev 60 s

allow =

Tc Tc 2T = = J ( / 2)(c 4 ) (c 3 )
1/3

2T c = allow

T = 203.4 N m

2 ( 203 . 41 N m ) = 6 2 (100 10 N/m ) = 10 . 90 mm

1/ 3

d = 2c = 2(10.90 mm) = 21.8 mm Select a shaft having a diameter of 22 mm

35

Example 6b A tubular shaft, having an inner diameter of 30 mm and an outer diameter of 42 mm, is to be used to transmit 90 kW of power. Determine the frequency of rotation of the shaft so that the shear stress will not exceed 50 MPa. Solution

max =
50 10 6 N/m 2 =

Tc J

T ( 0 . 021 m) ( / 2) ( 0 . 021 m) 4 ( 0 . 015 m ) 4

T = 538 N m P = 2 fT

90 10 3 N m/s = 2 f (538 N m )
f = 26 . 6 Hz

36

Example 7 The two solid steel shaft are coupled together using the meshed gears. Shaft CD connected to the machine which required power of 35 kW at frequency 10 Hz, whereas shaft AB connected to motor to rotate within bearing E. (a) Determine the required power and frequency of motor. (b) If the allowable stress in both shafts must be limited to 200 MPa, determine the size of the diameter required for each shaft. Motor (Input) A E B C rC = 150 mm D Machine (Output) Pout = 35 kW fout = 10 Hz rB = 75 mm

37

Motor (Input) A E B C rC = 150 mm D Machine (Output) Pout = 35 kW fout = 10 Hz rB = 75 mm

Internal torque -Output (Machine)

P = Tw = T (2f )

-Input (Motor)
FB = FC
TB TC = rB rC

35 103 = TD ( 2 10)

T C= T D = 557 N m

TB =

rB 75 TC = (557 N m ) = 278 . 5 N m rC 150

38

Motor (Input) A
T A = T B = 278 . 5 N m

rC = 150 mm B C D Machine (Output) Pout = 35 kW fout = 10 Hz

T C= T D = 557 N m

rB = 75 mm allowable stress in both shaft : allow = 200 MPa

(a) The power and frequency of motor

fB = rC fC rB

= 2f C = 2(10 Hz) = 20 Hz

Pinput = T B ( 2 f B ) = ( 278 . 5 N m)( 2 20 Hz) = 35 kW

Comment : Pinput = TB (2f B ) T = ( C )(2 2 f C ) = TC ( 2f ) 2

39

Motor (Input)
T A = T B = 278 . 5 N m

A E B C

rC = 150 mm D Machine (Output) Pout = 35 kW fout = 10 Hz

T C= T D = 557 N m

rB = 75 mm allowable stress in both shaft : allow = 200 MPa (b) Allowable diameter for each shaft - Shaft AB
( AB ) allow = TB c AB J AB

- Shaft CD
TC cCD J CD ( 557 N m )c CD 200 10 6 Pa = 4 ( / 2 )c CD ( CD ) allow =

200 10 6 Pa =

( 278 . 5 N m )c AB 4 ( / 2 )c AB

c AB = [

( 278 . 5 N m) 1/ 3 ] ( / 2)( 200 10 6 Pa )

c CD = [

( 557 N m ) 1/ 3 ] ( / 2 )( 200 10 6 Pa )

= 9 . 6 10 3 m d AB = 19 . 2 10 3 m 20 mm
d CD

= 0 . 0121 m = 0 . 0242 m 25 mm

40

Statically Indeterminate Torque-Loaded Members

A C LAC L LBC B TA T TB

Equilibrium equation + Mx = 0: Compatibility equation: - TA + T + TB = 0 ----------(1)

A/B = A/C + B/C = 0

TA LAC TB LBC =0 JG JG ( 2)

41

Example 8 A solid steel shaft shown in the figure(G = 80 GPa), having an inner diameter of 30 mm and outer diameter of 60 mm. (a) Determine the reactions at the fixed supports A and D. (b) Draw the quantitative torsion,shear stress and the angle of twist diagram of the shaft. di = 30 mm

500 Nm B A 0.5 m 0.4 m C

800 Nm

D 0.6 m do = 60 mm

42

TA B A 0.5 m T (Nm) TA

500 Nm C

800 Nm

TD

di = 30 mm

D 0.4 m TA + 500 + 0.6 m TA + 500 + 800 = TD do = 60 mm

x (m)

Equilibrium equation: TA + 500 + 800 = TD Compatibility equation:

D / A = B / A + C / B + D / C = 0
TA (0.5) (TA + 500)(0.4) (TA + 1300)(0.6) + =0 + 4 9 4 9 4 4 9 ( / 2)(0.03 )(80 10 ) ( / 2)(0.03 )(80 10 ) ( / 2)(0.03 0.015 )(80 10 )

TA = -670.17 Nm, TD = -670.17+500+800 = 629.8 Nm

43

670.17 Nm B A 0.5 m T (Nm)

500 Nm C

800 Nm

di = 30 mm 629.83 Nm D

0.4 m

0.6 m

do = 60 mm
( 670 . 17 N m)( 0 . 03 m) ( / 2 )( 0 . 03 4 ) m 4 = 15 . 80 MPa ( 170 N m)( 0 . 03 m ) ( / 2 )( 0 . 03 4 ) m 4 = 4 . 01 MPa

JAC = (/2)(0.034 ) = 1.272 (10-6) m4

JCD = (/2)(0.034 - 0.0154 ) = 1.193 (10-6) m4 629.83 +

AB =

-670.17

x (m)

-170.17 15.84 +

(MPa)
-15.80

BC =

x (m)
CD = ( 629 . 83 N m )( 0 . 03 m ) ( / 2 )( 0 . 03 4 0 . 015 4 ) m 4

-4.01

= 15 . 84 MPa

44

670.17 Nm B A 0.5 m T (Nm)

500 Nm C

800 Nm

di = 30 mm 629.83 Nm D

0.4 m

0.6 m

do = 60 mm

JAC = (/2)(0.034 ) = 1.272 (10-6) m4

JCD = (/2)(0.034 - 0.0154 ) = 1.193 (10-6) m4 629.83 +

B/A = ( 670 . 17 )( 0 . 5 ) ( / 2 )( 0 . 03 4 )( 80 10 9 )

-670.17

x (m) = 0 . 00329 rad = 0 . 593 o

( 170 . 17 )( 0 . 4 ) ( / 2 )( 0 . 03 4 )( 80 10 9 )

-170.17
C /B =

x/A (rad)

o 0 . 000669 rad 0 . 12 = = x (m)

- 0.00329

(629.83)(0.6) ( / 2)(0.034 0.0154 )(80 109 ) - 0.00329 - 0.000669 = -0.00396 = 0.00396 rad = 0.713

D / C =

45

Example 9 The shaft shown is made form a steel tube, which is bonded to a brass core. If a torque of T = 340 Nm is applied at its end, plot the shear-stress distribution along a radial line of its cross sectional area. Take Gst = 80 GPa, Gbr = 35 Gpa.

15 mm 1m 30 mm T = 340 Nm

46

Tbr Tst 15 mm 1m 30 mm x T = 340 Nm

Section Properties
J br =
J st

4 c br = ( 0 . 015 m ) 4 = 7 . 952 10 8 m 4 2 2 4 4 = (c st c br ) = [( 0 . 03 m ) 4 ( 0 . 015 m ) 4 ] 2 2

= 1.193(10-6) m4 Equilibrium Tst + Tbr = 340 Compatibility ----------(1)

= st = br
Tst L T L = br J st Gst J br Gst T st L T br L = (1 . 193 10 6 m 4 )( 80 10 9 Pa ) ( 7 . 952 10 8 m 4 )( 35 10 9 Pa )

Tst = 34.29 Tbr Solving (1) and (2) , Tst = 330.4 Nm,

----------(2) Tbr = 9.63 Nm

47

1.82 MPa

Tst = 330.4 Nm, 4.15 MPa 8.31 MPa

Tbr = 9.63 Nm

Jbr= 7.952(10-8) m4 , Jst= 1.193(10-6) m4 Shear Stress

T J ( 9 . 63 N m )( 0 . 015 m ) = = 1 . 82 MPa ( 7 . 952 10 8 m 4 )

0.015 m A B
( br ) max

0.03 m Shear stress distribution max = B = 1.039(10-4) rad A B A = 5.2(10-5) rad

=

( st ) min = ( st ) max =

(330.4 N m)(0.015 m) = 4.15 MPa 6 4 (1.193 10 m ) (330.4 N m)(0.03 m) = 8.31 MPa (1.193 10 6 m 4 )

Shear Strain
A = ( br ) A ( st ) A = G br G st 1 . 82 MPa 5 ) = 5 . 2 10 rad br 3 35 10 MPa 8 . 31 MPa = 1 . 039 10 4 rad 3 80 10 MPa

A
rA

B
rB

=(

max = B =

Shear strain distribution

48