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Torsion in Structural Design
Torsion in Structural Design
1. Introduction
1.1. Problems in Torsion
The role of torsion in structural design is subtle, and
complex. Some torsional phenomena include
(a) Twist of beams under loads not passing through the
shear center
(b) Torsion of shafts
(c) Torsional buckling of columns
(d) Lateral torsional buckling of beams
Two main types of situation involve consideration of
torsion in design
(1) Member's main function is the transmission of a
primary torque, or a primary torque combined with
bending or axial load (Cases (a) and (b) above.)
(2) Members in which torsion is a secondary
undesirable side effect tending to cause excessive
deformation or premature failure. (Cases (c) and
(d) above.)
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d
( y , z )
dx
d
dx
d
w = y( x ) = yx
dx
v = z( x ) = zx
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d( x )
=constant ( x) = x
dx
and to be a function of the position (y,z) on the crosssection only. Several models may be constructed
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(Laplace's equation)
with b.c.
= zany yanz
n
where n is the normal direction to the boundary, and
( any , anz ) are the components of the unit normal vector n on
the boundary.
It can be shown that the St Venant torsional stiffness of
the section is given by
J = y 2 + z 2 + y
A
z dA
y
z
JG
d
or T = JG
L
dx
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xy =
xz =
2
G
= 2G
y 2 y 2
dx
( x, y ) = constant on
where is the boundary of the section. In many cases, it is
convenient to simply take =0 on the boundary.
Given the stress function, it can be shown that
J = ( y , z )dydz
A
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32G2 1
cosh(nz / 2) ny
( n 1) / 2
=
(
1
)
1
cos
3
3
n =1, 3, 5,... n
cosh(n / 2) 2
The corresponding stresses are
16G2 1
cosh(nz / 2) ny
( n 1) / 2
xz =
(
1
)
1
sin
2
2
n =1,3,5,... n
cosh(
/
2
)
2
16G2 1
sinh( nz / 2) ny
( n 1) / 2
xy =
(
1
)
cos
2
2
n =1,3,5,... n
cosh(
/
2
)
2
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max = ktG
d
dx
J = k1t 3b
Then, since max T , we may write
max =
T
k2t 2b
9
11/30/01
b/t
1.0
1.2
1.5
2.0
2.5
3
4
5
10
k
0.675
0.759
0.848
0.930
0.968
0.985
0.997
0.999
1.000
1.000
k1
0.1406
0.166
0.196
0.229
0.249
0.263
0.281
0.291
0.312
0.333
k2
0.208
0.219
0.231
0.246
0.258
0.267
0.282
0.291
0.312
0.333
It is seen that for the thin section, the response away from
the ends is almost independent of y. Hence, a simplified
model takes the form
d 2
= 2G subject to ( ) = 0
dz 2
10
11/30/01
1.2
1
0.8
k
k1
k2
0.6
0.4
0.2
0
1 1.2 1.5 2 2.5 3
10
z2
( z ) = G 1 2 with resulting shear stress
2
xy = 2G( z / )
Hence, at z=t/2,
max = Gt = Gt
d
dx
1
J = bt 3
3
11
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Ttmax i
J
12
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13
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xx =
I yy M z I yz M y
I yy I zz I yz
where
14
I zz M y I yz M z
I yy I zz I yz
I yy = z 2 dA
A
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I yz = yz dA = product of inertia
A
q = t =
I yyQz ( s ) I yzQ y ( s )
I yy I zz I yz
Vy +
where
15
I zzQ y ( s ) I yzQz ( s )
I yy I zz I yz
Vz
Qy =
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zdA = ztds ,
A*( s )
Qz =
ydA = ytds
A*( s )
e y = 2
ez = 2
I zz I y I yz I z
I yy I zz I yz
I yy I z I yz I y
I yy I zz I yz
In the above,
S
I y
1
= Q y ( s ) rds = Q y ( s )d( s )
20
0
I z
1
= Qz ( s ) rds = Qz ( s )d( s )
20
0
16
11/30/01
v S = v ( z a z )
ws = w + ( y a y )
This can be resolved into a
normal, and a tangential
displacement component. The
tangential component of
displacement is
=v
dy
dz
+ w + r
ds
ds
xs =
u
+
0
s x
(Wagner's assumption)
u = y(s)
dv
dw
d
z( s)
2( s ) + u0 ( x )
dx
dx
dx
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2( s ) = rds = 2 d( s )
is the sectorial area at point s. The resulting normal stress
is then
d 2w
d 2 du0
u
d 2v
= E ( y 2 z 2 2 2 +
)
xx = E
dx
dx
dx
x
dx
Integrating the normal stress over the area leads to the
axial and bending resultants.
These may be written as
d 2
du0
ES 2
N x = EA
dx
dx
d 2w
d 2
d 2v
M y = EI yz 2 EI yy 2 + 2 EI y 2
dx
dx
dx
d 2v
d 2w
d 2
M z = EI zz 2 EI yz 2 + 2 EI z 2
dx
dx
dx
In the above, the first sectorial moment
S = 2( s )dA
A
18
11/30/01
du0 N x S d 2
=
+
dx AE A dx 2
M z I yy M y I yz
I z I yy I y I yz d 2
d 2v
=
+2
2
2
dx 2
E ( I yy I zz I yz )
I yy I zz I yz dx 2
M y I zz M z I yz
I y I zz I z I yz d 2
d 2w
=
2 +2
2
dx 2
E ( I yy I zz I yz )
I yy I zz I yz dx 2
The coefficients multiplying " are the distances from A to
the shear center, so if point A is taken at the shear center,
these terms disappear, and the equations for v and w
reduce to
M z I yy M y I yz
d 2v
=
2
dx 2
E ( I yy I zz I yz )
M y I zz M z I yz
d 2w
=
2
dx 2
E ( I yy I zz I yz )
The equation for u0 " can be written in alternative form as
du0 N x
d 2
=
+ 20 2
dx AE
dx
where 0 = the sectorial area between the outside edge of
the section and the sectorial centroid, a point for which S
vanishes.If the s origin were taken at a sectorial centroid,
instead of at an outside edge, then this term would
disappear.
19
11/30/01
xs = ( xs ) SV +
q
t
where
T = GJ
d
+ T
dx
d 2 dT
dT
= GJ 2
t( x) =
dx
dx
dx
If the free edge is taken as the origin of the s coordinate,
the shear flow is given by
s
q( s ) = xx dA
dx
0
20
11/30/01
Hence,
I Q I yzQ y
I zzQ y I yzQz Q
q( s ) = yy z
V
+
Vz V
y
2
2
I I I
C
I yy I zz I yz
yz
yy zz
where
W = 2 xx ( 0 )dA = the bimoment
A
V =
d
d
W = 2 xx ( 0 )dA
dx
dx A
s
d 3
T = ECw 3
dx
from which the equation for twist of a thin-walled section
d 4
d 2
ECw 4 GJ 2 = t ( x )
dx
dx
is obtained.
Example Consider an I beam, simply supported at each
end, free to warp at the ends, loaded by a twisting moment
in the middle.
21
11/30/01
The conditions at the left and right end are similar to those
at the end of a simply supported beam in bending. Hence
(0) = 0
( L) = 0
" (0) = 0
" ( L) = 0
0 x L/2
L/2 < x l
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h ( x ) = C0 + C1 sinh(x ) + C2 cosh(x )
GJ
.
Since the r.h.s. of the nonEC
homogeneous equations are constant, and the lowest
order derivative of in the o.d.e. is one, assume a
particular solution
where =
p = x
GJ = T / 2 = T / 2GJ 0 x L / 2
GJ = T / 2 = T / 2GJ L / 2 < x L
Hence, the general solution is given by
0 x L/2
L/2 < x L
Consider the left half of the beam first. For this portion of
the beam, the b.c. at the origin are
(0) = 0 C0 + C2 = 0
" (0) = 0 2C2 = 0
23
11/30/01
= C1 sinh(x ) + Tx / 2GJ
Then, the symmetry condition at midspan
1
T
.
2GJ cosh(L / 2)
T
sinh(x )
2 JG
cosh(L / 2)
For the right hand side of the beam, we may place the
origin at the right end, running to the left.
Then, it can be shown that the resulting solution (after
converting to the original coordinate system) is
T
sinh( ( L x ))
(
L
x
)
2 JG
cosh(L / 2)
TSV = GJ' =
T
cosh(x )
1
2 cosh(L / 2)
24
11/30/01
T cosh(x )
2 cosh(L / 2)
25
11/30/01
q =
Q
V
C
d 2
d 3
W = EC 2 V = EC 3
dx
dx
d 3
So, q = EQ 3 provides the easiest calculation, given .
dx
How do we calculate Q ? By definition,
s
Q = 2( 0 )dA
0
26
11/30/01
S
, where S = 2dA was defined
A
A
earlier. In these integrals, is a continuous function of
position on the section, starting from 0 at the sectorial
origin.
In the integral, 0 =
27
11/30/01
28
11/30/01
Then,
d 3 TQ cosh(x )
q = EQ 3 =
dx
2C cosh(L / 2)
In the above,
3
C =
h 2b f t f
qmax ( x )
24
3 T cosh(x )
=
4 h b f cosh(L / 2)
11/30/01
M = EI f v ' '
T = Tf
(1)
+ Tf
(2)
bf t f h 2
= E
' ' '
24
bf t f h 2
T = EC' ' ' C =
24
11/30/01
VQ f
q =
If
b f 2
2
y
2
bf t f
If =
12
So
b f 3t f
t f b f
h ' ' '
E
24
2 2
q =
3
bf t f
2
y
12
h tf
=E
2 2
b f
2
y ' ' '
31
11/30/01
T
cosh(x )
2 EC cosh(L / 2)
so
h tf
q =
2 2
h tf
=
2 2
b f 2
T cosh(x )
2
y
2
2C cosh(L / 2)
b f 2
24 T cosh(x )
2
y 3 2
2
b f t f h 2 cosh(L / 2)
b f 2
3T cosh(x )
2
= y 3
2
b f h cosh(L / 2)
The peak value of warping shear flow occurs at the middle
of the flange (y=0) at the midspan of the beam (x=L/2),
where
q =
3 T
4 bf h
11/30/01
Secondary Warping:
For certain sections, the only resistance to warping is the
secondary warping resistance. Several such sections are
shown below
hp
11/30/01
t 3h p
t3 y2
' ' '
Ts = E
dy ' ' ' = E
12
36
0
t 3h p
Cs =
36
t 3 ( h / 2 ) 3 t 3h 3
=
Cs = 2
36
144
Likewise, the T section has warping stiffness
3
t1 b3 t2 h 3
Cs =
+
144 36
and the cruciform shown has warping stiffness
t 3h 3 t 3h 3
=
Cs = 2
144 72
(You should calculate the corresponding warping stiffness
for an angle with unequal legs.)
If the plates are thin, the warping stiffness may be
relatively small. This can have an important effect, as we'll
see.
34
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35
11/30/01
Example:
For the beam analyzed before, the torque converts into
two lateral loads
P = T /h
applied at the top and bottom flanges.
V = T / 2h
b f 2
2
3 y T
2
q VQ f / I f =
3
h bf
36
11/30/01
3T
4h b f
dM
V=
M ( x ) = M (0) + V ( )d
dx
0
We also have
x
dW
V =
W ( x ) = W (0) + V ( )d
dx
0
37
11/30/01
M f
T L
T L bf / 2
=
from which xx =
2h 2
2h 2 I f
Vf =
T cosh(x )
2h cosh(L / 2)
M f
T
=
2h
L/2
cosh(x )
T L T L
dx =
<
cosh(L / 2)
2h 2 2 h 2
11/30/01
bf t f h 2
C =
24
(7.635" )3 (.810" )(18.47".81" ) 2
=
= 4,685 in 6
24
bt 3 1
J =
= [2(7.635" )(.810" )3 + (18.47 1.62)(.495" )3 ]
3 3
= 3.39 in 4
11/30/01
JG
3.39
0.01668
=
=
EC
( 4,685)2.6
in.
T
[x sinh(x )
2 JG
(1 cosh(L / 2) )
+
(1 cosh(x ))
sinh(L / 2)
so
(1 cosh(L / 2) )
T
' =
1
cosh(
x
)
sinh(
x
)
2 JG
sinh(L / 2)
(1 cosh(L / 2) )
T
" =
sinh(
x
)
cosh(
x
)
2 JG
sinh(L / 2)
40
SV =
11/30/01
( 40" k )(0.81" )
[1 cosh(.01668 x ) + 0.8338 sinh(.01668 x )]
4
2(3.39 in )
SV 1 = 2.141 ksi
(b) Warping Torsion Shear: For the W section, following
the above reasoning,
2
max
b h
= E f ' ' '
16
(1 cosh(L / 2) )
T2
cosh(
x
)
sinh(
x
)
2 JG
sinh(L / 2)
so
2
bf h T
1 cosh(L / 2)
max =
cosh(
x
)
sinh(
x
)
32C
sinh(L / 2)
11/30/01
xx
d 2
= E 2
dx
11/30/01
(7.635" )(17.66" )
(0.01668 / in.)( 40 " k )
( 2.6)
4
2(3.39 in 4 )
[ sinh(.01668 x ) + 0.8338 cosh(.01668 x )]
= 8.625[ sinh(.01668 x ) + 0.8338 cosh(.01668 x )]
xx =
43
11/30/01
h = 17.66" , T = 40" k Pf =
40
= 2.265 kips
17.66
t f bf
(0.81" )(7.635" ) 2
Then, if S fl =
=
= 7.8696 in 3
6
6
xx equiv . =
81.54" k
= 10.361 ksi
3
7.8696 in
Observations:
44
11/30/01
M=
PL ( 20 kips)( 288" )
=
= 720" k
8
8
S x = 127 in 3
xx bending = 720" k / 127 in 3 = 5.67 ksi
In this case, the warping normal stresses are larger than
the bending stresses!
45
11/30/01
5. Other Approaches:
Calculating may be simplified by tabulated solutions for
certain idealized boundary conditions, or a matrix stiffness
equation
T1
a2
a1
W
a3
1 JG a2
=
T
2 a1 a2
a
W
a4
2
2
a1
a2
a1
a2
a2 1
a4 1 '
a2 2
a3 2 '
where
= 2 L sinh(L) 2 cosh(L) + 2
a1 = 2 sinh(L)
a 2 = [cosh(L) 1]
a 3 = L cosh(L) sinh(L)
may be useful.
a 4 = sinh(L) L
T1 JG 1 1 1
=
1 1
T
L
2
2
commonly used in the beam (or frame) equations, and
incorporates the end conditions commonly encountered.
46
11/30/01
( x ) = f1 ( x )1 + f 2 ( x )1 '+ f 3 ( x )2 + f 4 ( x )2 '
can then be used to obtain all derivatives of needed to
calculate the shear flow, where
47
11/30/01
48
11/30/01
M bz
Sz
M
b Fy
S
M bz
Sz
2M f
b Fy
Sy
49
11/30/01
50
11/30/01
Torsion:
Pf = Tu / h = 180" k / h
M f = Pf L / 3 = (180" k )(144" ) / h
= 25,920 in 2 k / h
51
11/30/01
1
=
EC
= 68.2 (p. 1-148 of AISC-LRFD)
GJ
11/30/01
Sy
Revised = 0.35
h = 13.91"
M f = .35( 25,920) / 13.91 = 652" k
4720 652 2
+
= 29 ksi < 32.4 ksi
281 281 / 2.63
o.k. A W14x176 is more than adequate here
53
11/30/01
54
11/30/01
d 2v
d 2w
d 4w
E ( I yy I zz I yz ) 4 I zz N x 2 + I yz N x 2
dx
dx
dx
d 2
+ [ I zz M lz I yz M ly + N x ( e y I zz + ez I yz )] 2
dx
d
( I zzV y I yzVz ) = qz I zz q y I yz
dx
d 4
IE
H d 2
EC 4 GJ + N x + C z M lz + C y M ly +
W 2
dx
A
C
dx
2
d 2v
d 2w
dv
dw
+ ( M ly ez N x ) 2 ( M lz e y N x ) 2 + Vz V y
dx
dx
dx
dx
d
H
C zV y + C yVz + V = t ( x )
C dx
55
11/30/01
H y = z ( y 2 + z 2 )dA
A
H z = y ( y 2 + z 2 )dA
A
H = 2( 0 )( y 2 + z 2 )dA
A
From these,
Cy =
Cz =
I zz H y I yz H z
I yy I zz I yz
2 ez
I yy H z I yz H y
2e y
2
I yy I zz I yz
The equations are three simultaneous equations in three
unknowns. Although the geometrical properties are
constant, the load coefficients M ly , M lz ,V y ,Vz ,W ,V all vary
with x.
The d.e. coefficients are variable.
Often, the d.e.s can be simplified, by taking advantage of
special properties of different classes of problems.
We will want to do this in practice, since the original set of
equations is unwieldy.
56
11/30/01
d
d 2
d 2v
d 4v
EI zz 4 N x 2 + ( M ly N x ez ) 2 + Vz y
= qy
dx
dx
dx
dx
d 4w
d 2w
d 2
d
EI yy 4 N x 2 + ( M lz + N x e y ) 2 V y
= qz
dx
dx
dx
dx
d 4
IE
H d 2
EC 4 GJ + N x + C z M lz + C y M ly +
W 2
dx
A
C
dx
dw
dv
d 2w
d 2v
+ ( M ly ez N x ) 2 ( M lz e y N x ) 2 + Vz
Vy
dx
dx
dx
dx
d
H
C zV y + C yVz + V = t ( x )
C dx
57
11/30/01
d 4
IE
d 2 H d d
EC 4 GJ + N x + C z M lz + C y M ly 2
W
dx
A
dx
C
dx
dx
d 2v
d 2w
+ ( M ly ez N x ) 2 ( M lz e y N x ) 2 = t ( x )
dx
dx
is possible.
Now, assuming that the bar is subjected only to an axial
compressive load through the centroid, the moments due
to transverse loads are zero, the applied torque vanishes,
and if the loading is applied so that the bimoment is zero,
the equations become
d 4v
d 2v
d 2
EI zz 4 + N x 2 + N x ez 2 = 0
dx
dx
dx
d 4w
d 2w
d 2
EI yy 4 + N x 2 N x e y 2 = 0
dx
dx
dx
2
d 4
IE
d 2v
d 2w
d
EC 4 GJ N x 2 + ez N x 2 e y N x 2 = 0
dx
A
dx
dx
dx
w=0
=0
58
11/30/01
v = v0 sin( x / L)
w = w0 sin( x / L)
= 0 sin( x / L)
where v0 , w0 , 0 are the values of v, w, at midspan, will
satisfy the resulting equations provided
2
( EI zz 2 N x )v0 N x ez 0 = 0
L
2
( EI yy 2 N x ) w0 + N x e y 0 = 0
L
2
I
ez N x v0 + e y N x w0 + EC 2 + GJ E N x 0 = 0
L
A
2
0
EI
N
N
e
x
x z
zz L2
v0 0
w0 = 0
0
EI yy 2 N x
N xey
L
IE
0 0
N xey
EC 2 + GJ N x
N x ez
L
A
59
11/30/01
EI zz
2
Nx
L2
2
EI yy 2 N x
L
v 0 0
w0 = 0
0
2
IE
0 0
EC 2 + GJ N x
L
A
2
2
2
I
EI zz 2 N x EI yy 2 N x EC 2 + GJ E N x = 0
A
L
L
L
2
A
N x = EC 2 + GJ = PT (Torsional, or twist buckling)
IE
L
rd
The 3 solution corresponds to a new mode of buckling,
shown below, for a cruciform section.
60
11/30/01
xx cr
2
1
= EC 2 + GJ
Ip
L
61
11/30/01
I p = I yy + I zz = 9.016 in 4
A = 2th t 2 = 2(6" )(.25" ) (.25" ) 2 = 2.938 in 2 ry = rz = 1.239"
t 3h 3 (.25" ) 3 (6" )3
=
= 0.04688 in 6
C =
72
72
( h / 2)t 3 2ht 3 2(6" )(.25" ) 3
J =4
=
=
= 0.0625 in 4
3
3
3
For Euler buckling, both axes have the same I, so
( Euler )
xx cr
2 E
2 (30,000)
454,530
2
=
=
=
(
1
.
239
"
)
( L / r)2
L2
L2
62
( Torsion )
xx cr
11/30/01
1
2
= ( EC 2 + GJ )
Ip
L
1
2
=
[(30,000)(0.04688) 2 + (11,540)(0.0625)]
9.016
L
1,540
= 2 + 80
L
, so
xx cr
cr
1540
454,530
+
80
<
L < 75.2"
L2
L2
63
2
EI zz L2 N x
N x ez
0
2
EI yy 2 N x
L
0
11/30/01
v 0 0
w0 = 0
0
2
IE
0 0
EC 2 + GJ N x
L
A
N x ez
2
2
2
I
2 2
EI yy 2 N x EI zz 2 N x EC 2 + GJ E N x N x ez = 0
L
L
L
A
(P
I
2 2
N x E (PE zz N x )(PT N x ) N x ez = 0
A
( PE zz
Nx =
11/30/01
Aez
PE zz PT
+ PT ) ( PE zz + PT ) 41
IE
Aez
21
I
E
65
11/30/01
(E)
xx cr
(xxFTcr ) =
(T )
xx cr
Aez ( E ) (T )
xx cr xx cr
) ( + ) 41
I
E
Aez
21
IE
(E)
xx cr
(T ) 2
xx cr
where
E
xx cr
2
=E
( L / ry ) 2
(T )
xx cr
E 2
J
= C 2 +
I E L 2(1 + )
2 E
E 2
J
=
+
C
( L / rE ) 2 I E L2 2(1 + )
yields the resulting equivalent r
rE =
1
JL2
C + 2
2 (1 + )
IE
66
11/30/01
2 0.588
E 2
J 30,000
= C 2 +
=
2.764 2 +
I E L 2(1 + )
L
217
2. 6
(T )
xx cr
3,771
+ 31.26
2
L
535,500
535,500
1,289,300 3,771
2
31
.
3
)
(
31
.
3
)
31
.
3
+
2
L2
L2
L2
L
=
1.213
(
(xxFTcr )
67
11/30/01
68
11/30/01
7. References
Bleich, F. (1952), Buckling Strength of Metal Structures,
McGraw Hill Book Co., New York, N.Y.
Boresi, A. P., Schmidt, R. J., and Sidebottom, O. M.,
(1993) Advanced Mechanics of Materials, 5th Edition,
John Wiley and Sons, Ch. 6 and 8.
Chang, F. K., and Johnston, B. G., (1953), "Torsion of
Plate Girders," Transactions, ASCE, 118, 337-396.
Chen, M.-T., and Jolissaint, D. E. Jr., (1983), "Pure and
Warping Torsion Analysis of Rigid Frames," Journal of
Structural Engineering, ASCE, 109, 8, 1999-2003.
Chu, K-H., and Johnson, R. B., (1974), "Torsion in Beams
with Open Sections," Journal of the Structural Division,
ASCE, 100, ST7, 1397-1419.
Chu, K-H., and Longinow, A., (1967), "Torsion in Sections
with Open and Closed Parts," Journal of the Structural
Division, ASCE, 93, ST6, 213-227.
Dean, D. L., (1994), "Torsion of Regular Multicellular
Members," Journal of Structural Engineering, 120, 12,
3675-3678
Driver, R. G., and Kennedy, D. J. L., (1989), "Combined
Flexure and Torsion of I-shaped Steel Beams," Canadian
Journal of Civil Engineering, 16, 124-139.
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73