SOLID MECHANICS

DYNAMICS

TUTORIAL TORSIONAL OSCILLATIONS OF LONG UNIFORM SHAFTS

This SHORT tutorial is specifically for the Engineering Council Exam D225
Dynamics of Mechanical Systems but can be studied by anyone with a suitable
background who wants to study the topic.
On completion of this tutorial you should be able to solve the natural frequency of
torsional vibrations for long shafts due to their own mass.
You are advised to study the tutorials on free vibrations before commencing on this.
INTRODUCTION
Oscillations can occur in long transmission shafts such as the drill shaft of an oil rig. The theory is
similar to that of transverse vibrations and buckling as there can be more than one mode. The
derivation uses the wave equation. The work applies only to shafts with a circular cross section.
NOMENCLATURE

R
L
A
G
J
I

t
n
fn
n

Angle of Twist
Density of material
Radius of shaft
Length of shaft
Cross Section Area
Modulus of Rigidity for the material
Polar Second Moment of Area J = R4/2
Polar Moment of Inertia
d 2
Angular Acceleration = 2
dt
Time
Natural Angular Frequency
Natural frequency
mode

THEORY
Consider a long shaft fixed a one end and free at the other. Suppose a torque T is applied at the free
end.

Consider an element of the shaft length x. The torque at one end is slightly larger than the torque at
dT
the other by T. Suppose the torque decreases uniformly with x as
dx
dT
x
dx
GJ
From the torsion equation we have T =
L
d
d
For a uniform shaft =
T = GJ
L dx
dx
dT
d 2
Differentiate with respect to x and
= GJ 2
dx
dx
dT
d 2
The net torque is now
T =
x = GJ 2 x
dx
dx
The torque on the element must overcome the inertia of the material only.
d 2
d 2
T = I = I 2 = GJ 2 x
dt
dx
For a solid circular length of shaft
MR 2 A x R 2 R 2 x R 2 R x R 4
I=
=
=
=
= x J
2
2
2
2
d 2
d 2
T = x J 2 = GJ 2 x
dt
dx
2
2
d
d 2 d 2
d
2 =G 2
=
dx 2 G dt 2
dt
dx

The net torque on the element is

T =

G
d 2 1 d 2
This is usually expressed as
m/s
= 2 2 where c is the velocity of a wave c =
2

dx
c dt

The standard solution for this equation is:

x
x
= Asin
+ Bcos
sin (t ) A and B are constants.
c
c

Now we put in the boundary conditions for the shaft.

When x = 0, = 0 so putting this in the equation
0 = [Asin (0 ) + Bcos (0 )]sin (t ) = [0 + B]sin (t )
It follows that B = 0 and our solution reduces to
If we differentiate with respect to x
When x = L,

x
= Asin
sin (t )
c

d A
x
=
cos
sin (t )
dx c
c
A
L
c cos c sin (t ) = 0

d
=0
dx

L
It follows that cos
=0
c
1 c

This can only occur if = n where n is an integer 1, 2, 3 ....

2 L

This gives the natural frequency of the system.

1 G

n = n
2L

1 1 G

fn = n
2 2L

The lowest natural frequency occurs at the fundamental mode n = 1.

WORKED EXAMPLE

A long oil rig drill shaft is modelled as a long uniform shaft fixed at the top and free at the
bottom. The shaft is 375 m long and has a material density of 7800 kg/m3 and Modulus of
Rigidity 70 GPa. Determine the fundamental natural frequency.
SOLUTION

1 1 G

fn = n
2 2L

Put n = 1

1 G
1
70 x 10 9
fn =
=
= 2 Hz
4L 4 x 375
7800