2001, W. E.

Haisler

Chapter 12: Torsion of Circular Bars

Torsion of Circular Bars (Chapter 12)

Consider a long, slender bar of length L with a circular
cross-section that is subjected to torsion by applied
concentrated and distributed torques:
y
x

Mt
z
L

The x-axis is placed at the centroid of the cross-section. We

consider two circular cross-sections:
1) Solid
2) Tube

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

Do
Di

z
D

The cross-section has an important geometrically property;

the polar moment of inertia, J:
J r 2dA r 2rdrd ( y 2 z 2 )dydz I zz I yy
A

4 D4 )

(
D
0
i
For a solid bar with diameter D, J D . Also, J
32
32
Before developing a theory for how a bar twists and
deforms under a torque loading, it is very instructive to
experimentally observe the deformation pattern of a twisted
bar as shown in the following photograph. The undeformed
4

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

bar has straight lines that run the length of bar as well as
circular lines around the circumference.

Circular bar twisted by end torques

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

Note that these lines form a pattern of squares on the surface

of the bar. After twisting (lower photograph), the straight lines
spiral around the bar and the circular lines remain circles. For a
small area on the curved surface (say one of the squares), the
spiraling lines would be straight if the curved surface were laid
out flat. Each square is now a parallelogram, which suggest that
a shear (shear stress) has been applied to the square.
Have to Apply 4 Equations: Equilibrium, Constitutive,
Kinematics and B.C.s
Kinematics
So to begin the development of the theory, we scribe a line on
the surface of the bar that runs the length of the bar from a to b.
For convenience, we assume the left end of the bar is fixed from
rotation. As the bar is twisted by a torque of Mt on the right, the
line 0-a will rotate to position 0-a. Experimentally, it is

observed for a circular cross-section that line 0-a remains a

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

straight line as it is rotated to position 0-a. Looking at the

end cross-section where Mt is applied, we see the line b-a
has rotated CCW to b-a by an angle .

Mt

line 0a moves
to 0a
a

y
0

Mt

uy

a
z

uz

y
a

a
b

y
a

r
x

Cartesian

Polar (r- in y-z plane)

represents the angle of twist for the cross-section located

at x (assuming the cross-section at x=0 was fixed).

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

Based on the physical observation discussed earlier, we

postulate the following displacements (in Cartesian
coords.).
Since we saw no motion in the x direction, then u x 0 .
For small angular rotations, we can relate the motion in the
y-z plane, i.e., u y and u z , through geometry to the angle of
z
twist and write u y z and u z y .
uy
These are obtained from the approximations:
a
uz
u y
tan
and tan
. The negative in
uz
y
a
z
u y is because u y is negative (down) for positive .

These assumptions are reasonable if is not too

large. We note that the angle of twist is a function
of x so that ( x) .

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

In polar coordinates, we assume ur 0

y
a
and u x 0 [no displacement in radial
u
and axial (x) direction]. These last two

a r
assumptions are equivalent to saying
z
that the diameter of the bar does not
x
increase during twisting and the bar
does not change length, which is
consistent with experimental
observation. Finally, from geometry the
circumferential displacement of a point is proportional to
the angle of twist and it's radial position, r: u r .
Polar coordinates should be much easier to work with.
In order to determine the strain for these displacements,
consider the experiment referred to above. If one rolls out

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

the curved surface of the bar into a flat surface, we have the
following (for a length of the bar between x and x+x):
x

x x

a
z

In the x-y plane, the angle represents the change in right

angle for one of the original squares and will define the
strain x (or engineering shear strain, x ).

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

We can write the following for the engineering shear strain:

1

x tan

u x
u

x

x x

x x

But the displacement is given by : u r so that

x r
x

and

1
2 x

1 r
2 x

Note that the above assumes that the bar is prismatic (r is a

constant).

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

10

If we want to do this more precisely, we can use the tensor

strain definitions in polar coordinates to obtain (recall that
ur 0 , u x 0 , u r ):

rr

ur

0,
r

1
2

u x

0,
x

ur 1 u

0
r r

u 1 u x
1

2r ,
x r
x

x 2 x r
x

xx

1 ur u u
r

0,
r
r
r
1 ur u x
rx

2 x
r
1
2

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

Constitutive Relation
For an elastic, isotropic material, we can write the stressstrain relation as

x
E
E
x
x
E x G x
(1 )
(1 ) 2
2(1 )
where

E
G = shear modulus = 2(1 )

11

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

Equilibrium (Cons. Of Ang. Momentum) dA=r drd

The torque Mt(x) on the cross-section at z

location (x) must be in equilibrium with
the internal moment produced by the
z
shear stress x :

r
x

12

Mt

M t r x dA
A
cross-section at x
Now substitute the constitutive and
kinematic relations into the equilibrium equation:

d
d 2
M t r x dA r (G x )dA rG (r )dA G r dA
A
A
A
A dx
dx
Both G and the angle of twist are a constant for a given
cross-section located at x so that we have:

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

13

d
2
Mt G
r
dA. The integral is a geometrical property

dx A
of the cross-section A called J, the polar moment of inertia,
2
J

r
so that
A dA and thus we have

d
M t JG
dx
The above equilibrium equation can be integrated between
any two points on the bar, say x0 and xL to obtain:

( xL ) ( x0 )

xL
x0

Mt
dx
JG

Note that M t M t ( x) . You must know ( x0 ) [as a

boundary condition] to determine ( xL ) !!!

2001, W. E. Haisler

14

Chapter 12: Torsion of Circular Bars

Example: Now consider a circular elastic bar with diameter

D, length L, shear modulus G, and with applied torques M t
at each end. The left end is held fixed from rotation.
Determine the rotation at the free end (x=L).
y

elastic bar, diameter = D

=0 at left end (fixed)

Mt

x
Mt

Mt
internal torque
diagram

x
x=L

d
We start with equilibrium: M t JG . Integrate the ODE
dx
from x=0 to x=L to obtain:

2001, W. E. Haisler

15

Chapter 12: Torsion of Circular Bars

( L) (0)

L Mt

dx .

JG
For this problem, the torque M t is a constant along the
length of the bar (and equal to the applied torque at each
end). For a prismatic bar, J is also a constant. Hence we
can write:
0 Mt L
Mt L
( L) (0)
dx (0)

JG 0
JG
0

Since the boundary condition is that the bar is fixed at

x=0, (0) 0 . Letting L ( L)
Mt L
L
JG
L is angle of twist for a bar of length L with a constant
torque, M t , with one end fixed.

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

16

To determine stress, recall that the constitutive equation is

x G x
and the stress-strain equation is

x r
x
Hence the shear stress is
d
x Gr
dx
But from the equilibrium equation we have
d
d M t
M t JG

or
dx
dx JG
Hence the shear stress becomes:
Mtr
x
J

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

17

Summary of important equations:

J r 2dA
A

d M t

dx JG

( xL ) ( x0 )

xL

Mt
dx
JG

General equations when M t M t ( x )

Note that ( xL ) above is a relative twist; i.e., the angle of

twist of one end of a bar relative to its other end.
Mt L
L
Angle of twist for constant M t at ends
JG
Mtr
x
J
x0

2001, W. E. Haisler

18

Chapter 12: Torsion of Circular Bars

Example: A circular bar with diameter of 0.5 in, length of

50 in, and made of steel (G=11.5x106 psi) carries a torque of
30 ft-lb.
D=0.5 in

30 ft-lb

steel

30 ft-lb

50 in

Determine the angle of twist of end relative to the other and

the maximum shear stress.
4
4

(0.5
in
)
J r 2dA

0.00614in 4
A
32
32
Mt L
(30 x12 in lb)(50in)
L

0.255
rad

14.6deg
JG (.00614in 4 )(11.5 x106 psi )
M t r (30 x12in lb)(0.25in)
x

14,658 psi
4
J
0.00614in

2001, W. E. Haisler

19

Chapter 12: Torsion of Circular Bars

Distributed Torque.

mt ( x)

Consider the torsion of a

circular bar with distributed
M t ( x)
mt ( x)
torque of mt ( x) applied
along it's length [units of
dx
torque/length]. For
moment equilibrium, we
x
have:
M t ( x dx) M t ( x) mt dx 0
Divide by dx and take the limit to obtain

Mt
x

mt 0

M t ( x dx )
x dx

2001, W. E. Haisler

20

Chapter 12: Torsion of Circular Bars

The above can be integrated to obtain M t ( x) . We can then

substitute this M t ( x) into the differential equation for and
integrate from x1 to x2 to obtain ( x2 ) :
x2

( x2 ) ( x1) ( M t ( x) / JG )dx
x1

You must know ( x1) as a boundary condition.

d

Alternately, we could substitute M t JG

into
dx
Mt

d
mt 0 to obtain
( JG ) mt 0 . This last
x
x
dx
equation can be integrated twice to obtain . You obtain the
same result either way.

2001, W. E. Haisler

21

Chapter 12: Torsion of Circular Bars

Torsion of Circular Bars Example Solutions

Example 1. The aluminum circular bar below has a
constant diameter of 0.5 in. and a shear modulus of 4
million psi. Determine the 1) angle of twist at points B and
C and 2) max shear stress in section AB and BC.
75 in-lb

40 in-lb
A

x
20 in

C
35 in

a) First, determine the internal torque (M t) as a function of

x.

2001, W. E. Haisler

22

Chapter 12: Torsion of Circular Bars

Since torque is applied only at point B and C, the internal

torque will be constant between A and B and between B and
C. Assume the internal torque in section A-B is M t1 and in
B-C is M t 2 (note: assume Mt is positive).
M

t1

t1

t2

t2

Make cuts between A and B and between B and C, and draw

free-body diagrams as below:
75 in-lb

40 in-lb
A

Mt

B
free-body 1

Mt

C
free-body 2

2001, W. E. Haisler

23

Chapter 12: Torsion of Circular Bars

Starting with the free-body 2, we write moment (torque)

equilibrium equations:
free body # 2 : M 0 75 M t 2 M t 2 75 in-lb
free body #1: M 0 M t 2 40 M t1 M t1 M t 2 40
75 40 35 in-lb

This structure is STATICALLY DETERMINANT since we

could find all internal torques by equilibrium alone. The
internal torque diagram can now be drawn:
Mt

75 in-lb
35
x

20

55 in.

2001, W. E. Haisler

24

Chapter 12: Torsion of Circular Bars

b) Determine the twist of each section.

35

35

1
A

75

75

2
B

(0.5)
J1 J 2 D
0.00613in 4
32
32
M t1L1
35(20)
0.0285rad
twist of bar 1: 1 J G
1 1
0.00613(4 x106 )
4

M t 2 L2
75(35)
0.107 rad
twist of bar 2: 2 J G
6
2 2
0.00613(4 x10 )

A = rotation at A = 0 (boundary condition)

B = rotation at A + twist of bar 1 = A + 1 = 0 + 0.0285
= 0.0285 rad = 1.63 deg

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

25

C = rotation at B + twist of bar 2 = B + 2

= 0.0285 + 0.107
= 0.136 rad = 7.77 deg
An alternate method for part b is to integrate the torque
diagrams:
B

B Mt

20"

20
35
A
dx 0
dx (0.00143) x 0
6
A JG
0" 0.00613(4 x10 )
0.0285rad 1.64deg
C Mt
55"
75
B
dx 0.0285rad
dx
6
B JG
20" 0.00613(4 x10 )
55

0.0285 0.0031x 20 0.0285 0.107

0.136rad 7.77 deg

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

c) Determine the maximum stress in each section

M t1r 1 35in lb(0.5 / 2in)
x 1

1, 427 psi
4
J1
0.00613in
M t 2 r 2 75(0.5 / 2)
x 2

3,059 psi
J2
0.00613

26

2001, W. E. Haisler

27

Chapter 12: Torsion of Circular Bars

A reminder of what the torsion equation tells you.

For a bar with a torque M t ( x) ,

d M t

.
dx JG

Integrate from A to B location:

A d A JGt dx .

Thus, we obtain the expression: B A

M
B

. If the integrand is constant, then B A

M t L

JG

A JGt dx or

J, G

Mt

Mt
dx
JG
M t L

JG

Mt
B

. This last expression says that the term

AB

is the difference in the angle of twist from point A to point B (or it is the twist of
AB

M t L
.
JG AB
---------------------------------------------------------------------------------------------------------------------------Consider the following problem has constant
internal torques in each segment as shown (
M t1
Mt2
Mt3
M t1 in section AB, etc):
A
B
C
D
B relative to A). If point A is fixed, we have B

M t L
A B / A ( B / A is relative twist of bar AB; end B relative to A)

JG AB
M t L
B B / C ( B / C is relative twist of bar BC)
Angle of twist at C: C B

JG BC
M t L
C D / C ( D / C is relative twist of bar CD)
Angle of twist at D: D C

JG CD
Angle of twist at B: B A

What is the angle of twist at point D?

M
M L
M t L
tL
D C t
B

JG
JG CD

JG
BC

Mt L

Mt L

M t L
A

JG
JG CD
JG AB

CD
BC
A B / A C / B D / C
From Boundary Conditions: A D 0 . Thus, for this problem: B / A C / B D / C 0 (i.e., twist
of D relative to A is zero since A and D are fixed).
---------------------------------------------------------------------------------------------------------------------------Very similar to axial bars in tension.
PL
1 elongation of bar 1 1 1 ,
P1
P2
A1E1
A
B
C
PL
2 elongation of bar 2 2 2 .
A2 E2
Displacement of point B = displacement of point A + 1

2001, W. E. Haisler

Chapter 12: Torsion of Circular Bars

Displacement of point C = displacement of point B + 2 = displacement of point A + 1 + 2

From Boundary Conditions, displacement of point A is zero.

28