Lecture6 Torsion Mundi PDF

Third Edition
LECTURE
SHAFTS: TORSION LOADING AND
DEFORMATION
• A. J. Clark School of Engineering •Department of Civil and Environmental Engineering
6 by
Dr. Ibrahim A. Assakkaf
SPRING 2003
Chapter ENES 220 – Mechanics of Materials
3.1 - 3.5 Department of Civil and Environmental Engineering
University of Maryland, College Park
LECTURE 6. SHAFTS: TORSION LOADING AND DEFORMATION (3.1 – 3.5) Slide No. 1
Torsion Loading
ENES 220 ©Assakkaf
Introduction
– Members subjected to axial loads were
discussed previously.
– The procedure for deriving load-
deformation relationship for axially loaded
members was also illustrated.
– This chapter will present a similar
treatment of members subjected to torsion
by loads that to twist the members about
their longitudinal centroidal axes.
1
Torsion Loading
ENES 220 ©Assakkaf
Torsional Loads on Circular Shafts
• Interested in stresses and strains of

circular shafts subjected to twisting
couples or torques
• Turbine exerts torque T on the shaft
• Shaft transmits the torque to the

generator
• Generator creates an equal and

opposite torque T’
Torsion Loading
ENES 220 ©Assakkaf
Net Torque Due to Internal Stresses
• Net of the internal shearing stresses is an

internal torque, equal and opposite to the
applied torque,
T = ∫ ρ dF = ∫ ρ (τ 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.
2
Torsion Loading
ENES 220 ©Assakkaf
Introduction
Cylindrical members
Fig. 1
Torsion Loading
ENES 220 ©Assakkaf
Introduction
Rectangular members
Fig. 2
3
Torsion Loading
ENES 220 ©Assakkaf
Introduction
– This chapter deals with members in the
form of concentric circular cylinders, solid
and hollow, subjected to torques about
their longitudinal geometric axes.
– Although this may seem like a somewhat a
special case, it is evident that many torque-
carrying engineering members are
cylindrical in shape.
Torsion Loading
ENES 220 ©Assakkaf
Deformation of Circular Shaft

– Consider the following shaft
a b
Fig. 3 c d
l
T
T
l
4
Torsion Loading
ENES 220 ©Assakkaf
Deformation of Circular Shaft

– In reference to the previous figure, the
following observations can be noted:
• The distance l between the outside
circumferential lines does not change
significantly as a result of the application of the
torque. However, the rectangles become
parallelograms whose sides have the same
length as those of the original rectangles.
Torsion Loading
ENES 220 ©Assakkaf
• The circumferential lines do not become

zigzag; that is ; they remain in parallel planes.
• The original straight parallel longitudinal lines,
such as ab and cd, remain parallel to each
other but do not remain parallel to the
longitudinal axis of the member. These lines
become helices*.
*A helix is a path of a point that moves longitudinally

and circumferentially along a surface of a cylinder
at uniform rate
5
Torsion Loading
ENES 220 ©Assakkaf
Deformation of Circular Shaft Subjected

to Torque T
Fig. 4
a
T
T
b
Torsion Loading
ENES 220 ©Assakkaf
Deformation of a Bar of Square Cross

Section Subjected to Torque T
Fig. 5
T
T
b
6
Torsion Loading
ENES 220 ©Assakkaf
Shaft Deformations
• From observation, the angle of twist of

the shaft is proportional to the applied
torque and to the shaft length.
φ ∝T
φ ∝ L
• When subjected to torsion, every cross-
section of a circular shaft remains plane
and undistorted.
• Cross-sections for hollow and solid circular
shafts remain plain and undistorted because a
circular shaft is axisymmetric.
• Cross-sections of noncircular (non-
axisymmetric) shafts are distorted
when subjected to torsion.
Torsion Loading
ENES 220 ©Assakkaf
An Important Property of Circular Shaft

– When a circular shaft is subjected to
torsion, every cross section remains plane
and disturbed
– In other words, while the various cross
sections along the shaft rotate through
different amounts, each cross section
rotates as a solid rigid slab.
7
Torsion Loading
ENES 220 ©Assakkaf
An Important Property of Circular Shaft

– This illustrated in Fig.4b, which shows the
deformation in rubber model subjected to torsion.
– This property applies to circular shafts whether
solid or hollow.
– It does not apply to noncircular cross section.
When a bar of square cross section is subjected to
torsion, its various sections are warped and do not
remain plane (see Fig. 5.b)
Torsion Loading
ENES 220 ©Assakkaf
Stresses in Circular Shaft due to

Torsion
– Consider the following circular shaft that is
subjected to torsion T
Fig. 6
B C A
T
T
8
Torsion Loading
ENES 220 ©Assakkaf

Torsion
– A section perpendicular to the axis of the
shaft can be passed at an arbitrary point C
as shown in Fig. 6.
– The Free-body diagram of the portion BC
of the shaft must include the elementary
shearing forces dF perpendicular to the
radius ρ of the shaft.
Torsion Loading
ENES 220 ©Assakkaf

Torsion
B C
T T
ρ
Fig. 7
dF = τρ dA
9
Torsion Loading
ENES 220 ©Assakkaf

Torsion
– But the conditions of equilibrium for BC
require that the system of these
elementary forces be equivalent to an
internal torque T.
– Denoting ρ the perpendicular distance from
the force dF to axis of the shaft, and
expressing that the sum of moments of
Torsion Loading
ENES 220 ©Assakkaf

Torsion
– of the shearing forces dF about the axis of
the shaft is equal in magnitude to the
torque T, we can write
T = Tr = ∫ ρ dF = ∫ ρ τ dA
area area
(1)
10
ENES 220 ©Assakkaf
Torsion Loading

Torsion B C
T
ρ T
T = Tr = ∫ ρ τ dA
area
(2)
Torsional Shearing Strain

ENES 220 ©Assakkaf
If a plane transverse section before

twisting remains plane after twisting and
a diameter of the the section remains
straight, the distortion of the shaft of
Figure 7 will be as shown in the
following figures (Figs. 8 and 9):
11

ENES 220 ©Assakkaf
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.
• Since the ends of the element remain planar,

the shear strain is equal to angle of twist.
• It follows that
ρφ
Lγ = ρφ or γ =
L
• Shear strain is proportional to twist and radius

cφ ρ
γ max = and γ = γ max
L c

ENES 220 ©Assakkaf
Shearing Strain
c
ρ
φ
L
Fig. 8
12
ENES 220 ©Assakkaf
Shearing Strain γ ρ
φ
a′
a aa′ aa′
tan γ = ≈ sin
L L
because γ is very small
L a′
γ
Fig. 9 a
L

ENES 220 ©Assakkaf
Shearing Strain
– From Fig. 9, the length aá can be
expressed as
– But
aa′ = L tan γ = Lγ (3)
aa′ = ρφ (4)
– Therefore,
ρφ
Lγ = ρφ ⇒ γ = (5)
L
13
ENES 220 ©Assakkaf
Shearing Strain
For radius ρ, the shearing strain for circular
shaft is ρφ
γρ = (6)
L
For radius c, the shearing strain for circular
shaft is
cφ (7)
γc =
L
ENES 220 ©Assakkaf
Shearing Strain
Combining Eqs. 6 and 7, gives
γ ρ L γ cL
φ= = (8)
ρ c
Therefore
γc
γρ = ρ (9)
c
14
ENES 220 ©Assakkaf
Torsional Shearing Stress
The Elastic Torsion Formula

If Hooke’s law applies, the shearing stress
τ is related to the shearing strain γ by the
equation
τ = Gγ (10)
where G = modulus of rigidity. Combining
Eqs. 9 and 10, results in
τρ τc τc (11)
= ρ ⇒τρ = ρ
G Gc c
ENES 220 ©Assakkaf
The Elastic Torsion Formula

When Eq. 11 is substituted into Eq. 2, the
results will be as follows:
T = Tr =
area
∫ ρ τ dA
τ  τ 
c
= ∫ ρ  c ρ dA = ∫ ρ  c ρ dA
0 c  area 
c 
τc
= ∫ρ (12)
2
dA
c area
15
ENES 220 ©Assakkaf
Polar Moment of Inertia

The integral of equation 12 is called the
polar moment of inertia (polar second
moment of area).
It is given the symbol J. For a solid circular
shaft, the polar moment of inertia is given
by c 4
πc
J = ∫ ρ 2 dA = ∫ ρ 2 (2πρ dρ ) = (13)
0
2
ENES 220 ©Assakkaf

– For a circular annulus as shown, the polar
moment of inertia is given by
c
c
J = ∫ ρ dA = ∫ ρ 2 (2πρ dρ )
2
b b
• (14)
πc πb π
(r )
4 4
= − = o
4
− ri 4
2 2 2
r0 = outer radius and ri = inner radius
16
ENES 220 ©Assakkaf
Shearing Stress in Terms of Torque and

– In terms of the polar second moment J, Eq.
12 can be written as
τc τcJ (15)
T = Tr = ∫ρ dA =
2
c area
c
– Solving for shearing stress,
Tc
τc = (16)
J
ENES 220 ©Assakkaf
Shearing Stress in Terms of Torque and

Tc
τ max = (17a)
J
Tρ (18a)
τρ =
J
τ= shearing stress, T = applied torque
ρ = radius, and J = polar moment on inertia
17
ENES 220 ©Assakkaf
Distribution of Shearing Stress within

the Circular Cross Section
τ τmax τ τmax
τc =
Tc τmin
J
c ro
ρ ri ρ
Fig. 10
Stresses in Elastic Range

ENES 220 ©Assakkaf
• Multiplying the previous equation by the

shear modulus,
ρ
Gγ = Gγ max
c
From Hooke’s Law, τ = Gγ , so
ρ
τ= τ max
c
The shearing stress varies linearly with the
J = 12 π c 4
radial 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,
τ τ
T = ∫ ρτ dA = max ∫ ρ 2 dA = max J
c c
• The results are known as the elastic torsion
J= 2
(
1 π c4
2 − c14 ) formulas,
Tc Tρ
τ max = and τ =
J J
18

ENES 220 ©Assakkaf
Example 1
– A hollow cylindrical steel shaft is 1.5 m
long and has inner and outer diameters
equal to 40 mm and 60 mm. (a) What is
the largest torque which may be applied to
the shaft if the shearing stress is not to
exceed 120 MPa? (b) What is the
corresponding minimum value of the
shearing stress in the shaft?

ENES 220 ©Assakkaf
Example 1 (cont’d)
60 mm
40 mm
T
1.2 m
Fig. 11
19

ENES 220 ©Assakkaf
– (a) Largest Permissible Torque
Using Eq.17a
Tc τ J (19)
τ max = ⇒ Tmax = max
J c
Using Eq.14 for claculating J ,
J=
π
2
(r o
4
)
− ri 4 =
π
2
[(0.03) − (0.02) ]
4 4
= 1.021× 10 −6 m 4
ENES 220 ©Assakkaf
Substituting for J and τmax into Eq. 19, we have
T=
(
Jτ max 1.021× 10 −6 120 × 106
=
)(
= 4.05 kN ⋅ m
)
ro 0.03
(b) Minimum Shearing Stress
Tri 4.05 ×103 (0.02)

τρ = = = 79.3 MPa
J 1.021×10 −6
20
Torsional Displacements
ENES 220 ©Assakkaf
Angle of Twist in the Elastic Range

– Often, the amount of twist in a shaft is of
importance.
– Therefore, determination of angle of twist is
a common problem for the machine
designer.
– The fundamental equations that govern the
amount of twist were discussed previously
ENES 220 ©Assakkaf

– The basic equations that govern angle of
twist are
– Recall Eqs. 6,
ρφ dθ (20)
γρ = or γρ = ρ
L dL
21
ENES 220 ©Assakkaf
Tc Tρ
τc = or τ ρ = (21)
J J
and
τ
G= (22)
γ
ENES 220 ©Assakkaf

– Recall Eq. 17a and 7
Tc cθ
τ max = γ max =
J L
– Combining these two equations, gives
γ max L τ max L
 Tc  1 L
θ= = = 
c G c  J G c
TL
=
GJ
22
ENES 220 ©Assakkaf

The angle of twist for a circular uniform
shaft subjected to external torque T is
given by
TL
θ= (22)
GJ
ENES 220 ©Assakkaf

– Multiple Torques/Sizes
• The expression for the angle of twist of the
previous equation may be used only if the shaft
is homogeneous (constant G) and has a
uniform cross sectional area A, and is loaded at
its ends.
• If the shaft is loaded at other points, or if it
consists of several portions of various cross
sections, and materials, then
23
ENES 220 ©Assakkaf

– Multiple Torques/Sizes
• It needs to be divided into components which
satisfy individually the required conditions for
application of the formula.
• Denoting respectively by Ti, Li, Ji, and Gi, the
internal torque, length, polar moment of area,
and modulus of rigidity corresponding to
component i,then
n n
Ti Li
θ = ∑θ i = ∑ (23)
i =1 i =1 Gi J i
ENES 220 ©Assakkaf
n n
Multiple Torques/Sizes Ti Li
θ = ∑θ i = ∑
i =1 i =1 Gi J i
E1 E2 E3
L1 L2 L3
Fig. 12 Circular Shafts
24
ENES 220 ©Assakkaf

The angle of twist of various parts of a
shaft of uniform member can be given by
n n
Ti Li
θ = ∑θ i = ∑ (24)
i =1 i =1 Gi J i
Angle of Twist in Elastic Range

ENES 220 ©Assakkaf
• Recall that the angle of twist and maximum

shearing strain are related,
cφ
γ max =
L
• In the elastic range, the shearing strain and shear
are related by Hooke’s Law,
τ max Tc
γ max = =
G JG
• Equating the expressions for shearing strain and
solving for the angle of twist,
TL
φ=
JG
• If the torsional loading or shaft cross-section
changes along the length, the angle of rotation is
found as the sum of segment rotations
Ti Li
φ =∑
i J i Gi
25
ENES 220 ©Assakkaf

If the properties (T, G, or J) of the shaft are
functions of the length of the shaft, then
L
T
θ =∫ dx (25)
0
GJ
ENES 220 ©Assakkaf

– Varying Properties
L
T
θ =∫ dx
L 0
GJ
x
Fig. 13
26
ENES 220 ©Assakkaf
Example 2
– What torque should be applied to the end
of the shaft of Example 1 to produce a twist
of 20? Use the value G = 80 GPa for the
modulus of rigidity of steel.
ENES 220 ©Assakkaf
60 mm
40 mm
T
1.2 m
Fig. 14
27
ENES 220 ©Assakkaf
Solving Eq. 22 for T, we get
JG
T= θ (26)
L
Substituting the given values
G = 80 × 109 Pa L = 1.5 m
 2π rad 
θ = 20  0 
= 34.9 ×10 −3 rad
 360 
ENES 220 ©Assakkaf
From Example 1, J was computed to give a
value of 1.021×10-6 m4.
Therefore,using Eq. 26
T=
JG
θ=
(
1.021×10 −6 80 ×109 )(
34.9 ×10 −3
)( )
L 1.5
= 1.9 ×103 N ⋅ m = 1.9 kN ⋅ m
28
ENES 220 ©Assakkaf
Example 3
What angle of twist will create a shearing
stress of 70 MPa on the inner surface of
the hollow steel shaft of Examples 1 and
2? T
60 mm
40 mm
T 1.2 m
Fig. 14
ENES 220 ©Assakkaf
Tρ Jτ ρ
τρ = ⇒T =
J ρ
(1.021×10 -6 )(70 × 106 )
= = 3.5735 kN ⋅ m
0.02
TL 3.5735 × 103 (1.5)
φ= = = 0.65625
GJ 80 × 109 (1.021× 10 −6 )
To obtain θ in degrees, we write
360
θ = 0.65625 = 3.760
2π
29

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Third Edition

Torsional Loads on Circular Shafts

• Interested in stresses and strains of

• Turbine exerts torque T on the shaft

• Shaft transmits the torque to the

• Generator creates an equal and

Net Torque Due to Internal Stresses

• Net of the internal shearing stresses is an

• Although the net torque due to the shearing

 Deformation of Circular Shaft

 Deformation of Circular Shaft

• The circumferential lines do not become

*A helix is a path of a point that moves longitudinally

 Deformation of Circular Shaft Subjected

 Deformation of a Bar of Square Cross

• From observation, the angle of twist of

 An Important Property of Circular Shaft

 An Important Property of Circular Shaft

 Stresses in Circular Shaft due to

 Stresses in Circular Shaft due to

 Stresses in Circular Shaft due to

 Stresses in Circular Shaft due to

 Stresses in Circular Shaft due to

 Stresses in Circular Shaft due to

Torsional Shearing Strain

 If a plane transverse section before

Torsional Shearing Strain

• Consider an interior section of the shaft. As a

• Since the ends of the element remain planar,

• Shear strain is proportional to twist and radius

Torsional Shearing Strain

Torsional Shearing Strain

Torsional Shearing Strain

Torsional Shearing Strain

Torsional Shearing Strain

Torsional Shearing Stress

 The Elastic Torsion Formula

Torsional Shearing Stress

 The Elastic Torsion Formula

Torsional Shearing Stress

 Polar Moment of Inertia

Torsional Shearing Stress

 Polar Moment of Inertia

Torsional Shearing Stress

 Shearing Stress in Terms of Torque and

Torsional Shearing Stress

 Shearing Stress in Terms of Torque and

Torsional Shearing Stress

 Distribution of Shearing Stress within

Stresses in Elastic Range

• Multiplying the previous equation by the

Torsional Shearing Stress

Torsional Shearing Stress

Torsional Shearing Stress

Torsional Shearing Stress

Tri 4.05 ×103 (0.02)

 Angle of Twist in the Elastic Range

 Angle of Twist in the Elastic Range

 Angle of Twist in the Elastic Range

 Angle of Twist in the Elastic Range

 Angle of Twist in the Elastic Range

 Angle of Twist in the Elastic Range

 Angle of Twist in the Elastic Range

Deformation of Circular Shaft

Deformation of Circular Shaft

Deformation of Circular Shaft Subjected

Deformation of a Bar of Square Cross

An Important Property of Circular Shaft

An Important Property of Circular Shaft

Stresses in Circular Shaft due to

Stresses in Circular Shaft due to

Stresses in Circular Shaft due to

Stresses in Circular Shaft due to

Stresses in Circular Shaft due to

Stresses in Circular Shaft due to

If a plane transverse section before

The Elastic Torsion Formula

The Elastic Torsion Formula

Polar Moment of Inertia

Polar Moment of Inertia

Shearing Stress in Terms of Torque and

Shearing Stress in Terms of Torque and

Distribution of Shearing Stress within

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range

Angle of Twist in the Elastic Range