Third Edition

LECTURE
SHAFTS: STATICALLY
INDETERMINATE SHAFTS
• A. J. Clark School of Engineering •Department of Civil and Environmental Engineering

7 by
Dr. Ibrahim A. Assakkaf
SPRING 2003
Chapter ENES 220 – Mechanics of Materials
3.6 Department of Civil and Environmental Engineering
University of Maryland, College Park

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 1

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Up to this point, the stresses in a shaft

has been limited to shearing stresses.
„ This due to the fact that the selection of
the element under study was oriented in
such a way that its faces were either
perpendicular or parallel to the axis of
the shaft (see Fig. 15)

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 2

Stresses in Oblique Planes

ENES 220 ©Assakkaf

Fig. 15

τ
τ

Axis of shaft

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 3

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ From our discussion of the torsional

loading on a shaft, we know this loading
produces shearing stresses τ in the
faces perpendicular to the axis of the
shaft.
„ But due to equilibrium requirement,
there are equal stresses on the faces
formed by the two planes containing the
axis of the shaft.

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 LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 4

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

– It is necessary to make sure that whether
the transverse plane is a plane of
maximum shearing stress and whether
there are other significant stresses induced
by torsion.
– Consider the following shaft (Fig. 16),
which is subjected to a torque T.

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 5

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

Fig. 16
y
t y A
(c)
n x
τn t dA
y
τ yx
τx y dA cos α

α σn dA (a)
α

τ xy τ xy
α
x x
τyx dA sin α τ yx (b)

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 6

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

– The stresses at point A in the shaft of Fig.
16a is analyzed.
– A differential element taken from the shaft
at point A and the stresses acting on
transverse and longitudinal planes are
shown in Fig. 16b.
– The shearing stress τxy can be determined
from Tc
τ xy =
J

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 7

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

– Let assume that differential element of Fig.
16b has length dx, height dy, and thickness
dz.
– If a shearing force Vx = τxy dx dy is applied
to the top surface of the element, the
equation of equilibrium ∑Fx = 0 then will
require application of an opposite shear
force V’x at the bottom of the element.

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 8

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

Vx = τ yx dx dz y
Vx
V y = τ xy dy dz
Vy
Vy α
∆z
x
z Vx
∆y
Fig. 17
∆x

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 9

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

– If ∑Fx = 0 then requires application of an
opposite shear force V’x at the bottom of
the element, then it will the element
subjected to a clockwise couple.
– This clockwise couple must be balanced by
counterclockwise couple composed of Vx
applied to the vertical faces of the element.

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 10

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

– The application of the equilibrium moment
equation ∑Mz = 0 gives

τ yx (dx dz ) dy = τ xy (dy dz ) dx
– From which the important result

τ yx = τ xy (27)

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 11

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

– If the equations of equilibrium are applied
to the free-body diagram of Fig. 16c (which
is a wedge-shaped part of the differential
element of Fig. 16b with dA being the area
of the inclined face), the following results
are obtained
(28)
+ ∑F =0 t

τ nt dA − τ xy (dA cos α ) cos α + τ yx (dA sin α )sin α = 0

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 LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 12

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

Fig. 16
y
t y A
(c)
n x
τn t dA
y
τ yx
τx y dA cos α

α σn dA (a)
α

τ xy τ xy
α
x x
τyx dA sin α τ yx (b)

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 13

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

t y
+ ∑F =0 n
t
τn t dA
τ nt dA − τ xy (dA cos α ) cos α + τ yx (dA sin α )sin α = 0
τx y dA cos α

From which α σn dA
α
τ nt = τ xy (cos 2 α − sin 2 α ) = τ xy cos 2α (29)

τyx dA sin α
Fig. 16c

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 LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 14

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Other Stresses Induced By Torsion

– Likewise, if we take summation of forces in
the n direction (see Fig. 16c), then the
results would be

+ ∑F n =0
σ n dA − τ xy (dA cos α )sin α − τ yx (dA sin α ) cos α = 0 (30)

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 15

ENES 220 ©Assakkaf

Stresses in Oblique Planes

„ Other Stresses Induced By Torsion

t y
+ ∑F =0 n
t τn t dA
σ n dA − τ xy (dA cos α )sin α − τ yx (dA sin α ) cos α = 0
τx y dA cos α

From which α σn dA
α
σ n = 2τ xy sin α cos α = τ xy sin 2α (31)

τyx dA sin α
Fig. 16c

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 16

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Maximum Normal Stress due to Torsion

on Circular Shaft
The maximum compressive normal stress
σmax can be computed from
Tmax c
σ max = τ max = (32)
J

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 17

Stresses in Oblique Planes

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„ Example 4
A cylindrical tube is fabricated by butt-welding a 6
mm-thick steel plate along a spiral seam as
shown. If the maximum compressive stress in the
tube must be limited to 80 MPa, determine (a) the
maximum torque T that can be applied and (b) the
factor of safety with respect to the failure by
fracture for the weld, when a torque of 12 kN.m is
applied, if the ultimate strengths of the weld metal
are 205 MPa in shear and 345 MPa in tension.

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 18

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Example 4 (cont’d)

T
Weld
T 300
60

150 mm
30
Fig. 18

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 19

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Example 4 (cont’d)
(a) The polar moment of area for the cylindrical
tube can be determined from Eq.14 as
τ  150   150 − 6  
4 4
π
J=
2
(r o
4
)
− ri 4 =   −
2  2   2
  = 14.096 × 10 mm
6 4

 

The maximum torque can be computed from

Eq. 32 as
Tmax c σ J 80 × 106 (14.096 × 10 −6 )
σ max = ⇒ Tmax = max =
J c 75 ×10 −3
= 15.036 × 10 N ⋅ m = 15.036 kN ⋅ m
3

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 20

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Example 4 (cont’d)
(b)The normal stress σn and shear stress τnt on
the weld surface are given by Eqs. 30 and 29
as

Tc 12 ×103 (75 × 10 −3 )
σ n = τ xy sin 2α = sin 2α = sin 2(60 0 ) = 55.29 MPa (T)
J 14.096 × 10 −6
Tc 12 × 103 (75 ×10 −3 )
τ nt = τ xy cos 2α = cos 2α = cos 2(60 0 ) = −31.92 MPa
J 14.096 ×10 −6

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 21

Stresses in Oblique Planes

ENES 220 ©Assakkaf

„ Example 4 (cont’d)
The factors of safety with respect to failure
by fracture for the weld are

σ ult 345
FSσ = = = 6.24
σ n 55.29
τ 205
FSτ = ult = = 6.42
τ tn 31.92

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 22

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ Up to this point, all problems discussed

are statically determinate, that is, only
the equations of equilibrium were
required to determine the torque T at
any section of the shaft.
„ It is often for torsionally loaded
members to be statically indeterminate
in real engineering applications.

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 23

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ When this occurs, distortion equations

involving angle of twist θ must written
until the total number of equations
agrees with the number of unknowns to
be determined.
„ A simplified angle of twist diagram will
often be of great assistance in obtaining
the correct equations.

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 24

Statically Indeterminate Shafts

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„ Example 5
A steel shaft and aluminum tube are
connected to a fixed support and to a rigid
disk as shown in the figure. Knowing that
the initial stresses are zero, determine the
minimum torque T0 that may be applied to
the disk if the allowable stresses are 120
MPa in the steel shaft and 70 MPa in the
aluminum tube. Use G = 80 GPa for steel
and G = 27 GPa for aluminum.

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 25

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ Example 5 (cont’d)
Aluminum
8 mm
Rigid disk

76 mm 50 mm Steel

500 mm

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 LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 26

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ Example 5 (cont’d)
– Free-body diagram for the rigid disk

Tal
From statics,
T0
st T T0 = Tal + Tst (39)
– Deformation

Tal Lal Tst Lst

θ al = θ st ⇒ = (40)
J alGal J st Gst

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 27

Statically Indeterminate Shafts

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„ Example 5 (cont’d)
– Properties of the aluminum tube

Gal = 27 GPa
38 mm ri = 30 mm = 0.030 m
ro = 38 mm = 0.038 m
30 mm

76 mm
J al =
π
2
[(0.038) − (0.030) ] =
4 4

= 2.003 × 10 −6 m 4

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 LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 28

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ Example 5 (cont’d)
– Properties of the steel tube

Gst = 80 GPa
25 mm c = 25 mm = 0.025 m

J st =
π
2
[(0.025) ] =
4

50 mm = 0.6136 × 10 −6 m 4

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 29

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ Example 5 (cont’d)
Substituting these input values in Eq. 40,
gives

Tal Lal Tst Lst

=
J alGal J st Gst
Tal (0.5) Tst (0.5)
=
2.003 × 10 (27) 0.6136 ×10 −6 (80)
−6

Tst = 0.908Tal (41)

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 30

Statically Indeterminate Shafts

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„ Example 5 (cont’d)
Let’s assume that the requirement τst is
less or to equal to 120 MPa, therefore
τ st J st 120 × 106 (0.6136 × 10 −6 )
Tst = = = 2945 N ⋅ m
cst 0.025
From Eq. 39, we have
Tst = 0.908Tal
2945 = 0.908Tal ⇒ Tal = 3244 N ⋅ m

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 31

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ Example 5 (cont’d)
Let’s check the maximum stress τal in
aluminum tube corresponding to Tal = 3244
N·m: T c 3244(0.038)
τ al = al al
= = 61.5 MPa < 70 MPa OK
jal 2.003 × 10 −6
Hence, the max permissible torque T0 is
computed from Eq. 39 as

T0 = Tal + Tst = 3244 + 2945 = 6189 N ⋅ m

= 6.2 kN ⋅ m

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LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 32

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ Example 6
A circular shaft AB consists
of a 10-in-long, 7/8 in-
diameter steel cylinder, in
which a 5-in.-long, 5/8-in.-
diameter cavity has been
drilled from end B. The
shaft is attached to fixed
supports at both ends, and a
90 lb – ft torque is applied at
its mid-section. Determine
the torque exerted on the
shaft by each of the
supports.

LECTURE 7. SHAFTS: STATICALLY INDETERMINATE SHAFTS (3.6) Slide No. 33

Statically Indeterminate Shafts

ENES 220 ©Assakkaf

„ Example 6
• Given the shaft dimensions and the applied
torque, we would like to find the torque reactions
at A and B.
• From a free-body analysis of the shaft,
TA + TB = 90 lb ⋅ ft

which is not sufficient to find the end torques.

The problem is statically indeterminate.
• Divide the shaft into two components which
must have compatible deformations,
TA L1 TB L2 LJ
φ = φ1 + φ2 = − =0 TB = 1 2 TA
J1G J 2G L2 J1

• Substitute into the original equilibrium equation,

LJ
TA + 1 2 TA = 90 lb ⋅ ft
L2 J1

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