CLE – 507

Theory of elasticity & plasticity

Torsion

Dr. A. Arun Kumar

SMBS, Structural Engineering Division,
VIT Chennai
Torsion : Definition and its application

 The elementary theory of torsion of prismatic bars are restricted

to circular cross-section only.
 This simple theory was first given by Coulomb in 1784 and the
equation is

𝑻 𝝉
= = G𝜽
𝑱 𝒓
Where T is applied torque
J is the polar moment of inertia
𝝉 is the shear stress on a transverse section at a
distance r from the axis of the bar
G is the shear modulus
𝜽 is the angle of twist
Torsion

For non-circular prismatic bars, initially plane cross section

experience out of plane deformation or Warping therefore
assumptions 2 and 3 are no longer appropriate.
Torsion
The above equation is based on the assumption that
a. The material is homogeneous and obeys Hooke’s Law.
b. All plane sections perpendicular to the longitudinal axis
remain plane following the application of a torque, i.e.,
points in a given cross-sectional plane remain in that
plane after twisting.
c. Subsequent to twisting, cross-sections are undistorted in
their individual planes, i.e., the
d. shearing strain varies linearly with the distance from the
central axis.
e. Angle of twist per unit length is constant.
 General solution for the torsion problem
 The correct solution of the problem of torsion of bars by couples
applied at the ends was given by Saint-Venant.
 He used the semi-inverse method.
 In the beginning, he made certain assumptions for the deformation of
the twisted bar and showed that these assumptions could satisfy the
equations of equilibrium given by.
The boundary condition

Where Fx , Fy, Fz are the body forces and X, Y, Z are the

components of the surface forces per unit area and l, m, n
are the direction cosines.
St. Venant’s theory
Saint-Venant assumes that the deformation of the twisted
shaft consists of
• Rotations of cross-sections of the shaft as in the case of a
circular shaft and
• Warping of the cross-sections that is the same for all cross-
sections.
The origin of x, y, z in the figure is located at the center of the
twist of the cross-section, about which the cross-section
rotates during twisting.
An arbitrary point on the cross-section, point P(x, y), located a
distance r from center of twist A, has moved to P’ (x-u, y+v) as
a
result of torsion.
• Assuming that no rotation occurs at end z = 0 and that 𝜃
is small, x and y displacements of P are respectively.

u= -(r𝜃z) sin 𝛼
𝑦
But sin 𝛼 =
𝑟
𝑦
∴ 𝑢 = −(𝑟𝜃z) = -y 𝜃z
𝑟
𝑥
IIIly v = (r𝜃z) cos 𝛼 = (𝑟𝜃 z) = x 𝜃z
𝑟
Where 𝜃z is he angle of rotation of the cross-section at a
distance z from the origin
The warping of the cross section is defined by a function
W= 𝜃 𝜑 (x,y)
𝜑 (𝑥, 𝑦) is called warping or torsion function

The components of strain are

𝜕𝑢 𝜕𝑣 𝜕𝑤
𝜺𝒙 = ; 𝜺𝒚 = ; 𝜺𝒛 =
𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝑢 𝜕𝑣 𝜕𝑣 𝜕𝑤 𝜕𝑤 𝜕𝑢
𝛾 x𝑦= + 𝛾 𝑦𝑧 = + 𝛾 𝑥𝑧 = 𝜕𝑥 +
𝜕𝑦 𝜕𝑥 𝜕𝑧 𝜕𝑦 𝜕𝑧
Substituting u, v and w
𝜺𝒙 = 𝜺𝒚 = 𝜺𝒛= 𝛾 x𝑦= 0
𝜕𝑤 𝜕𝜑
𝛾 𝑥𝑧 = -y 𝜃= (𝜃 - y 𝜃)
𝜕𝑥 𝜕𝑥
𝜕𝜑 𝜕𝑤 𝜕𝜑
𝛾 𝑥𝑧 = 𝜃 ( − 𝑦); 𝛾 𝑦𝑧 = +x𝜃= 𝜃 ( + 𝑥)
𝜕𝑥 𝜕𝑦 𝜕𝑦
By Hook’s Law the stress-strain relationship
𝜎 𝑥 = 2G𝜖𝑥 + 𝜆 𝑒 𝜏𝑥𝑦 = G𝛾𝑥𝑦

𝜎 𝑦= 2G𝜖𝑦+ 𝜆 𝑒 𝜏𝑦𝑧= G𝛾𝑦𝑧

𝜎 𝑧= 2G𝜖𝑧+ 𝜆 𝑒 𝜏𝑥𝑧= G𝛾𝑥𝑧

e= 𝜺𝒙 + 𝜺𝒚 + 𝜺𝒛

𝜐𝐸
𝜆=
(1+𝜐)(1−2𝜐)
The corresponding components of stress are
𝜎𝒙 = 𝜎𝒚 = 𝜎𝒛 = 𝜏x𝑦= 0
𝜕𝜑
𝜏x𝑧 = G 𝜃 (( − 𝑦) eq.d
𝜕𝑥
𝜕𝜑
𝜏y𝑧=G𝜃 ( + 𝑥) eq.e
𝜕𝑥

IT can be observed that with the assumption, there will be no

normal stresses acting between the longitudinal fibers of the
shaft

• Also there will be no distortion in the plane of cross section

since 𝜺𝒙 , 𝜺𝒚 ,𝛾𝑦𝑧 will vanish .
• 𝜏x𝑧 𝜏y𝑧 pure shear.
The stress components should satisfy the equation of
equilibrium

Neglecting body force and substituting stress components in

to equilibrium equations
Also , the warping function is defined by the function 𝜑 (x,y)
can be determined by the equation of equilibrium

𝜕2𝜑 𝜕2𝜑
+ =0
𝜕𝑥2 𝜕𝑦2

Now differentiating equation d w.r.t. y the equation e w.r.t. x

and subtracting we get an equation of compatibility
𝜕𝜏𝑥𝑧
= -G 𝜃
𝜕𝑦
𝜕𝜏𝑦𝑧
=G𝜃
𝜕𝑦
𝜕𝜏𝑥𝑧 𝜕𝜏𝑦𝑧
- = 2G𝜃 = H
𝜕𝑦 𝜕𝑦
Boundary conditions
Now considering the boundary conditions given by

For the lateral surface of the bas, which is free from external force
acting on the boundary and the normal n to the surface
perpendicular to the z axis

X=Y=Z=0 and n= 0
𝜏𝑥𝑧 l + 𝜏𝑦𝑧 m= 0
which means that the resultant shearing stress at the boundary is
directed along the tangent to the boundary
• Considering an infinitesimal element abc at the boundary
and assuming that S is increasing in the direction from c to
a

𝑑𝑦
l= cos(N,x) =
𝑑𝑆
𝑑𝑥
m = cos(N,y) = -
𝑑𝑆
𝜏𝑥𝑧 l + 𝜏𝑦𝑧 m= 0 becomes

𝑑𝑦 𝑑𝑥
𝜏𝑥𝑧 - 𝜏𝑦𝑧 (- ) =o or
𝑑𝑆 𝑑𝑆
𝜕𝜑 𝑑𝑦 𝜕𝜑 𝑑𝑥
( - y )( ) – ( ) ( ) =0
𝜕𝑥 𝑑𝑆 𝜕𝑦 𝑑𝑆
Stress Function Method

The stress function method is proposed by Prandtl.

In this method, the principal unknowns are the stress
components rather than the displacement components.
Based on the result of the torsion of the circular shaft.
Let 𝝉𝒛𝒙 and 𝝉𝒚𝒛 be the non vanishing components
The remaining stress components 𝜎𝒙, 𝜎𝒚, 𝜎𝒛 and 𝜏𝑥𝑦 are
assumed to be zero.
To satisfy the equation of Equilibrium
The first two set of equation re already satisfied since

𝜏 𝑥𝑧 𝑎𝑛𝑑 𝜏𝑦𝑧 are independent of z

In order to satisfy

We assume a function a function 𝜙 (x,y) called Prandtl stress

function such that
𝝏𝝓 𝝏𝝓
𝝉 𝒙𝒛 = , 𝝉 𝒚𝒛 = Prandtl torsion stress function
𝝏𝒚 𝝏𝒙
Strain function for the corresponding stress functions are
𝝏𝝓 𝜕𝜑
= G𝜃 ( - y)
𝝏𝒚 𝜕𝑥
𝝏𝝓 𝜕𝜑
- = G𝜃 ( + x)
𝝏𝒙 𝜕𝑥
Eliminating 𝝓 by differentiating the first with respect to y,
and second with respect x and subtracting from the first, we
find that the stress function must satisfy the differential
equation
𝝏𝟐𝝓 𝝏𝟐𝝓
+ = - 2 G𝜃
𝝏𝒙𝟐 𝝏𝒚𝟐
𝝏𝟐𝝓 𝝏𝟐𝝓
Or + = H where H=- 2 G𝜃
𝝏𝒙𝟐 𝝏𝒚𝟐
𝝏𝝓 𝑑𝑦 𝝏𝝓 𝑑𝑥 𝑑𝝓
+ = =0
𝝏𝒚 𝑑𝑆 𝝏𝒙 𝑑𝑆 𝑑𝑆
Torsion on circular cross section
To find the torsion for circular cross-section let use consider
the Laplace equation
• In Cartesian coordinates

To find the torsion on the circular cross section

𝝏𝟐𝝋 𝝏𝟐𝝋
+ = 0 Where 𝝋 is the Warping function
𝝏𝒙𝟐 𝝏𝒚𝟐
The simplest solution to the above equation is
𝝋= Constant =C
But the boundary condition is given by the Equation is
𝝏𝝋 𝑑𝑦 𝝏𝝋 𝑑𝑥
( − 𝒚)( ) –( +x) ( )= 0
𝝏𝒙 𝑑𝑆 𝝏𝒚 𝑑𝑆
Therefore with 𝝋= C, the above boundary condition becomes
𝑑𝑦 𝑑𝑥
(0-y) ( )- (0+x)( )=0
𝑑𝑆 𝑑𝑆

𝑑𝑦 𝑑𝑥
-y - x =0
𝑑𝑆 𝑑𝑆

x2+y2 = 0
i.e. x2+y2 = constant where (x,y) are the co-ordinates of any boundary.
Hence the boundary is a circle.

From thee equation

W= 𝜃𝝋 (x,y)
i.e. w= 𝜃 C
The polar moment of inertia for the section is

J= x2+y2 dx dy= Ip
Mt = GIp 𝜃

Mt
Or 𝜃 =
GIp

Mt
∴ w= which is a constant.
GIp
Torsion on Prismatic Bars
Torsion of elliptical cross-section
Let the warping function is given by
𝝋 = Axy
Where A is the constant.
This also satisfies Laplace equation.
The boundary condition is given by
𝑑𝑦 𝑑𝑥
(Ay-y) − (Ax + x) =0
𝑑𝑆 𝑑𝑆
𝑑𝑦 𝑑𝑥
0r y(A-1) - x(A+1) = 0
𝑑𝑆 𝑑𝑆
𝑑
Or (( (A+1) x2 – (A-1) y2 = 0
𝑑𝑆
Integrating we get
(1+A) x2+ (1-A) y2 = constant
This is of the form
x2 y2
+ =1
a2 b2

a2 (1−𝐴)
These are two identical if 2 =
b (1+𝐴)
b2+a2
Or A= 2 2
b +a
Therefore the function is given by
b2+a2
𝝋 = 2 2 xy
b +a

The above equation represents the warping function for an

elliptic cylinder with semi axes a and b under torsion
The value of the polar moment of inertia
J= (x2+y2 +Ax2-Ay2)dx dy= Ip

=(A/=1) x2 𝑑𝑥𝑑𝑦 + (1 − 𝐴) y2 𝑑𝑥𝑑𝑦

J= (A+1) Iy + (1-A)Ix
𝜋𝑎𝑏3 𝜋𝑎𝑏3
Where Ix = and Iy =
4 4
Substituting the above values in J= (A+1) Iy + (1-A)Ix
M M
But 𝜃 = t = t
GIp G𝐽
Mt = GJ 𝜃

𝜋𝑎3𝑏3 or Mt a 2+ b 2
= G𝜃 𝜃
a 2+ b 2 G 𝜋𝑎3𝑏3
The shearing stress are given by
𝜕𝜑
𝜏 𝑦𝑧 = G𝜃 ( + x)
𝜕𝑥
a2+ b2 b2− a2
= Mt 3 3 ( 2 2 )
𝜋𝑎 𝑏 b +a
Or
2M 𝑥 2M 𝑦
𝜏 𝑦𝑧 = 3t 3 similarly 𝜏 𝑥𝑧 = 3t 3
𝜋𝑎 𝑏 𝜋𝑎 𝑏
Therefore, the resultant shearing stress at any point
(x,y) is
𝜏 = √ (𝜏2 𝑦𝑧+ 𝜏2 𝑥𝑧)
1
2Mt
= 3 3 (b4x2+a4y2)2
𝜋𝑎 𝑏
Determination of Maximum shear stress
To determine where the maximum shear stress occurs, substitute
for x2 from
x2 y2
+ =1
a2 b2
y2
Or x2= a2(1 - 2)
b
1
2M
And 𝜏 = 3 t3 (a2b4+a2(a2-b2)y2)2
𝜋𝑎 𝑏
Since all the terms under the radical (power (1/2) are positive, the
maximum shear stress occurs when y is maximum when y=b.
Thus maximum shear stress 𝜏max occurs at the end of the minor
axis and its value.
1
2Mt
𝜏max = 3 3 (a4b2)2
𝜋𝑎 𝑏
 2Mt
Therefore 𝜏max =
𝜋𝑎𝑏2
For a=b, this formula coincides with the well known formula
for circular cross section.
Knowing the warping function, the displacement 𝒘 can be
determined
Mt(b2−a2)
w=𝜃𝝋= 3 3 xy
𝜋𝑎 𝑏 𝐺

The contour lines gives w= constant are the hyperbola shown

in the figure, having the principal axes of the ellipse as
asymptotes.
 Prandtl’s Membrane Analogy

The bars with complicated cross-sectional shapes requires

analytical solution and hence it will be difficult to use this
technique.
It is desirable to use experimental or any other technique .
The membrane analogy introduced by Prandtl.
 Prandtl’s Membrane Analogy
Let a thin homogenous membrane, like a thin rubber sheet be
stretched with uniform tension fixed at its edge which is a given
curve .

Figure 1 Stretching of a membrane

Imagine a homogenous membrane supported a the edges.
Imagine the same outline of the cross section of the twisted
bar subjected to a uniform tension at the edges and uniform
lateral pressure.

If q is the pressure per unit area of the membrane and S is

the uniform tension per unit length of its boundary, the
tensile forces acting on the sides ad and bc of the element
abcd
In case of the small deflection of the membrane, a resultant
in the upward direction is

𝜕2𝑧
-S( 2) dxdy
𝜕𝑥

The tensile force acting on the other two sides of the element
gives the resultant
𝜕2𝑧
-S( 2) dxdy
𝜕𝑦
Equation of the equilibrium condition is
𝜕2𝑧 𝜕2𝑧
q dxdy+S( 2) dxdy +S( 2) dxdy=0
𝜕𝑥 𝜕𝑦
𝝏𝟐𝒛 𝝏𝟐𝒛 −𝒒
+ =
𝝏𝒙𝟐 𝝏𝒚𝟐 𝑺
If the membrane tension or the air pressure is adjusted in
such a way that q/S becomes like the equation
𝝏𝟐𝝓 𝝏𝟐𝝓
+ =H
𝝏𝒙𝟐 𝝏𝒚𝟐
If the membrane height z remains zero it is numerically
equal to torsion stress function 𝝓=0

Analogy between Torsion and Membrane Problem

 Torsion of thin walled sections
Consider a thin walled tube subjected to torsion.
The thickness of the tube may not be uniform
Since the thickness is small and boundaries are free the
shear stress will be essentially parallel to the boundary.
Let 𝜏 be the magnitude of the shear stress and t is thickness.
Now consider the equilibrium of an element of length ∆𝑙 as
shown in the figure.

The areas of cut faces Ab and CD ar t1 ∆𝑙 and t2 ∆𝑙

respectively.
The shear stress are 𝜏1 an𝑑 𝜏2
For equilibrium condition in z direction we have

−𝜏1 t1 ∆𝑙 + 𝜏2 t2 ∆𝑙 =0

Therefore 𝜏1 t1 = 𝜏2 t2 = constant
Hence the quantity 𝜏 t is constant.
This is called shear flow q.
Since this flow is similar to the flow of an incompressible
liquid in a tube of varying area.
Figure 2:Cross section of a thin walled tube and torque due to shear
Consider the torque of the shear about point O
The Force acting on the elementary length dS of the tube
∆𝐹 = 𝜏 t dS=qdS
The moment arm about O is h
The torque = ∆Mt = (qdS)h
∆Mt = 2qdA
Where dA is the area of the triangle enclosed at O by the
base dS
Hence the total torque is
Mt = 2qA Eq.a
Where A is the enclosed area y the centre line of the tu
Mt = 2qA is called Bredt-Batho formula
To determine the twist of the tube
In order to determine the twist of the tube, Castigliano’s
theorem is used.
Referring to the figure
Due to shear force acting on the element is
𝜏 𝑡 𝑑𝑆 = 𝑞𝑑𝑆
Due to the shear strain 𝛾 the force does work equal to ∆U

1
∆U= ( )(𝜏 𝑡 𝑑𝑆) 𝛾 ∆l
2
1 𝜏
= ( ) (𝜏 𝑡 𝑑𝑆) ∆l ( ) since 𝜏 = G 𝛾
2 𝐺
𝜏2 𝑡2 𝑑𝑆 ∆l
=
2𝐺𝑡
𝑞2𝑑𝑆 ∆l
= (since 𝜏 𝑡=q)
2𝐺𝑡
 𝑞2𝑑𝑆 ∆l
=
2𝐺 𝑡
𝑀𝑡2∆l 𝑑𝑆
∆U = (𝑀𝑡=2qA)
8𝐴2𝐺 𝑡
Therefore the total elastic strain energy is
𝑀𝑡2∆l 𝑑𝑆
U= ∮
8𝐴2𝐺 𝑡
Hence, the twist or the rotation per unit length (∆l=1) is
𝜕𝑈 𝑀𝑡 𝑑𝑆
𝜃= = 2 ∮
𝜕𝑀𝑡 4𝐴 𝐺 𝑡
2𝑞 𝐴 𝑑𝑆
Or 𝜃 = ∮
4𝐴2𝐺 𝑡
𝑞 𝑑𝑆
Or 𝜃 = ∮
2𝐴𝐺 𝑡
Torsion of Thin-walled Multiple –Cell Closed
Section

Figure 2. Torsion of thin-walled Figure 2. a

multiple cell closed section
Consider the two sell section shown in thee Figure 2.
Let a1 and A2 be the areas as of the cells 1 and 2
respectively.

Consider the equilibrium of an element at the junction as

shown in the Figure 2b
In the direction of the axis of the tube

−𝜏1 t1 ∆l l+ 𝜏2 t2 ∆2 l+ 𝜏3t3∆3l=0
Or 𝜏1 t1 = 𝜏2 t2 = 𝜏3t3
i.e. q1=q2=q3

This equation again is equivalent to fluid flow dividing itself

into two streams
Now choose moment axis , such as point ) as shown in the
Figure 3

Figure 3:Section of a thin walled multiple cell beam and

moment axis
The shear flow in the web is considered to ne made of q1 and
–q2

Since q3=q1-q2

Moment about O due to q1 flowing in cell 1 including web is

Mt=2q2(A2+A1)-2q2A1

The second term with the negative sign on the right hand side
is the moment due to shear flow q2 in the middle web

Therefore the total torque is

Mt=Mt1+Mt2
Mt = 2q1A1+2q2A2
To find the Twist 𝜽
For the following, the twist of each cell should be the same
We have
𝒒 𝒅𝑺
𝜽= ∮ 𝒕
𝟐𝑨𝑮
or
𝟏 𝒒𝒅𝑺
𝟐𝑮𝜽= ∮
𝑨 𝒕
𝒅𝑺
a1=∮ for Cell 1 including the web
𝒕
𝒅𝑺
a2=∮ for Cell 2including the web
𝒕
𝒅𝑺
a12=∮ for the web only
𝒕
Then for cell 1
𝟏
𝟐𝑮𝜽= (a1q1-a12q2)
𝑨
For Cell 2
𝟏
𝟐𝑮𝜽= (a1q1-a12q2)
𝑨𝟐