Torsion Loading resulting from the twist of a shaft.

δθ r ⋅θ
γ θ ,Z = r⋅ ≅ Shear strain
δz l
δθ G ⋅ r ⋅θ
τθ ,z = G ⋅ γ θ ,z = G⋅r ⋅ ≅
δz l
G = Shear Modulus of Elasticity
Twist Moment or Torque
G ⋅θ
T = ∫ r ⋅τ θ , z ⋅ δA = ∫r
2
θ ,z ⋅ δA
A l A
G ⋅θ ⋅ J T ⋅l
T= or θ=
of Inertia A ∫
Area Polar Moment J = r 2 ⋅ δA l G⋅J
Angular spring rate:
T ⋅r T ⋅ ro J ⋅G
Thus: τθ ,z ≅ τ Max ≅ ka = =
T
J J θ l