2020-06-09

MCG 3141
Biomechanics

Philippe Rousseau, Ph.D.

Department of Mechanical Engineering

Faculty of Engineering

Torsion pt.2

Department of Mechanical Engineering

Faculty of Engineering

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Torsion
Angle of twist

Occasionally the design of a shaft depends on restricting the amount of rotation or twist that
may occur when the shaft is subjected to a torque. Being able to compute the angle of twist for
a shaft is important when analyzing the reactions on statically indeterminate shafts.

Angle of twist 𝜙 (phi) of one end of a shaft with respect to its other end.

– The shaft is assumed to have a circular cross section that can gradually vary along its
length

– The material is assumed to be homogeneous and to behave in a linear-elastic manner

when the torque is applied.

– Localized deformations that occur at points of application of the torques and where
the cross section changes abruptly can be neglected. By Saint-Venant’s principle,
these effects occur within small regions of the shaft’s length and generally they will
have only a slight effect on the final result.
MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

Torsion
Angle of twist

Since Hooke’s law, 𝛾 𝜏⁄𝐺 , applies and the shear stress can be expressed in terms of the
applied torque using the torsion formula 𝜏 𝑇 𝑥 𝜌⁄𝐽 𝑥 , then 𝛾 𝑇 𝑥 𝜌⁄𝐽 𝑥 𝐺. Substituting
this into the previous equation, the angle of twist for the disk is

𝑇 𝑥
𝑑𝜙 𝑑𝑥
𝐺𝐽 𝑥

If we consider the entire length of the shaft, then the angle of twist is

𝑇 𝑥
𝜙 𝑑𝑥 𝑇 𝑥 𝜌⁄𝐽 𝑥
𝐺𝐽 𝑥

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Constant torque

Usually in engineering practice the material is homogeneous, so 𝑮 is constant. Also, the

shaft’s cross-sectional area and the external torque are constant along the length of the shaft.
This means that the internal torque 𝑇 𝑥 𝑇, the polar moment of inertia 𝐽 𝑥 =J, and the
previous equation can be integrated, which gives

𝑇𝐿
𝜙
𝐽𝐺

(this equation is similar to the one used for an axially loaded bar, 𝛿 )
MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

Torsion
Multiple torque

If a shaft is subjected to several different torques, or the cross-sectional area or shear

modulus changes abruptly from one region of the shaft to the next, the previous equation can
be applied to each segment of the shaft where these quantities are all constant. The angle of
twist of one end of the shaft with respect to the other is then found from the vector addition of
the angles of twist of each segment. For this case,

𝑇𝐿
𝜙 ∑
𝐽𝐺

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Sign convention

Both the internal torque and the angle of twist of one end of the shaft will be positive provided
the thumb is directed outward from the shaft when the fingers curl to give the tendency for
rotation (right-hand rule).

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

Torsion
Example 5.7

A 2-in.-diameter solid cast-iron post is buried 24 in. in soil. If a torque is applied to its top using
a rigid wrench, determine the maximum shear stress in the post and the angle of twist at its
top. Assume that the torque is about to turn the post, and the soil exerts a uniform torsional
resistance of 𝑡 𝑙𝑏 · 𝑖𝑛.⁄𝑖𝑛. along its 24-in. buried length. 𝐺 5.511032 𝑘𝑠𝑖.

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.7

Solution

We are looking for

1. The maximum shear stress in the post

𝑇𝑐
𝜏
𝐽

2. The angle of twist at its top

𝑇 𝐿 𝑇 𝑑𝑥
𝜙
𝐽𝐺 𝐽𝐺

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

Torsion
Example 5.7

Solution

Maximum shear stress

There are two sections to this post; both experience different

shear stress. We have to measure the shear stress for both
sections and select the highest (maximum).

To calculate stress, we must first find the internal torque in

segment AB of the post (which is constant). Using a free-body
diagram, we have
Σ𝑀 0; 𝑇 2 25 𝑙𝑏 6 𝑖𝑛. 300 𝑙𝑏 · 𝑖𝑛.

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.7

Solution

Maximum shear stress

Since we know that the soil exerts a uniform torsional resistance of 𝑡 𝑙𝑏 · 𝑖𝑛.⁄𝑖𝑛. along its 24-in.
buried length, the magnitude of the uniform distribution of torque along the buried
segment BC can be determined from equilibrium of the entire post,

Σ𝑀 0; 300 𝑙𝑏 · 𝑖𝑛. 𝑡 24 𝑖𝑛. 0

𝑡 12.5 𝑙𝑏 · 𝑖𝑛.⁄𝑖𝑛.

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

11

Torsion
Example 5.7

Solution

Maximum shear stress

Hence, from a free-body diagram of a section of the post located at the position x, we have
Σ𝑀 0; 𝑇 12.5𝑥 0

𝑇 12.5𝑥

Since 𝐽 is constant for the entire post, the largest shear stress occurs where the torque is
largest, in region AB. Applying the torsion formula, we have

𝑇 𝑐 300 𝑙𝑏 · 𝑖𝑛. 1 𝑖𝑛.

𝜏 191 𝑝𝑠𝑖 𝐴𝑛𝑠𝑤𝑒𝑟
𝐽 𝜋⁄2 1 𝑖𝑛.
MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.7

Solution

Angle of twist

The angle of twist at the top can be determined relative to the bottom of the post, since it is
fixed and yet is about to turn. Both segments AB and BC twist, and so in this case we have

𝑇 𝐿 𝑇 𝑑𝑥
𝜙
𝐽𝐺 𝐽𝐺

.
300 𝑙𝑏 · 𝑖𝑛. 36 𝑖𝑛. 12.5𝑥 𝑑𝑥
𝜙
𝐽𝐺 𝐽𝐺

10 800 𝑙𝑏 · 𝑖𝑛. 12.5 24 ⁄2 𝑙𝑏 · 𝑖𝑛.

𝜙
𝜋⁄2 1 𝑖𝑛. 5 500 10 𝑙𝑏⁄𝑖𝑛. 𝜋⁄2 1 𝑖𝑛. 5 500 10 𝑙𝑏⁄𝑖𝑛.
𝜙 𝟎. 𝟎𝟎𝟏𝟔𝟕 𝒓𝒂𝒅 𝐴𝑛𝑠𝑤𝑒𝑟
MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Statically indeterminate torque-loaded members

A torsion-loaded shaft may be classified as statically indeterminate if the moment equation of

equilibrium, applied about the axis of the shaft, is not adequate to determine the unknown
torques acting on the shaft.

Consider a shaft that is fixed by both ends,

Σ𝑀 0; 𝑇 𝑇 𝑇 0

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Statically indeterminate torque-loaded members

In order to obtain a solution, we need to use an equation of compatibility, or the kinematic

condition, which requires the angle of twist of one end of the shaft with respect to the other
end to be equal to zero (since the end supports are fixed). Therefore
𝜙 ⁄ 0

Provided the material is linear elastic, we can apply the load–displacement relation 𝜙 𝑇𝐿⁄𝐽𝐺
to express the compatibility condition in terms of the unknown torques. Realizing that the
internal torque in segment AC is 𝑇 and in segment CB it is 𝑇 , we have

𝑇𝐿 𝑇 𝐿
0
𝐽𝐺 𝐽𝐺

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

15

Torsion
Statically indeterminate torque-loaded members

Solving the previous two equations for the reactions, knowing that 𝐿 𝐿 𝐿 , we get

𝑇𝐿 𝑇 𝐿
0
𝐽𝐺 𝐽𝐺

𝑇𝐿 𝑇 𝐿
𝐽𝐺 𝐽𝐺
𝑇𝐿 𝑇 𝐿

If,
𝑇 𝑇 𝑇 0

Then,
𝑇𝐿 𝑇 𝑇 𝐿

𝑇𝐿 𝑇𝐿 𝑇𝐿
MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Statically indeterminate torque-loaded members

𝑇𝐿 𝑇𝐿 𝑇𝐿

𝑇 𝐿 𝐿 𝑇𝐿

Knowing that 𝐿 𝐿 𝐿 , we get

𝑇𝐿 𝑇𝐿

𝑳𝑩𝑪
𝑻𝑨 𝑻
𝑳
If we do the same process for 𝑇 , we get

𝑳𝑨𝑪
𝑻𝑩 𝑻
𝑳

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.8

A solid steel shaft has a diameter of 20 mm. If it is subjected to the two torques, determine the
reactions at the fixed supports A and B. (𝐺 80 𝐺𝑃𝑎)

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.8

Solution

We are looking for the internal torque (reactions) at A and B.

Equilibrium

By creating a free-body diagram, we can see that the problem is statically indeterminate since
there is only one available equation of equilibrium and there are two unknowns.
Typically, you would use the right-hand rule
with your thumb towards B as it is
assumed you start at point A

Σ𝑀 0

𝑇 800 𝑁 · 𝑚 500 𝑁 · 𝑚 𝑇 0
MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.8

Solution

Compatibility

Since the ends of the shaft are fixed, the angle of twist of one end of the shaft with respect to
the other must be zero. Hence, the compatibility equation is
𝜙 ⁄ 0

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.8

Solution

Load displacement

This condition can be expressed in terms of the unknown

torques by using the load displacement relationship, 𝜙 𝑇𝐿⁄𝐽𝐺 .

Here, there are three regions of the shaft where the internal
torque is constant.

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

21

Torsion
Example 5.8

Solution

Load displacement

We can calculate the internal torque as a function of 𝑇 by

showing the internal torques acting only on the left segments of
the shaft which are sectioned in each of these regions.

𝑇 0.2 𝑚 800 𝑁𝑚 𝑇 1.5 𝑚 300 𝑁𝑚 𝑇 0.3 𝑚

0
𝐽𝐺 𝐽𝐺 𝐽𝐺

MCG 3141
Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.8

Solution

Load displacement

We can reorganize the equation to isolate and solve 𝑇

𝑇 0.2 𝑚 800 𝑁𝑚 𝑇 1.5 𝑚 300 𝑁𝑚 𝑇 0.3 𝑚 0

𝑇 0.2 𝑚 1200 𝑁𝑚 𝑇 1.5 𝑚 100 𝑁𝑚 𝑇 0.3 𝑚 0

𝑇 0.2 𝑚 𝑇 1.5 𝑚 𝑇 0.3 𝑚 1300𝑁𝑚

𝑇 2.0 𝑚 1300𝑁𝑚

MCG 3141 𝑇 645 𝑁 · 𝑚 𝐴𝑛𝑠𝑤𝑒𝑟

Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Torsion
Example 5.8

Solution

Load displacement

We can now use this new value for 𝑇 and use it in the
equilibrium equation to solve for 𝑇 ,

𝑇 800 𝑁𝑚 500 𝑁𝑚 𝑇 0

645 𝑁𝑚 800 𝑁𝑚 500 𝑁𝑚 𝑇 0

MCG 3141 𝑇 345 𝑁𝑚 𝐴𝑛𝑠𝑤𝑒𝑟

Philippe Rousseau, Ph.D.

Adapted from Dr. Catelas

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Philippe Rousseau, Ph.D.

Roger-Guindon Hall, room 2045
Courriel: Philippe.Rousseau@uOttawa.ca

Department of Mechanical Engineering

Faculty of Engineering

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