Solid Mechanics-I (ME-202)

CHAPTER-5
EQUATION OF TORSION

Course Teacher: Kashif Azher (Lecturer)

Mechanical Engineering Department
 ANGLE OF TWIST
• Consider a tapered shaft as shown in figure below:

• In tapered shaft, both Torque and Polar moment of inertia

changes with respect to ‘x’.
• Using figure, relationship for shear strain and angle of
twist can be developed i.e.
𝝆𝝆𝒅𝒅𝒅𝒅 = 𝜸𝜸𝜸𝜸𝜸𝜸
Solid Mechanics-I 10 Torsion
 ANGLE OF TWIST
𝜌𝜌𝜌𝜌 𝜌𝜌𝜌𝜌(𝑥𝑥)
• Since 𝜏𝜏 = ⇒ 𝜏𝜏 =
𝐽𝐽 𝐽𝐽(𝑥𝑥)
• Also, Hooke’s law 𝜏𝜏 = 𝐺𝐺𝐺𝐺 and 𝜌𝜌𝑑𝑑𝑑𝑑 = 𝛾𝛾𝛾𝛾𝛾𝛾
𝜌𝜌𝐺𝐺𝑑𝑑𝑑𝑑 𝜌𝜌𝐺𝐺𝑑𝑑𝑑𝑑 𝜌𝜌𝜌𝜌(𝑥𝑥)
⇒ 𝜏𝜏 = ⇒ =
𝑑𝑑𝑥𝑥 𝑑𝑑𝑥𝑥 𝐽𝐽(𝑥𝑥)
𝐿𝐿
𝑇𝑇 𝑥𝑥 𝑑𝑑𝑑𝑑 𝑇𝑇 𝑥𝑥 𝑑𝑑𝑑𝑑
⇒ 𝑑𝑑𝑑𝑑 = ⇒ 𝜙𝜙 = �
𝐽𝐽 𝑥𝑥 𝐺𝐺 𝐽𝐽 𝑥𝑥 𝐺𝐺
0

• For constant torque and cross-section area,

𝑇𝑇𝑇𝑇 𝑇𝑇 𝐺𝐺𝐺𝐺
𝜙𝜙 = ⇒ =
𝐽𝐽𝐽𝐽 𝐽𝐽 𝐿𝐿
𝑇𝑇𝑇𝑇
• For multiple torques, 𝜙𝜙 =∑
𝐽𝐽𝐽𝐽
Solid Mechanics-I 10 Torsion
 EQUATION OF TORSION
Shear Modulus
Shear Stress (N/m )
2 (N/m 2)
Torque (Nm)
𝑻𝑻 𝝉𝝉 𝑮𝑮𝑮𝑮
Polar moment of = = Angle of twist
inertia (m4) 𝑱𝑱 𝝆𝝆 𝑳𝑳 (radians)
Radius (m) Length (m)
• Torsional equation is very important and the only equation
used to determine stress when torque is applied
• Torsional equation has three combinations and are used as
needed
• Deformation in torsional system is specified by angle of
twist (𝜙𝜙)
Solid Mechanics-I 10 Torsion
 ANGLE OF TWIST
• Shafts are generally classified as stepped and concentric
shaft
STEPPED SHAFT

• In above figure we can see stepped shaft having three

steps
𝑇𝑇𝑇𝑇
• Since 𝜙𝜙 = so we can take sections depending on either
𝐽𝐽𝐽𝐽
torque, Length, Polar moment of inertia or shear modulus
is changing
Solid Mechanics-I 10 Torsion
 STEPPED SHAFT
• Since we have diameter and torque is changing in each
step hence we need to take three sections
• Angle of twist (𝜙𝜙) for each section is dissimilar due to
difference in parameters and since steps are in series, total
angle of twist (𝜙𝜙) is given by:
𝜙𝜙 𝑇𝑇 = 𝜙𝜙1 + 𝜙𝜙2 +𝜙𝜙3
𝑇𝑇1 𝐿𝐿 𝑇𝑇2 𝐿𝐿 𝑇𝑇3 𝐿𝐿
𝜙𝜙 𝑇𝑇 = + +
𝐺𝐺𝐽𝐽1 𝐺𝐺𝐽𝐽2 𝐺𝐺𝐽𝐽3
Given 𝐺𝐺 = 11.3 × 103 𝑘𝑘𝑘𝑘𝑘𝑘
𝑇𝑇1 = 9 𝑘𝑘𝑘𝑘𝑘𝑘 − 𝑖𝑖𝑖𝑖 𝑇𝑇2 = 18 𝑘𝑘𝑘𝑘𝑘𝑘 − 𝑖𝑖𝑖𝑖 𝑇𝑇3 = 30 𝑘𝑘𝑘𝑘𝑘𝑘 − 𝑖𝑖𝑖𝑖
𝜋𝜋 4
𝐽𝐽1 = 1.571 𝑖𝑖𝑖𝑖4 𝐽𝐽2 = 3.835 𝑖𝑖𝑖𝑖4 𝐽𝐽3 = 7.953 𝑖𝑖𝑖𝑖4 𝐽𝐽 = 𝑑𝑑
32
𝜙𝜙 𝑇𝑇 = 0.01210 + 0.00995 + 0.00799 = 0.03 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟
Solid Mechanics-I 10 Torsion
 CONCENTRIC SHAFT
• Concentric shaft is one in which shafts are parallel

• In above figure we can see concentric shaft have inner

solid core and above it hollow shaft of different material.
• Here angle of twist is same in both shafts as they are
parallel.
𝑇𝑇𝐴𝐴 𝐿𝐿 𝑇𝑇𝐵𝐵 𝐿𝐿
𝜙𝜙 𝑇𝑇 = 𝜙𝜙𝐴𝐴 = 𝜙𝜙𝐵𝐵 =
𝐺𝐺𝐴𝐴 𝐽𝐽𝐴𝐴 𝐺𝐺𝐵𝐵 𝐽𝐽𝐵𝐵

Solid Mechanics-I 10 Torsion

 DIRECTION OF TORQUE

Solid Mechanics-I 11 Torsion

 DIRECTION OF TORQUE

𝜙𝜙𝐴𝐴 = 𝜙𝜙𝐴𝐴𝐴𝐴 − 𝜙𝜙𝐵𝐵𝐵𝐵 − 𝜙𝜙𝐶𝐶𝐶𝐶

Solid Mechanics-I 11 Torsion
Problem-3
The 20-mm diameter A-36 steel shaft is subjected to the
torques shown. Determine the angle of twist of the end B.
Solution:
Internal torques can be determine
from figure. Given
𝐷𝐷𝐷𝐷𝐷𝐷 = 20 𝑚𝑚𝑚𝑚
𝐺𝐺 = 75 × 109 𝑃𝑃𝑃𝑃
Angle of twist at end B is given by:
𝑇𝑇𝑇𝑇
𝜙𝜙𝐵𝐵 = �
𝐽𝐽𝐽𝐽
𝜙𝜙𝐵𝐵
1
= 𝜋𝜋 [−80 0.8 + −60 0.6
4 9
0.01 (75 × 10 )
2

𝜙𝜙𝐵𝐵 = −0.1002 rad = 5.74𝑜𝑜 Answer

Solid Mechanics-I 12 Torsion
Problem-4
The shaft consists of three concentric tubes, each made
from the steel material and having the inner and outer radii
shown. If a torque of 800 Nm is applied to the rigid disk fixed
to its end, determine the maximum shear stress and angle of
twist in the shaft. Take 𝐺𝐺 = 75 × 109 𝑃𝑃𝑃𝑃

Solution:

Solid Mechanics-I 12 Torsion

 Maximum shear stress is calculated using torsional equation,
𝑇𝑇 𝜏𝜏 𝐺𝐺𝐺𝐺
= =
𝐽𝐽 𝜌𝜌 𝐿𝐿
𝑇𝑇𝑐𝑐 800(0.038)
𝜏𝜏𝑚𝑚𝑚𝑚𝑚𝑚 = = −6
= 11.9 𝑀𝑀𝑀𝑀𝑀𝑀 Answer
𝐽𝐽 2.545 × 10

Since shafts are in parallel the angle of twist in each shaft

remains the same.
𝑇𝑇𝑇𝑇
𝜙𝜙 =
𝐽𝐽𝐽𝐽
800(2)
𝜙𝜙 = 9 −6
= 0.00838 𝑟𝑟𝑟𝑟𝑟𝑟
(75 × 10 )(2.545 × 10 )
Answer

Solid Mechanics-I 12 Torsion