Week 5: Torsion

Dr. Mustafa Gül

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Torsion
Definition of Torsion: Twisting of a straight bar loaded by a moment
that tend to rotate about the longitudinal axis of the bar (i.e. torque)
Moment of a couple,
T = Pd Examples: Drive
P2 shafts, drill-bits,
P1
d1
turbine shafts, etc.
Also, Beams with
P1 d2 eccentric loading,
P2
for example.
For this case, we have 2 couple moments

T1 = P1  d1 ; and T2 = P2  d 2
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Torque
 Torque is the moment that causes twisting about the
longitudinal axis of a member (twisting moment)
 Notations for torque:
T1 T2

double headed arrows

T1

T2
curved arrow
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Sign Convention for Torque
Internal Force Diagram TExample
(N.m)

15 N.m 10 N.m
+
(+) - 6 N.m 12 N.m

A B C D E

-
(-)
13 N.m 6 N.m 12 N.m 15 N.m 10 N.m
13 10
T-Diag + 7
+
(N.m)
-
-5
5
Analysis Strategy
Axial Load Torque

External Loads Applied Torques

Internal
Internal Forces
Resisting Torques

Performance Performance
Measures Measures

Torsional Angle of Twist

Stresses (σ) Deformation (δ) Stresses (τ) (ϕ)

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Fixed

x
ϕ(x)
T

a′
a

ϕ(x) – angle of twist (increases as x increases)

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Torsional Deformation of a Circular Shaft
Torsional Deformation of a Circular
Shaft

c
r
f

cf

cf  max L
 max =  f=
L c
And for inner points at r distance
rf L
=  f=
L r
  L  max  L r Shear strain varies
 =   =   max
r c c linearly with the radius
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 Copyright ©2014 Pearson Education, All Rights Reserved.
The Torsion Formula
For linear-elastic range, we can use Hooke’s
law ( = G) to obtain a similar relationship
for the shear stress
r r
 =   max   =   max
c c
Total Torque (moment) is integration of
all elemental moments
r  max
T =  dM =  r  τ  dA  T =  r   max dA  T =  r 2
dA
A 
A A
c c A
The integral on the right side is the polar moment of inertia, J
 max Tr
J =  r dA  T =
2
J   max = Tc or =
A
c J J
Polar Moment of Inertia (J)
For shafts with a solid circular cross section
c
Rc
J =  r 2 dA =  r 2  2r  dr dr
A 0 Circumference
r =c of 2r
1 4
c
= 2  r  dr =2    r
3

0 4 r =0


J= c4
2
For shafts with a hollow circular (tubular cross section (co: outer
radius and ci: inner radius) A tube is more efficient to
 transmit torque since the
J= (c − c )
4
o
4
i
material is highly stressed
2 & moment arm is larger10
Example 1: Torsional Shear Stress
F5-3. The shaft is hollow from A to B and solid from B to
C. Determine the maximum shear stress developed in the
shaft. The shaft has an outer diameter of 80 mm, and the
thickness of the wall
of the hollow
segment is 10 mm.

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Example 1: Torsional Shear Stress

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Example 1: Torsional Shear Stress

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Shaft Design
Tr
• If T and allowable are known, using  =
J
J T
=
c  allow
• For solid shafts, one unknown (c), you can find the unique
solution
• For hollow shafts, two unknowns (co and ci), no unique solution

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Example 2: Torsion Design
5-28. The assembly consists of the solid rod AB, tube
BC, and the lever arm. If a torque of T = 2 kN·m is applied
to the rod and couple forces of P = 22.5 kN are applied to
the lever arm, determine the required diameter for the rod,
and the outer and inner

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diameters of the tube, if the
ratio of the inner diameter di,
to outer diameter do, is
required to be di/do = 0.75.
The rod and the tube are
made of material having an
allowable shear stress of
allow = 84 MPa. 15
Example 2: Torsion Design

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Example 2: Torsion Design

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Angle of Twist
T
b γmax
c
a ϕ
a
ϕ
c a′
a′
L

γ = shear strain

On the surface,
aa
 max = but aa = c  f and ab = L (for small ϕ)
ab
c f  max L
 max = or f=
L c 18
Angle of Twist
c f

We just found that max =
L
 max
We also know that  max =
G
 max L
f =
cG
Since it is usually the torque rather than the shear stress, that is
known initially, we make use of
Tc
 max =
J Note the similarity
Combining the two equations
PL TL
TL = f=
f= (f is in radians) AE GJ
GJ 19
Angle of Twist
For cases where T, G, and/or J change discretely:
n
Ti Li
f =
i =1 Gi J i

For cases where T, G, and/or J vary continuously according

to a function:
L
T ( x)
f= dz
0
G ( x) J ( x)

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Power Transmission
• Circular shafts are often used to transmit power from a machine
• Power = the work performed per unit of time; the conventional
industrial unit for power transmission = kW
• 1 kW= 1000 W = 1000 N·m/s
• Power = force x distance / time (N·m/s)
= torque x angle / time (N·m x rad/s = N·m/s)
• Consider a shaft rotating at f Hz (cycles/sec), then angular velocity
is ω = 2πf
P
 Power P = T x 2f or P = 2fT or T=
2f
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Example 3: Angle of Twist
5-55. Gear B supplies 15 kW of power, while gears A, C, and
D withdraw 6 kW, 4 kW, and 5 kW, respectively. If the
shaft is made of steel with the allowable shear stress of
allow = 75 Mpa, and the relative angle of twist between any
two gears cannot
exceed 0.05 rad,
determine the
required diameter
d of the shaft to
the nearest
millimeter. The
shaft is rotating at
600 rpm. 22
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Example 3: Angle of Twist

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Example 3: Angle of Twist

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Example 3: Angle of Twist

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Example 3: Angle of Twist

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Circular Shafts with GearsTorque in Shaft ‘A’
dA TA = F x rA
rB
Torque in Shaft ‘B’
TA rA
TB = R x rB
TB A Equilibrium of action and reaction

B
Driving gear R=F
So,
TA TB rB
=  TB = TA
F
rB
fB
B
fA
A rA
rA rB rA
R A i.e.
B
TB = TA x Gear Ratio 27
Circular Shafts with Gears
Since the distance traversed by the
dA point of original contact on each shaft
rB is the same
TA rA AA = BB
i.e.
rA
TB A
f A rA = fB rB  fB = f A x
Driving gear rB
B

F
So, in other words, angle
rB rA
fB
B
fA
A of twist in B is equal to
R A angle of twist in A over the
B
gear ratio.
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Example 4: Shafts with Gears
5-62. The two shafts are
made of A-36 steel. Each
has a diameter of 1 in., and
they are supported by
bearings at A, B, and C,
which allow free rotation.
If the support at D is fixed,
determine the angle of
twist of end A when the
torques are applied to the
assembly as shown.

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Example 4: Shafts with Gears

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Example 4: Shafts with Gears

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Example 4: Shafts with Gears

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Statically Indeterminate Torsional Members
Similar approach as axially
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loaded members, i.e. write

compatibility equations in
addition to the equilibrium
equations. For this example
these equations are:
Equilibrium Equation
T = TA + TB
Compatibility Equation
TA LAC TB LBC
=
G AC J AC GBC J BC 33
Example 5: Statically Indeterminate Torsional Members
5-85. The Am1004-T61
magnesium tube is
bonded to the A-36 steel
rod. If a torque of T = 5
kN·m is applied to
end A, determine the
maximum shear stress in
each material. Sketch the
shear stress distribution.
Use Gsteel = 75 GPa and
Gmagnesium = 18 GPa.

34
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Example 5: Statically Indeterminate Torsional Members

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Example 5: Statically Indeterminate Torsional Members

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Thin Walled Tubes
For thin walled shafts, the assumption
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we made about the cross-section (that

the cross-sections that are originally
planar will remain so after the
loading) will not be true. The torque,
T, will cause shear stress around the
perimeters in the direction shown.
Considering the equilibrium of this
small piece

 At A dx =  B t B dx
  At A =  B t B
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Thin Walled Tubes
This means, the product of the
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average shear stress times the

thickness of the tube is constant for
each point on the tube. We will call
this product shear flow, q
(analogous to water flowing
through a tube of rectangular cross-
section with a constant depth but
variable width).

q =  avg t
• Shear flow, q, is constant at all points along the cross-section
• Largest average stress where the thickness is the smallest 38
Thin Walled Tubes Am: Area
enclosed by the
centerline of
the tube’s wall

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dF =  avg tds  dT = h(dF ) = h( avg tds)

T =  h avg tds  T =  avg t  hds = 2 avg t  dAm

T T
 avg = & q=
2tAm 2 Am 39
Angle of Twist in Thin Walled Tubes
It can be shown using Energy Methods (the proof is
not in our scope) that the angle of twist can be
found using

TL ds
f= 2 
4 AmG t

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Example 6: Thin Walled Tubes
5-111. A torque T is applied to two tubes having the cross
sections shown. Compare the shear flow developed in each
tube.

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Example 6: Thin Walled Tubes

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