Strength of Material

Lecture 3

Torsion

Dr. Sry Vannei

Institute of Technology of Cambodia

Learning objectives

• Torsional deformation of a circular bar

• Circular bars of linearly elastic materials

• Nonuniform torsion

• Transmission of power by circular shafts

• Strain energy in torsion and pure shear

• Stress concentration in torsion

1
 Introduction
• Torsion refers to the twisting of a straight bar when it is loaded by moments (or
torque) that tend to produce rotation about longitudinal axis of the bar

Torsion of a screwdriver due to

torque T applied to the handle

Circular bar subjected to torsion by torque T1 and T2

2
Shear strains at the outer surface
• The magnitude of the shear
strain at the outer surface of the
bar
𝑏𝑏 ′
𝛾𝑚𝑎𝑥 =
𝑎𝑏
𝛾𝑚𝑎𝑥 is measured in radians

𝑏𝑏 ′ distance through which

point b moves
𝑎𝑏 length of the element (𝑑𝑥)

𝑏𝑏 ′ = 𝑟𝑑𝜙
𝑟𝑑𝜙
𝛾𝑚𝑎𝑥 =
𝑑𝑥
Deformation of an element of length 𝑑𝑥 cut from a
bar in torsion 𝜙 angle of twist in radians
𝑟 radius of the bar
3
 Shear strains at the outer surface
• The rate of twist or angle of twist per unit length

𝑑𝜙
𝜃=
𝑑𝑥
• The shear strain at the outer surface
𝑟𝑑𝜙
𝛾𝑚𝑎𝑥 = = 𝑟𝜃
𝑑𝑥

• For pure torsion, the rate of twist 𝜃 = 𝜙/𝐿

𝑟𝜙
𝛾𝑚𝑎𝑥 = 𝑟𝜃 =
𝐿
𝛾𝑚𝑎𝑥 𝜌
• Shear strains with the bar 𝛾 = 𝜌𝜃 = 𝜌 = 𝛾𝑚𝑎𝑥
𝑟 𝑟
𝑟2 𝜙
Maximum and minimum shear strains with the bar 𝛾𝑚𝑎𝑥 =
𝐿
𝑟1 𝑟1 𝜙
𝛾𝑚𝑖𝑛 = 𝛾𝑚𝑎𝑥 = 𝑟1 , 𝑟2 are inner and outer radius of the tube
𝑟2 𝐿
4
 Circular bars of linearly elastic materials
• If the material is linearly elastic, Hooke’s law in shear

𝐺 shear modulus of elasticity,

𝜏=𝐺𝛾
𝛾 shear strain

𝜏𝑚𝑎𝑥 = 𝐺 𝛾𝑚𝑎𝑥 = 𝐺𝑟𝜃

𝜌
𝜏 = 𝐺 𝜌𝜃 = 𝜏𝑚𝑎𝑥
𝑟

𝜏𝑚𝑎𝑥 shear modulus at the outer surface of

the bar

𝜃 rate of twist (radians per unit length)

5
 Torsion formula
• The moment of the bar
𝜏𝑚𝑎𝑥 2
𝑑𝑀 = 𝜏𝑑𝐴 𝜌 = 𝜌 𝑑𝐴
𝑟

• The resultant moment (𝑇) is the summation over the

entire cross-sectional area
𝜏𝑚𝑎𝑥 2 𝜏𝑚𝑎𝑥 𝜏𝑚𝑎𝑥
Shear stress acting 𝑇 = න 𝑑𝑀 = න 𝜌 𝑑𝐴 = න 𝜌2 𝑑𝐴 = 𝐼𝑃
𝐴 𝐴 𝑟 𝑟 𝐴 𝑟
on a cross section

𝐼𝑃 = න 𝜌2 𝑑𝐴 Polar moment of inertia of circular cross section

𝐴

For a circle of radius 𝑟 and diameter 𝑑, the polar moment of inertia is

𝜋𝑟 4 𝜋𝑑 4
𝐼𝑃 = =
2 32
𝜏𝑚𝑎𝑥 Tr 16T
𝑇= 𝐼𝑃 ⇒ 𝜏𝑚𝑎𝑥 = 𝜏𝑚𝑎𝑥 = Torsion formula
𝑟 IP 𝜋𝑑 3
6
Torsion formula
• The shear stress at distance 𝜌 from the center of bar is
𝜌 𝜌 𝑇𝑟 𝑇𝜌
𝜏 = 𝜏𝑚𝑎𝑥 = =
𝑟 𝑟 𝐼𝑃 𝐼𝑃

• Angle of twist
𝜏𝑚𝑎𝑥 𝑇𝑟 𝑇
𝜏𝑚𝑎𝑥 = 𝐺𝑟𝜃 ⇒𝜃= = =
𝐺𝑟 𝐼𝑃 𝐺𝑟 𝐺𝐼𝑃
𝜃 rate of twist or angle of twist per unit length

• For a bar in pure torsion, the angle of twist 𝜙 = 𝜃𝐿

𝑇𝐿
𝜙=
𝐺𝐼𝑃
• The torsional stiffness and flexibility of the bar are defined as
𝐺𝐼𝑃 𝐿
𝑘𝑇 = 𝑓𝑇 =
𝐿 𝐺𝐼𝑃
7
Torsion formula
• For circular hollow bar

𝜋 4 4
𝜋
𝐼𝑃 = 𝑟2 − 𝑟1 = 𝑑24 − 𝑑14
2 32

𝜋𝑟𝑡 2 2
𝜋𝑑𝑡 2 𝑑1 + 𝑑2
𝐼𝑃 = 4𝑟 + 𝑡 = 𝑑 + 𝑡2 𝑑=
2 4 2

• If the tube is very thin

𝜋𝑑𝑡 2 𝜋𝑑 3𝑡
𝐼𝑃 = 𝑑 + 𝑡2 ≈
4 4

8
Ex: A solid steel bar of circular cross section has diameter d=1.5 in., length L=54
in., and shear modulus of elasticity G=11.5 x 106 psi. the bar is subjected to torque
T acting at the ends.
(a) If the torques have magnitude T=250 lb-ft, what is the maximum shear stress in
the bar? What is the angle of twist between the ends?
(b) If the allowable shear stress is 6000 psi and the allowable angle of twist is 2.5°,
what is the maximum permissible torque?

9
 16𝑇
(a) Maximum shear stress 𝜏𝑚𝑎𝑥 = = 4530 𝑝𝑠𝑖
𝜋𝑑 3
𝑇𝐿 𝜋𝑑 4 𝜋 1.5 4
Angle of twist 𝜙= 𝐼𝑃 = = = 0.4970 𝑖𝑛4
𝐺𝐼𝑃 32 32
𝑖𝑛.
250 𝑙𝑏 𝑓𝑡 12
54 𝑖𝑛
𝑓𝑡
⇒𝜙= = 0.02834 𝑟𝑎𝑑 = 1.62°
11.5 × 106 𝑝𝑠𝑖 0.4970 𝑖𝑛.4

(b) Maximum permissible torque

16𝑇1 𝜋𝑑 3 𝜏𝑎𝑙𝑙𝑜𝑤
For allowable shear stress 𝜏𝑎𝑙𝑙𝑜𝑤 = 3
⇒ 𝑇1 = = 3980 𝑙𝑏. 𝑖𝑛
𝜋𝑑 16
𝑇2 𝐿 𝐺𝐼𝑃 𝜙𝑎𝑙𝑙𝑜𝑤
For allowable angle of twist 𝜙𝑎𝑙𝑙𝑜𝑤 = ⇒ 𝑇2 =
𝐺𝐼𝑃 𝐿
𝜋
11.5 × 106 𝑝𝑠𝑖 0.4970 𝑖𝑛4 2.5° 𝑟𝑎𝑑
⇒ 𝑇2 = 180 = 4618 𝑙𝑏 𝑖𝑛
54 𝑖𝑛.
Maximum permissible torque 𝑇𝑚𝑎𝑥 = 𝑇1 = 3980 𝑙𝑏. 𝑖𝑛
10
Ex: A hollow shaft and solid shaft constructed of the same material have the same
length and the same outer radius R. The inner radius of the hollow shaft is 0.6R.
(a) Assuming that both shafts are subjected to the same torque, compare their shear
stresses, angles of twist, and weights
(b) Determine the strength-to-weight ratios for both shafts
𝜏𝑚𝑎𝑥𝐻
=?
𝜏𝑚𝑎𝑥𝑆
𝜙𝐻
=?
𝜙𝑆
𝑊𝐻
=?
𝑊𝑆

𝑇𝐻 𝑇𝑆
=? =?
𝑊𝐻 𝑊𝑆
11
Nonuniform torsion
Case 1: Bar consisting prismatic segments with
constant torque throughout each segment

Determine the internal torque of each segment

𝑇𝐶𝐷 = −𝑇1 − 𝑇2 + 𝑇3

𝑇𝐵𝐶 = −𝑇1 − 𝑇2 𝑇𝐴𝐵 = −𝑇1

For angle of twist, internal torques sign is needed

Internal torque (+) → Away from cut section

Internal torque (-) → Toward from cut section

The total angle of twist of the bar

𝑛
𝑇𝑖 𝐿𝑖
𝜙 = 𝜙1 + 𝜙2 + ⋯ + 𝜙𝑛 ⇒ 𝜙=෍
𝐺𝑖 𝐼𝑃 𝑖
𝑖=1 12
Nonuniform torsion
Case 2: Bar continuously varying cross sections and constant torque

Angle of twist could be written

𝑇𝑑𝑥
𝑑𝜙 =
𝐺𝐼𝑃 𝑥
𝐿 𝐿
𝑇𝑑𝑥
𝜙 = න 𝑑𝜙 = න
0 0 𝐺𝐼𝑃 𝑥

Case 3: Bar with continuously varying cross sections and continuously varying
torque
Angle of twist could be written

𝐿 𝐿
𝑇(𝑥)𝑑𝑥
𝜙 = න 𝑑𝜙 = න
0 0 𝐺𝐼𝑃 𝑥

13
Ex: A solid steel shaft ABCDE having diameter d=30 mm turns freely in bearing at
points A and E. The shaft is driven by a gear at C, which applies a torque T2= 450 N
m in the direction shown in Figure. Gears at B and D are driven by the shaft and
have resisting torque T1=275 N m and T3=175 N m respectively, acting in the
opposite direction to the torque T2. Segments BC and CD have length LBC=500 mm
and LCD= 400 mm and shear modulus G = 80 GPa.
Determine the maximum shear stress in each part of the shaft and the angle of twist
between gears B and D

14
𝑇1 = 275 𝑁. 𝑚, 𝑇2 = 450 𝑁. 𝑚, 𝑇3 = 175 𝑁. 𝑚
𝜏𝐵𝐶 , 𝜏𝐶𝐷 , 𝜙𝐵𝐷 ?
𝐿𝐵𝐶 = 500 𝑚𝑚, 𝐿𝐶𝐷 = 400 𝑚𝑚, 𝐺 = 80 𝐺𝑃𝑎

Find torques acting on the segments

𝑇𝐴𝐵 = 𝑇𝐷𝐸 = 0 Neglect the friction in the bearing

at the supports

𝑇𝐶𝐷 = 𝑇2 − 𝑇1 = 450 𝑁. 𝑚 − 275 𝑁. 𝑚 = 175 𝑁. 𝑚

𝑇𝐵𝐶 = −𝑇1 = −275 𝑁. 𝑚

Maximum shear stress in segment BC, CD

16𝑇𝐵𝐶 16 275 𝑁. 𝑚
𝜏𝐵𝐶 = 3
= 3
= 51.9 𝑀𝑃𝑎
𝜋𝑑 𝜋 30𝑚𝑚

16𝑇𝐶𝐷 16 175 𝑁. 𝑚
𝜏𝐶𝐷 = = = 33 𝑀𝑃𝑎
𝜋𝑑 3 𝜋 30𝑚𝑚 3
15
Angle of twist in BD
𝜙𝐵𝐷 = 𝜙𝐵𝐶 + 𝜙𝐶𝐷

𝑇𝐵𝐶 𝐿𝐵𝐶 𝜋𝑑 4 𝜋 30 𝑚𝑚 4
𝜙𝐵𝐶 = 𝐼𝑃 = = = 79 520 𝑚𝑚4
𝐺𝐼𝑃 32 32

(−275 𝑁. 𝑚)(500)
𝜙𝐵𝐶 = = −0.0216 𝑟𝑎𝑑
(80 × 103 𝑀𝑃𝑎)(79 520 𝑚𝑚4 )

(175 𝑁. 𝑚)(400)
𝜙𝐶𝐷 = = 0.011 𝑟𝑎𝑑
(80 × 103 𝑀𝑃𝑎)(79 520 𝑚𝑚4 )

𝜙𝐵𝐷 = 𝜙𝐵𝐶 + 𝜙𝐶𝐷 = −0.0216 𝑟𝑎𝑑 + 0.011 𝑟𝑎𝑑 = −0.0106 𝑟𝑎𝑑 = −0.61°

16
Ex: A taper bar AB of solid circular cross section is twisted by torques T applied at
the ends as shown in Figure. The diameter of the bar varies linearly from dA at the
left hand end to dB at the right-hand end, with dB assumed to be greater than dA.
(a) Determine the maximum shear stress in the bar
(b) Derive a formula for the angle of twist of the bar

17
 a) Maximum shear stress occur at section A (smallest
diameter)
16𝑇
𝜏𝑚𝑎𝑥 =
𝜋𝑑𝐴3
𝐿 𝐿
𝑇𝑑𝑥
b) Angle of twist 𝜙 = න 𝑑𝜙 = න
0 0 𝐺𝐼𝑃 𝑥

4
𝜋𝑑 4 𝑑𝐵 − 𝑑𝐴 𝜋 𝑑𝐵 − 𝑑𝐴
𝐼𝑃 𝑥 = 𝑑 = 𝑑𝐴 + 𝑥 𝐼𝑃 𝑥 = 𝑑 + 𝑥
32 𝐿 32 𝐴 𝐿

𝐿
32𝑇 𝐿 𝑑𝑥
𝜙 = න 𝑑𝜙 = න 4
0 𝜋𝐺 0 𝑑 − 𝑑𝐴
𝑑𝐴 + 𝐵 𝑥
𝐿

32𝑇𝐿 1 1
𝜙= 3− 3
3𝜋 𝑑𝐵 − 𝑑𝐴 𝑑𝐴 𝑑𝐵
18
Stresses and strains in pure shear
When a circular bar, either solid or hollow, is subjected to torsion, shear stresses act
over the cross sections and longitudinal planes

Stress acting on a stress element

cut from a bar in torsion

Analysis of stresses on inclined planes: (a) element in pure shear, (b) stresses acting on a
triangular stress element, and (c) forces acting on the triangular stress element
19
Derive equation by summing force in direction of 𝜎𝜃 , 𝜏𝜃

𝜎𝜃 = 2𝜏𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃 = 𝜏𝑠𝑖𝑛2𝜃 𝜏𝜃 = 𝜏 cos 2 𝜃 − sin2 𝜃 = 𝜏𝑐𝑜𝑠2𝜃

20
Torsion failure of a brittle material by tension cracking along a 45° helical surface

21
 Strains in pure shear
If the material is linearly elastic, the shear strain for the element oriented at 𝜃 = 0 is
related to the shear stress by Hookes’ law

𝜏
𝛾= 𝐺 shear modulus
𝐺

Strains in pure shear: (a) shear

distortion of an element oriented at
𝜃 = 0, and (b) distortion of an
element oriented at 𝜃 = 45°

𝜏 𝜈𝜏 𝜏
𝜖𝑚𝑎𝑥 = + = (1 + 𝜈)
𝐸 𝐸 𝐸
The normal strain in 45° direction is
𝛾
𝜖𝑚𝑎𝑥 =
2
22
Ex: A circular tube with an outside diameter of 80 mm and an inside diameter of 60
mm is subjected to a torque T=4 kN.m. The tube is made of aluminum alloy 7075-T6.
(a) Determine the maximum shear, tensile, and compressive stresses in the tube and
show these stresses on the sketches of properly oriented stress element
(b) Determine the corresponding maximum strains in the tube and show these strains
on sketches of the deformed elements

23
(a) Maximum stresses
𝑇𝑟 4 × 103 𝑁. 𝑚 0.040𝑚
𝜏𝑚𝑎𝑥 = = 𝜋 = 58.2 𝑀𝑃𝑎
𝐼𝑃 4
0.08 𝑚 − 0.06𝑚 4
32
𝜎𝑡 = 𝜏𝑚𝑎𝑥 = 58.2 𝑀𝑃𝑎 𝜎𝑐 = −𝜏𝑚𝑎𝑥 = −58.2 𝑀𝑃𝑎

(b) Maximum strains 𝜏𝑚𝑎𝑥 58.2 𝑀𝑃𝑎

𝛾𝑚𝑎𝑥 = = = 0.0022 𝑟𝑎𝑑
𝐺 27 × 103 𝑀𝑃𝑎
𝛾𝑚𝑎𝑥
𝜖𝑚𝑎𝑥 = = 0.0011 𝑟𝑎𝑑 𝜖𝑡 = 0.0011 𝑟𝑎𝑑 𝜖𝑐 = −0.0011 𝑟𝑎𝑑
2

24
 Transmission of power by circular shafts
Circular shafts is used to transmit mechanical power from one device or machine to
another such as drive shaft of automobile…

The work W done by a torque of constant magnitude is

𝑊=𝑇𝜓

where 𝜓 is the angle of rotation in radians

Power P is the rate at which work W is done

𝑑𝑊 𝑑𝜓 where 𝜔 is the angle speed in rad/s
𝑃= =𝑇 = 𝑇 𝜔 = 2𝜋𝑓 𝑇
𝑑𝑡 𝑑𝑡 𝑓 is the frequency in 𝐻𝑧 = 𝑠 −1

Number of revolutions per minutes (rpm), 𝑛 = 60𝑓

2𝜋𝑛𝑇 2𝜋𝑛𝑇
𝑃= In Horse Power, H 𝐻= 1ℎ𝑝 ≈ 746 𝑤𝑎𝑡𝑡𝑠
60 60 (550)

𝑛 = 𝑟𝑝𝑚, 𝑇 = 𝑙𝑏 − 𝑓𝑡, 𝐻 = ℎ𝑝 25
Ex: A motor driving a solid circular steel shaft transmits 40 hp to a gear at B. The
allowable shear stress in the steel is 600 psi
(a) What is the required diameter d of the shaft if the it is operated at 500 rpm?
(b) What is the required diameter d if it is operated at 3000 rpm?

26
a) Motor operates at 500 rpm

2𝜋𝑛𝑇 33 000𝐻 33000 40 ℎ𝑝

𝐻= ⇒𝑇= = = 420.2 𝑙𝑏 − 𝑓𝑡
60 (550) 2𝜋𝑛 2𝜋 × 500 𝑟𝑝𝑚

The maximum shear stress in the shaft can be determined from

16𝑇 3
16𝑇 16𝑇 16 5042 𝑙𝑏 − 𝑖𝑛
𝜏𝑚𝑎𝑥 = 3
⇒𝑑 = = = = 4.28 𝑖𝑛3
𝜋𝑑 𝜏𝑚𝑎𝑥 𝜏𝑎𝑙𝑙𝑜𝑤 𝜋 6000 𝑝𝑠𝑖

𝑑 = 1.62 𝑖𝑛

b) Motor operates at 3000 rpm

Same procedure: 𝑑 = 0.89 𝑖𝑛

27
Strain energy in torsion and pure shear
When a load is applied to a structure, work is
performed by the load and strain energy is developed in
the structure

Bar AB in pure torsion under the action of a torque

T. when the load is applied statically, the bar twists
and the free end rotates through an angle 𝜙
𝑇𝐿
𝜙=
𝐺𝐼𝑃

The work W done by the torque is equal the strain

energy of the bar by assuming that no energy is
gained or lost in for of heat
𝑇𝜙
𝑈=𝑊=
2
𝑇𝜙 𝑇 𝑇𝐿 𝑇2𝐿 𝐺𝐼𝑃 𝜙 2
𝑈= = = 𝑈=
2 2 𝐺𝐼𝑃 2𝐺𝐼𝑃 2𝐿
28
Strain energy in torsion and pure shear
• If a bar consist of many segments with constant
torque for each segments, then total strain energy
𝑛 𝑛
𝑇𝑖2 𝐿𝑖
𝑈 = ෍ 𝑈𝑖 = ෍
2𝐺𝑖 𝐼𝑝 𝑖
𝑖=1 𝑖=1

𝑇𝑖 is the internal torque in segment i, 𝐿𝑖 , 𝐺𝑖 and 𝐼𝑃 𝑖 are the torsional properties

of the segment

• If cross section and internal torque of the bar vary, then the strain energy

𝑇 𝑥 2 𝑑𝑥
𝑑𝑈 =
2𝐺𝐼𝑃 𝑥

𝐿
𝑇 𝑥 2 𝑑𝑥
𝑈=න
0 2𝐺𝐼𝑃 𝑥
29
Strain energy in pure shear
• Under shear stresses, the element is distorted, the front face becomes
rhombus. The change in angle of each corner is the shear strain 𝛾

• The shear forces V acting on the side faces

of the element is stresses multiplies area ht

𝑉 = ℎ𝜏𝑡

• The displacement 𝛿 𝛿 = 𝛾ℎ

• If the material is linearly elastic, then work

done by forces V is equal to strain energy

𝑉𝛿 𝜏𝛾ℎ2 𝑡
𝑈=𝑊= =
2 2
The strain-energy density u 𝑈 𝜏𝛾 𝐺𝛾 2 𝜏 2
(strain energy per unit volume) 𝑢= 2 = ⇒𝑢= = 𝜏 = 𝐺𝛾
ℎ 𝑡 2 2 2𝐺
30
Ex: A solid bar AB of length L is fixed at one end and free at the other. Three different
loading conditions are to be considered (a) torque Ta acting at free end, (b) torque Tb
acting at the midpoint of the bar, and (c) torques Ta and Tb acting simultaneously. For
each case, determine the strain energy stored in the bar
(a) Torque Ta acting at free end
𝑇𝑎2 𝐿
𝑈𝑎 =
2𝐺𝐼𝑃
(b) Torque Tb acting at the midpoint
𝐿
𝑇𝑏2 ( ) 𝑇𝑏2 𝐿
𝑈𝑏 = 2 =
2𝐺𝐼𝑃 4𝐺𝐼𝑃
(c) Torques Ta and Tb acting simultaneously

𝐿
𝑇𝑎2 ( ) 𝑇 + 𝑇 2𝐿
𝑈𝐶 = 2 + 𝑎 𝑏
2𝐺𝐼𝑃 2𝐺𝐼𝑃 31
 Stress concentrations in torsion
• The stress-concentration effect is
greatest at section B-B which cut
through the toe of the fillet.

The maximum stress at this section is given by

𝑇𝑟 16𝑇
𝜏𝑚𝑎𝑥 = 𝐾 𝜏𝑛𝑜𝑚 =𝐾 =𝐾
𝐼𝑃 𝜋𝐷13

𝐾 is the stress-concentration factor, 𝜏𝑛𝑜𝑚 is nominal shear stress (shear

stress in the smaller part of the shaft) 32
References

[1] J. M. Gere, B. J. Goodno, Mechanics of Materials, 7ed.

33