CE 234

STRENGTH OF MATERIALS
CHAPTER 3
Torsion

Lecture By: Dr. Özgür KÖYLÜOĞLU, Yeditepe University

Book: Mechanics of Materials, 6th Edition, by Ferdinand P. Beer; E. Russel Johnston, Jr.; John T.
DeWolf, David F. Mazurek, Mc Graw Hill.

Presentation Reference: Lecture Notes by J. Walt Oler, Texas Tech University on Mechanics of
Materials, 3rd Edition, by Ferdinand P. Beer; E. Russel Johnston, Jr.; John T. DeWolf, Mc Graw
Hill.
Torsional Loads on Circular Shafts

• Interested in stresses and strains of circular

shafts subjected to twisting couples or torques
• Turbine exerts torque T on the shaft

• Shaft transmits the torque to the generator

• Generator creates an equal and opposite torque T’

2
Stresses in a Shaft
• Sum of the moments of shearing forces dF about the axis of
the shaft is equal in magnitude to T, and since dF=τ dA

T = ∫ ρ dF = ∫ ρ ⎛⎜⎜⎝τ dA⎞⎟⎟⎠

• Although the torque due to the shearing stresses is

known, the distribution of the stresses is not.

• Distribution of shearing stresses is statically indeterminate we

must consider shaft deformations.

• Unlike the normal stress due to axial loads, the distribution of

shearing stresses due to torsional loads can not be assumed
uniform.

3
Axial Shear Components
• Consider a very small element of the shaft.
• Torque applied to shaft produces shearing stresses on the faces
perpendicular to the axis of the shaft.

• Conditions of equilibrium require the existence of equal stresses on

the faces of the two planes containing the axis of the shaft
• The existence of the axial shear components is demonstrated by
considering a shaft made up of axial slats.
• The slats slide with respect to each other when equal and opposite
torques are applied to the ends of the shaft; for the case of homogeneous
material, since there will be no sliding, stresses will occur.

4
Deformations in a Circular Shaft
• From observation, the angle of twist of the shaft (Φ) is
proportional to the applied torque (T) and to the shaft
length (L) , for a certain range of values of T.

• When subjected to torsion, every cross-section of a circular

shaft remains plane and undistorted.

• Cross-sections of noncircular shafts do not remain plane

when subjected to torsion; they warp.

5
 Shearing Strain
• Consider a circular shaft of length L and radius c
twisted by an angle ϕ.
• Detach a cylinder of radius ρ and consider the element
shown on the surface. When torsion applied, the elent
forms a rhombus.

• Since the ends of the element remain planar, the shear

strain is equal to angle of twist, γ. For small angles,
AA’ = Lγ = ρ ϕ (γ=radians)

ρφ cφ ρ
γ= γ max = and γ = γ max
L L c

6
 Stresses in the Elastic Range
• From Hooke’s Law, τ = Gγ
ρ ρ
γ = γ max Gγ = Gγ max
c c

The shearing stress varies linearly with the radial position in the section.

1 π c4 ρ
J= τ= τ max
2 c
• Recall that the sum of the moments from the internal stress
distribution is equal to the torque on the shaft at the section,
τ τ
T = ∫ ρτ dA = max ∫ ρ 2 dA = max J
c c
• The results are known as the elastic torsion formulas,
Tc Tρ
τ max = and τ =
J J
(
J = 12 π c24 − c14 ) 7
 Example Problem 3.01
A hollow cylindrical steel shaft is 1.5 m long and has inner and outer diameters
respectively equal to 40 and 60 mm.
a) What is the largest torque that can be applied to the shaft if the shearing
stress is not to exceed 120 MPa=?
b) What is the corresponding minimum value of the shearing stress in the shaft?

SOLUTION:
Normal Stresses
• Elements with faces parallel and perpendicular to the shaft axis
are subjected to shear stresses only. Normal stresses, shearing
stresses or a combination of both may be found for other
orientations.
• Consider the stresses on a surface 45o to the shaft axis,
F = 2(τ max A0 )cos 45 = τ max A0 2
F τ max A0 2
σ o = = = τ max
45 A A0 2
• Element a is in pure shear.

• Element c is subjected to a tensile stress on two faces (σ45°= τmax )

and compressive stress (σ45°= -τmax )on the other two.
• Note that all stresses for elements a and c have the same
magnitude (Tc/J)
9
Torsional Failure Modes
• Ductile materials generally fail in shear. Brittle materials are
weaker in tension than shear.

• When subjected to torsion, a ductile specimen

breaks along a plane of maximum shear, i.e., a
plane perpendicular to the shaft axis.

• When subjected to torsion, a brittle specimen

breaks along planes perpendicular to the
direction in which tension is a maximum, i.e.,
along surfaces at 45o to the shaft axis.

10
 Sample Problem 3.1
Shaft BC is hollow with inner and outer diameters of 90 mm and
120 mm, respectively. Shafts AB and CD are solid of diameter d.
For the loading shown, determine (a) the minimum and maximum
shearing stress in shaft BC, (b) the required diameter d of shafts AB
and CD if the allowable shearing stress in these shafts is 65 MPa.
SOLUTION:
• Cut sections through shafts AB and BC and perform static
equilibrium analysis to find torque loadings
∑ M x = 0 = (6 kN ⋅ m ) + (14 kN ⋅ m ) − TBC
TBC = 20 kN ⋅ m
∑ M x = 0 = (6 kN ⋅ m ) − TAB
TAB = 6 kN ⋅ m = TCD

11
 Sample Problem 3.1
• Apply elastic torsion formulas to find • Given allowable shearing stress and applied
minimum and maximum stress on shaft BC torque, invert the elastic torsion formula to find
the required diameter

(c24 − c14 ) = [(0.060)4 − (0.045)4 ]

π π
J= Tc Tc 6 kN ⋅ m
2 2 τ max = = 65MPa =
−6 4 J π c4 π c3
= 13.92 ×10 m 2 2

T c (20 kN ⋅ m )(0.060 m ) c = 38.9 ×10−3 m

τ max = τ 2 = BC 2 =
J 13.92 ×10− 6 m 4 d = 2c = 77.8 mm
= 86.2 MPa
τ min c1 τ min 45 mm τ max = 86.2 MPa
= =
τ max c2 86.2 MPa 60 mm τ min = 64.7 MPa
τ min = 64.7 MPa 12
 Sample Problem 3.2

100 mm 150 mm The preliminary design of a large shaft connecting a motor

to a generator calls for the use of a hollow shaft with inner
and outer diameters of 150 mm and 100 mm respectively.
Knowing that the allowable shearing stress is 84 MPa,
determine tha maximum torque that can be transmitted (a)
2.4 m
by te shaft, (b) by a solid shaft of the same weight, (c) by a
hollow shaft of the same weight and of 200 mm outer
diameter.

13
 Sample Problem 3.2
SOLUTION:
Angle of Twist in Elastic Range
• Recall that the angle of twist and maximum shearing strain are
related,
cφ
γ max =
L
• In the elastic range, the shearing strain and shear are related by
Hooke’s Law,
τ max Tc
γ max = =
G JG
• If the torsional loading or shaft cross-section changes along the
length, the angle of rotation is found as the sum of segment
rotations
Ti Li
φ =∑
i J i Gi

15
Angle of Twist in Elastic Range
Sample Problem 3.3
The horizontal shaft AD is attached to a fixed base at D and is subjected to
the torques shown. A 44-mm diameter hole has been drilled into portion
CD of the shaft. Knowing that the entire shaft is made of steel for which
G=77 MPa, determine the angle of twist at end A.
SOLUTION:

16
 Sample Problem 3.3
SOLUTION:
 Statically Indeterminate Shafts
Example Problem 3.05
125 mm

125 mm
120 N-m

120 N-m

A circular shaft consists of a 250 mm long 22 mm diameter steel cylinder, in which a 125 mm long,
16-mm diameter cavity has been drilled from end B. The shaft is attached to fixed supports at both
ends, and a 120 N-m torque is applied at its midsection. Determine the torque exerted on the shaft
by each of the supports.

18
 Example Problem 3.05
SOLUTION:
 Design of Transmisson Shafts
• Principal transmission shaft performance • Determine torque applied to shaft at specified
specifications are: power and speed (ω is angular velocity in rad/sec
- power and f is the frequency of rotation),
- speed
P = Tω = 2πfT
P P
• Designer must select shaft material and T= =
ω 2πf
cross-section to meet performance
specifications without exceeding • Find shaft cross-section which will not exceed the
allowable shearing stress. maximum allowable shearing stress,
Tc
τ max =
J
J π 3 T
= c = (solid shafts )
c 2 τ max
J T
=
π 4 4
c2 2c2
(
c2 − c1 =
τ max
) (hollow shafts )
20
Stress Concentrations
• Torsion formula for a circular shaft of uniform cross
section, loaded through rigid end plates;
Tc
τ max =
J
• Experimental or numerically determined concentration
factors are applied as
Tc
τ max = K
J

21
Plastic Deformations
• With the assumption of a linearly elastic material,
Tc
τ max =
J
• If the yield strength is exceeded or the material has a nonlinear
shearing-stress-strain curve, this expression does not hold.

• Shearing strain varies linearly regardless of material properties

Recall: ρ
γ = γ max
c
• Application of shearing-stress-strain curve allows determination of
stress distribution.
• The integral of the moments from the internal stress distribution is
equal to the torque on the shaft at the section,
c c
T = ∫ ρτ (2πρ dρ ) = 2π ∫ ρ 2τ dρ
0 0
22
 Elastoplastic Materials

• At the maximum elastic torque,

J
TY = τ Y = 12 πc3τ Y
c
• At the elasto-plastic phase, the torque;
c
T = 2 π ∫ ρ 2τ d ρ
0
ρY " τY % c
= 2 π ∫ ρ $ ρ ' d ρ + 2 π ∫ ρ 2τ Y d ρ
2

0 # ρY & ρY

1 3 2 3 2 3 2 3 " 1 ρY3 % 4 " 1 ρY3 %

= πρY τ Y + π c τ Y − πρYτ Y = π c τ Y $1− 3 '
T = TY $1− '
2 3 3 3 # 4c & 3 # 4 c3 & 23
 Elastoplastic Materialsü*9852a
4 " 1 ρY3 %
T = TY $1− '
3 # 4 c3 &

ρY → 0 TP = 43 TY = plastic torque

• Deformations for elastic core; LγY

φ=
ρY
• At onset of yield, ρY= c
Lγ Y
φY =
c
• Torque as a function of angle of twist then;
4 " 1 φY3 %
T = TY $1− '
3 # 4 φ3 &

24
 Residual Stresses
• Plastic region develops in a shaft when subjected to a large enough
torque
• When the torque is removed, the reduction of stress and strain at each
point takes place along a straight line to a generally non-zero
residual stress
• On a T-φ curve, the shaft unloads along a straight line to an angle
greater than zero
• Residual stresses found from principle of superposition

Tc
ʹ =
τm ∫ ρ (τ dA) = 0
J
25
 Sample Problem 3.08 & 3.09
SOLUTION:
• Determine the torque Ty at the onset of yield;

(
J = 12 πc 4 = 12 π 25 ×10−3 m )
A solid circular shaft is subjected to a torque T= = 614 ×10−9 m 4
4.6 kN-m at each end. Assuming that the shaft
TY c τ J
is made of an elastoplastic material with τY= τY = ⇒ TY = Y
150 MPa and G= 77 MPa, determine (a) the J c
radius of the elastic core, (b) the angle of twist
of the shaft. When the torque is removed, TY =
(
150 ×106 Pa )(614 ×10−9 m 4 )

determine (c) the permanent twist, (d) the

25 ×10−3 m
distribution of residual stresses. = 3.68 kN ⋅ m

26
 Sample Problem 3.08&3.09
4 " 1 ρY3 % 1
T = TY $1− ' ρY ⎛ 4.6 ⎞ 3
3 # 4 c3 & = ⎜4 −3 ⎟ = 0.630 ρY = 15.8 mm
c ⎝ 3.68 ⎠
• Solve for the angle of twist
φ ρ φY
= Y ⇒ φ=
φY c ρY c

φY =
TY L
=
( )
3.68 ×103 N (1.2 m )
JG ( )
614 ×10-9 m 4 (77 ×10 Pa )

φY = 93.4 ×10−3 rad Lγ Y LγY

φY = φ=
93.4 × 10−3 rad c ρY
φ= = 148.3 ×10−3 rad = 8.50o
0.630
φ = 8.50o
27
 Sample Problem 3.08 & 3.09
• The angle which the shafts untwists when • Find the residual stress distribution by a
the torque is removed will be calculated. superposition of the stress due to twisting and
The permanent twist is the difference untwisting the shaft
between the angles of twist and untwist.
ʹ =
τ max
( )(
Tc 4.6 ×103 N ⋅ m 25 ×10−3 m
=
)
φ' =
TL J 614 ×10-9 m 4
JG
= 187.3 MPa
=
( 4.6 ×103 N ⋅ m) (1.2 m)
(6.14 ×10 m ) ( 77 ×10 Pa )
9 4 9

360 o
−3
= 116.8 ×10 rad = 0.1168 = 6.69 o
2π
φ p = φ − φ ' = 8.50 o − 6.69 o = 1.81o

28
Torsion of Noncircular Members
• Previous torsion formulas are valid for axisymmetric or
circular shafts
• Planar cross-sections of noncircular shafts do not remain
planar and stress and strain distribution do not vary linearly
• For uniform rectangular cross-sections,
T TL
τ max = φ=
c1ab 2 c2 ab3G

• At large values of a/b, the maximum shear stress and

angle of twist for other open sections are the same as a
rectangular bar.

29
Thin-Walled Hollow Shafts
• Summing forces in the x-direction on AB,
∑∑FFx== 00 ==ττA (t(AtΔxΔ) −xτ) −B (τt B Δ(xt) Δx )
x A A B B
τ At A= τ Bt B = τ t = q = shear flow
τ At A= τ Bt B = τ t = q = shear flow
shear stress varies inversely with thickness
• Compute the shaft torque from the integral of the
moments due to shear stress
dM 0 = p dF = pτ (t ds ) = q ( pds ) = 2q da
T=
∫ dM 0 = ∫ 2q da = 2qa
T
τ=
2ta
• Angle of twist (from Chapt 11)

TL ds
4a 2G  t
ϕ= ∫ 30
 Sample Problem 3.9

Using τall= 40 MPa, determine the largest torque that may be

T TL
applied to each of the brass bars and to the brass tube shown. τ max = φ=
Note that the two solid bars have the same cross-sectional c1ab 2 c2 ab3G
areas, and the square bar and square tube have the same
outside dimensions.

31
 Sample Problem 3.9
SOLUTION: