MECHANICS OF MATERIALS

Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Sample Problem 3.4

• Find the T0 for the maximum • Find the corresponding angle of twist for each
allowable torque on each shaft – shaft and the net angular rotation of end A.
choose the smallest.

φA/ B =
TAB L
=
(61.8 Nm )(0.6 m )
2 (0.0095 m ) (77 × 10 Pa )
4
J AB G π 9

= 0.0376 rad = 2.15o

2.73 (61.8 Nm )(0.6 m )
T c (
T0 9.5 ×10 −3 m ) φC / D =
TCD L
=
τ max = AB
J AB
6
55 ×10 Pa =
π
(9.5 ×10 −3
m)
4 J CD G π
(
2 (0.0125 m ) 77 × 10 psi
4 9
)
2
= 0.0514 rad = 2.95o
T0 = 74.1 Nm
φB = 2.73φC = 2.73 (2.95o ) = 8.05o
τ max =
TCD c
55 ×106 Pa =
(
2.8 T0 12.5 ×10 m −3
)
J CD π
2 (12.5 ×10 −3
m )
4 φ A = φB + φ A / B = 8.05o + 2.15o φ A = 10.2o
T0 = 61.8 Nm T0 = 61.8 Nm

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 1

 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Design of Transmission Shafts

• Principal transmission shaft • Determine torque applied to shaft at

performance specifications are: specified power and speed,
- power P = Tω = 2πfT
- speed P P
T= =
ω 2πf
• Designer must select shaft
material and cross-section to • Find shaft cross-section which will not
meet performance specifications exceed the maximum allowable
without exceeding allowable shearing stress,
shearing stress. τ max =
Tc
J
J π 3 T
= c = (solid shafts )
c 2 τ max
J
=
π 4 4
c2 2c2
(
c2 − c1 =
T
)
τ max
(hollow shafts )

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 2

 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Stress Concentrations
• The derivation of the torsion formula,
Tc
τ max =
J
assumed a circular shaft with uniform
cross-section loaded through rigid end
plates.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways, and cross-section discontinuities
can cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
τ max = K
J

Fig. 3.32 Stress-concentration factors

for fillets in circular shafts.

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 3

 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

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. 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

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 4

 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Elastoplastic Materials
• At the maximum elastic torque,
J Lγ Y
TY = τ Y = 12 πc3τ Y φY =
c c

• As the torque is increased, a plastic region

ρ
( τ = τ Y ) develops around an elastic core ( τ = τY )
ρY
Lγ Y
ρY =
φ

2 πc 3τ 1 − 1 ρY3  
4 T 1 − 1 ρY3 
T= Y = 3 Y
3

4
c 3

4
c3 
 3
T= 4 T 1 − 1 φY 
3 Y 4 3
 φ 

• As ρY → 0, the torque approaches a limiting value,

TP = 43 TY = plastic torque

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 5

 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

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 ∫ ρ (τ dA) = 0
′ =
τm
J
© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 6
 MECHANICS OF MATERIALS
Edition
Sixth
Example 3.08/3.09
A solid circular shaft is subjected to a
torque T = 4.6 kN ⋅ m at each end.
Assuming that the shaft is made of an
elastoplastic material with τ Y = 150 MPa
and G = 77 GPa determine (a) the
radius of the elastic core, (b) the
angle of twist of the shaft. When the
torque is removed, determine (c) the
permanent twist, (d) the distribution
of residual stresses.
© 2012 The McGraw-Hill Companies, Inc. All rights reserved.
Beer • Johnston • DeWolf • Mazurek
SOLUTION:
• Solve Eq. (3.32) for ρY/c and evaluate
the elastic core radius
• Solve Eq. (3.36) for the angle of twist
• Evaluate Eq. (3.16) for the angle
which the shaft untwists when the
torque is removed. The permanent
twist is the difference between the
angles of twist and untwist
• Find the residual stress distribution by
a superposition of the stress due to
twisting and untwisting the shaft
3- 7
 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Example 3.08/3.09
SOLUTION:
• Solve Eq. (3.36) for the angle of twist
• Solve Eq. (3.32) for ρY/c and
evaluate the elastic core radius
φ ρY φY
1 = ⇒ φ=

4 T 1 − 1 ρY3  ρY  T  3
φY c ρY c
T= ⇒ =  4 − 3 
3 Y

4
c 
3 c  TY 
φY =
TY L
=
( )
3.68 × 103 N ⋅ m (1.2 m )
(
J = 12 πc 4 = 12 π 25 × 10−3 m ) JG ( )
614 × 10-9 m 4 (77 × 10 Pa )

= 614 × 10 −9
m 4 φY = 93.4 × 10−3 rad

τ J 93.4 × 10−3 rad

τY =
TY c
⇒ TY = Y φ= = 148.3 × 10−3 rad = 8.50o
J c 0.630

TY =
(
150 × 106 Pa )(614 × 10−9 m 4 ) φ = 8.50o
25 × 10−3 m
= 3.68 kN ⋅ m
1
ρY  4.6  3
= 4 −3  = 0.630
c  3. 68 
ρY = 15.8 mm
© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 8
 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Example 3.08/3.09
• Evaluate Eq. (3.16) for the angle • Find the residual stress distribution by
which the shaft untwists when a superposition of the stress due to
the torque is removed. The twisting and untwisting the shaft
permanent twist is the difference
between the angles of twist and ′
τ max = =
( )(
Tc 4.6 × 103 N ⋅ m 25 × 10−3 m )
untwist J 614 × 10-9 m 4
= 187.3 MPa
TL
φ′ =
JG

=
(4.6 × 103 N ⋅ m )(1.2 m )
(6.14 × 10−9 m4 )(77 × 109 Pa )
= 116.8 × 10−3 rad = 6.69°
φp = φ − φ ′
= 8.50° − 6.69°
= 1.81o
φ p = 1.81o
© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 9
 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

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.

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 10

 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Thin-Walled Hollow Shafts

• Summing forces in the x-direction on AB,
∑ Fx = 0 = τ A (t A∆x ) − τ B (t B ∆x )
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 Chapter 11)
TL ds
φ= ∫
4 A 2G t

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 11

 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Example 3.10
Extruded aluminum tubing with a rectangular
cross-section has a torque loading of 2.7
kNm. Determine the shearing stress in each
of the four walls with (a) uniform wall
thickness of 4 mm and wall thicknesses of (b)
3 mm on AB and CD and 5 mm on CD and
BD.
SOLUTION:
• Determine the shear flow through the
tubing walls.
• Find the corresponding shearing stress
with each wall thickness .

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 12

 MECHANICS OF MATERIALS
Edition
Sixth Beer • Johnston • DeWolf • Mazurek

Example 3.10
SOLUTION: • Find the corresponding shearing
stress with each wall thickness.
• Determine the shear flow through the
tubing walls.
With a uniform wall thickness,
q 251.12 ×103 N m
τ= =
t 0.004 m

τ = 62.8 MPa

With a variable wall thickness

251.12 ×103 N m
τ AB = τ AC =
A = (96 mm )(56 mm ) = 5376 mm 2 0.003 m
T 2700 Nm 3 N τ AB = τ BC = 83.7 MPa
q= = = 251 . 12 × 10
(
2 A 2 5376 ×10 −6 mm 2 ) m
251.12 ×103 N m
τ BD = τ CD =
0.005 m
τ BC = τ CD = 50.2 MPa

© 2012 The McGraw-Hill Companies, Inc. All rights reserved. 3- 13