재료역학 - 3장 강의PPT

Chapter 3:
Torsion
Mechanics of Materials
Chapter 3 : Torsion
1. Overview(개요)
This chapter is concerned with the twisting of circular bars and hollow shafts acted
upon by torsional moments.
⑴ Terms and definition(용어와 정의)
ⓐ Uniform torsion(균일 비틀림) :
Torsion in which torque is constant over the length of a prismatic shaft.
균일단면 축의 길이에 대해 토르크가 일정한 경우
ⓑ Non-uniform torsion(불균일 비틀림) :
Torsion in which torque(torsional moment) of cross section varies over the length of
a prismatic shaft.
단면의 비틀림 모멘트 또는 비틀림 강도가 길이방향으로 변하는 경우
ⓒ Shearing stresses and shear strains(전단응력과 전단변형률) :
Both shearing stresses and shear strains vary linearly with increasing radial
distance in the cross section.
전단응력과 전단변형률은 단면에서 반지름 방향의 거리에 따라 선형적으로 변화
Chapter 3 : Torsion
1. Overview(개요)
This chapter is concerned with the twisting of circular bars and hollow shafts acted
upon by torsional moments.
ⓓ Statically indeterminate bar(부정정 봉) :
We must augment the equations of equilibrium with compatibility equations(torque-
displacement relation) to solve for any unknowns of interest, such as support
moments or internal torsional moments in members.
지지 모멘트, 구조물의 내부 비틀림 모멘트와 같은 미지수를 풀기 위해
적합방정식으로 평형방정식을 증가.
Chapter 3 : Torsion
1. Overview(개요)
⑵ Torsion(비틀림)
Torsion refers to the twisting of a straight bar when it is loaded by torque(twisting
moment) that tend to produce rotation about the longitudinal axis of the bar.
봉의 길이방향 축에 대해 회전을 일으키려 하는 모멘트(토크)에 의해 가해지는
곧은 봉의 비틀림 현상
Chapter 3 : Torsion
1. Overview(개요)
⑶ Representation of torque(표현법)
① Vector 표현법
ⓐ Double headed arrow 형태의 벡터로 표현
ⓑ 화살표는 우력 또는 Torque을 포함하고 있는 평면에 대해 수직하고,
두 개의 화살표는 봉의 축에 평행
ⓒ 모멘트의 방향은 모멘트 벡터에 대한 오른손 법칙
② 모멘트를 표현하는 다른 방법
회전방향으로 작용하는 곡선 화살표로 표현
Chapter 3 : Torsion
1. Overview(개요)
⑷ 비틀림 하중에 대한 이상화 :
ⓐ 첫 번째 쌍은 봉의 중간 부근에 작용하는 힘 P1으로 구성
ⓑ 두 번째 쌍은 끝에 작용하는 힘 P2로 구성
ⓒ 각 쌍의 힘들은 봉을 길이방향 축에 대해 비틀려고 하는 우력을 형성.
ⓓ 우력 모멘트는 힘 중 하나와 그 힘들의 작용선 사이의 수직거리를 곱
Chapter 3 : Torsion
2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

⑴ Prismatic bar of circular cross section twisted by torque T acting at the ends.
ⓐ Every cross section of the bar is identical and every cross section of the bar is
subjected to the same internal torque T., that is., pure shear
봉의 모든 단면이 동일하고, 봉의 모든 단면은 같은 내부 토크를 받음
ⓑ The element is subjected to shear strains but no normal strains.
요소에 전단변형률만 있고, 수직변형률은 없음
Chapter 3 : Torsion

① Geometrical symmetry(기하학적 대칭)
The angle of rotation between one end of the bar and the other end is small
봉의 양 단면 사이의 회전각은 작음
ⓐ All cross sections remain plane and circular.
모든 단면은 평면이고, 원형
ⓑ All radii remain straight.
모든 반경은 직선
Chapter 3 : Torsion

① Geometrical symmetry(기하학적 대칭)
ⓒ Because this small rotation, a straight longitudinal line p-q on the surface of bar
will become a helical curve p-q’, where q’ is position of point q after the end cross
section has rotated through the angle φ.
작은 회전 때문에, 봉의 표면에 있는 길이방향 직선 p-q가 나선 곡선 p-q’로 변함
ⓑ The angle of twist changes along the axis of the bar and, at intermediate cross
section, will have a value φ(x) that is between zero at the left hand end and φ at the
right hand end. The angle φ(x) will vary linearly between the ends.
비틀림 각 φ(x)는 양단 사이에서 선형적으로 변함
Chapter 3 : Torsion

⑵ Shear strains at the outer surface(바깥 표면에서의 전단변형률)
ⓐ Consider an element of the bar between two cross sections distance dx apart.
거리 dx 떨어진 두 단면 사이의 봉 요소를 고려
ⓑ The right hand cross section rotates with respect to the left hand cross section
through a small angle of twist dφ.
오른쪽 단면은 왼쪽 단면에 대해 미소 비틀림각 dφ 만큼 회전
Chapter 3 : Torsion

① Shear strain at the outer surface,  max (봉의 바깥표면에서 전단변형률)
bb' rdφ
 max  
ab dx
Where
bb'  rdφ, dφ : in radian
Equation that relates the shear strain at the outer surface of the bar to the angle of
twist. (전단변형률과 비틀림각을 관련시켜 주는 방정식)
Chapter 3 : Torsion

② Angle of twist per unit length,θ
단위 길이당 비틀림각
dφ
: rateof changeof the angle of twist φ with respect to the distancex
dx
measuredalong the axis of the bar
dφ
θ
dx
Chapter 3 : Torsion

③ Equation for the shear strain at the outer surface
바깥 표면에서의 전단변형률 방정식
rdφ
 max   rθ
dx
Note :
ⓐ The equation is valid in more general case of torsion, such as the rate of twist θ
is not constant but varies with the distance x along the axis of the bar.
위 식은 비틀림 변화율이 일정하지 않고, 축방향 거리 x에 따라 변하는 보다
일반적인 경우에도 유효.
ⓑ In the special case of pure torsion, the rate of twist is equal to the total angle of
twist φ divided by the length L.
특수한 순수 비틀림인 경우, 비틀림 변화율은 전체 비틀림각을 길이로 나눈값과
같음
φ
θ
L
Chapter 3 : Torsion

④ Equation for the shear strain at the outer surface in pure torsion
순수비틀림에서, 바깥 표면에서의 전단변형률 방정식
rφ
 max  rθ 
L
Where
φ
θ  : rateof twist is equalto the totalangle of twist  divided by the lengthL
L
Note :
φ L φ
dφ  θdx  
0
dφ  
0
θdx  θ
L
Chapter 3 : Torsion

⑶ Shear strains within the bar(봉 내부의 전단변형률)
ⓐ 원형봉 내 전단변형율은 반지름방향의 거리 ρ에 따라 선형적으로 변하며
중심에서 “0”, 그리고 바깥 표면에서는 최대값  max이 된다.
ⓑ 전단변형률은 단면에서 반지름 방향의 거리에 따라 선형적으로 변화
r : ρ   max : 
ρ
   max
r
φ
θ : rateof twist
L
ρ φ
   max  ρθ  ρ : shear strainat the radialdistance from the center
r L
Chapter 3 : Torsion

⑷ Circular tubes(원형관)
① Shear strain in a circular tube(원형관에서 전단변형률)
r2φ
 max 
L
r rφ
 min  1  max  1
r2 L
r1 : inner radius
r2 : outer radius
Chapter 3 : Torsion
3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

⑴ Shear stresses(전단응력)
Shearing stresses, are proportional to shearing strains,  with the constant of
proportionality being G, the shearing modulus of elasticity.
  G
① Maximum shear stress(최대 전단응력)
ⓐ 봉의 바깥 표면에서 최대 전단변형률
ⓑ Maximum shear stress at the outer surface of the bar
봉의 바깥 표면에서 최대 전단응력
 max  G max
φ
 Gr
L
 Grθ
Note : linearly elastic material
Chapter 3 : Torsion

② Shear stress at an interior point
봉의 내부에서 전단응력
ⓐ 봉의 반경 ρ인 내부 점에서 전단변형률
ρdφ
   ρθ
dx
ⓑ Shear stress at an interior point
봉의 반경 ρ인 내부 점에서 전단응력
  G  Gρθ
ρ Note:
  max
r ρ : r   :  max
Note :
The shear stresses vary linearly with the distance from the center of the bar.
Chapter 3 : Torsion

③ Shear stress at the center of the bar
봉의 중심에서 전단응력
ⓐ Shear strain at the center of the bar., that is, ρ = 0
봉의 중심 ρ = 0에서 전단변형률
  ρθ  0
ⓑ Shear stress at the center of the bar
봉의 중심에서 전단응력
  Gρθ  0
Where
ρ0
Chapter 3 : Torsion

④ Shear stresses acting on longitudinal planes
길이방향 평면에 작용하는 전단응력
ⓐ The shear stresses acting on a cross sectional plane are accompanied by shear
stresses of the same magnitude acting on longitudinal planes
단면 평면에 작용하는 전단응력은 봉의 길이방향 평면 위에 작용하는 같은 크기의
전단응력을 동반.
ⓑ This is because equal shear stress always exist on mutually perpendicular plane.
Chapter 3 : Torsion

⑵ The torsional formula(비틀림 공식)
① Lets determine the relationship between the shear stresses and the torque T.
전단응력과 토크 T 관계식 결정
ⓐ Shear stresses acting continuously around the cross section have a resultant in
the form of an internal twisting moment – a moment equal to the torque T acting on
the bar.
단면에 연속적으로 작용하는 전단응력은 내부 비틀림 모멘트 형태의 합력을 갖는다.
이 모멘트는 봉에 작용하는 토크와 같다.
Chapter 3 : Torsion

② Resultant in form of moment(합력)
Determination of the resultant in the form of moment due to the shear stresses
acting on a cross section.
단면에 작용하는 전단응력에 의한 모멘트 형태의 합력 결정
ⓐ Moment of shear force, acting on element at ρ from the axis of the bar about the
axis of the bar
dM  dT  dFρ  τdAρ 
τmax 2
ρ dA
r
τ
where τ  max ρ
r
Chapter 3 : Torsion

② Resultant in form of moment(합력)
ⓑ Resultant moment equal to the torque T
합 모멘트(토크)는 모든 요소 모멘트를 전체 단면적에 걸쳐 합한 것
1
Ip πd4  1 
τ 32
T   dM  max A ρ dA  τmax r  τmax
2
 τmaxzp  τmax  πd3 
A r 1  16 
d
2
Where
1 4 1
Ip  
A
ρ2dA 
2
πr 
32
πd4
Chapter 3 : Torsion

③ Torsional formula(비틀림 공식)
Re-arranging T  τ
Ip
max
r
T*r T
τmax  
Ip zp
Known as torsional formula (비틀림공식)
Note :
Maximum shear stress is proportional to the applied torque T and inversely
proportional to the polar moment of inertia Ip.
최대 전단응력은 작용토크 T 에 비례하고, 극관성 모멘트 Ip 에 반비례
Chapter 3 : Torsion

④ Maximum shear stress(최대 전단응력)
ⓐ Maximum shear stress of solid circular cross section
중실 원형 단면봉에 적용되는 최대 전단응력
T * r 16T
 max  
Ip πd3
Where
1 4 1
Ip   ρ dA  πr 
2
πd4
A 2 32
Chapter 3 : Torsion

⑤ Generalized torsion formula(일반화된 비틀림 공식)
Shear stress at distance ρ from the center of the bar
봉의 중심으로부터 반경방향 거리 ρ에서 전단응력
ρ ρ  T * r  Tρ
   max    
r r  Ip  Ip
Chapter 3 : Torsion

⑶ Angle of twist(비틀림각)
Relate angle of twist φ of a bar of linearly elastic material to the applied torque T.
선형 탄성재료로 된 봉의 비틀림 각 φ과 적용된 토크 T와의 관계
① 단위 길이당 비틀림 각
 max  Grθ
Tr
 max 
Ip
T
θ  Where,GIp : torsional rigidity
GIp
순수 비틀림의 경우, 비틀림 변화율은 전체 비틀림 각을 봉의 길이로 나눈 값
φ
θ
L
Chapter 3 : Torsion

② 전체 비틀림각 φ
T
θ
GIp
TL
  L 
GIp
Chapter 3 : Torsion

② 전체 비틀림각 φ
T
θ
GIp
TL TL
φ  θL  
GIp Grzp
 Tr T
 max  Grθ  Gr  
L Ip zp
Chapter 3 : Torsion

⑷ Circular tibes(원형관)
① Polar moment of inertia of the cross sectional area of a tube Ip
원형관 단면적의 극관성 모멘트 Ip
r2
Ip  
ro
ri
1 4 1 4 4

ρ 2πρdρ  πρ  π ro  ri 
2
2 2
1
32
 
π do4  di4 
ri
Chapter 3 : Torsion

⑷ Circular tibes(원형관)
② Other form of Polar moment of inertia of the cross sectional area of a tube Ip
다른 형태의 원형관 단면적의 극관성 모멘트 Ip
r2
Ip  
ro
ri
1 1

ρ2 2πρdρ  πρ4  π ro4  ri4 
2 2
1
32
 
π do4  di4 
ri
Ip 
πrt 2 2
2

4r  t  
πdt 2 2
4
d t  
Where
r  r1  r2  d  d1  d2 
1 1
2 2
1
Ip  2πr3t  πd3t
4
Chapter 3 : Torsion
Example 3-1
A solid steel bar of circular cross section has a diameter of d = 40mm, length L =
1.3m, and shear modulus of elasticity G = 80GPa. The bar is subjected to torques T
acting at the ends.
Chapter 3 : Torsion
Example 3-1
⒜ If the torques have a magnitude T = 340N∙m, what is the maximum shear stress
in the bar? What is the angle of twist between the ends?
1, 2. Conceptualize, categorize
① Maximum shear stress
Tr 16T 16340N m
 max     27.1MPa
π0.04m
3 3
Ip πd
Chapter 3 : Torsion
Example 3-1
⒜ If the torques have a magnitude T = 340N∙m, what is the maximum shear stress
in the bar? What is the angle of twist between the ends?
3. Analyze
① Angle of twist
φ
TL

340N m1.3m  0.02198rad 1.26o

GIp 80GPa 2.51*107 m4 
Where
πr4 πd4 π0.04m
4
Ip     2.51*107 m4
2 32 32
Chapter 3 : Torsion
Example 3-1
⒝ If the allowable shear stress is 42MPa and the allowable angle of twist is 2.5o,
What is the maximum permissible torque?
The maximum permissible torque is determined either by the allowable shear stress
or by the allowable angle of twist.
3. Analyze
① Based on allowable shear stress
Tmaxr 16Tmax
 all .  
Ip πd3
πd3
π0.04m 42MPa  528N m
1 3
Tmax .1   max.1 
16 16
Chapter 3 : Torsion
Example 3-1
The maximum permissible torque is determined either by the allowable shear stress
or by the allowable angle of twist.
3. Analyze
② Based on allowable angle of twist
φall Tmaxr 16Tmax
 all .  Gr  
L Ip πd3
GIpφall
80GPa2.51*10 7 

m4  2.5o *
π 

o 
 180 
Tmax .2    674N m
L 1.3m
Chapter 3 : Torsion
Example 3-1
4. Final
Maximum permissible torque ;
Tmax  smaller of 528 or674N  m
Chapter 3 : Torsion
Example 3-2
A steel shaft is to be manufactured either as a solid circular bar or as a circular
tube. The shaft is required to transmit a torque of 1200N∙m without exceeding an
allowable shear stress of 40MPa nor an allowable rate of twist of 0.75°/m. The
shear modulus of elasticity of the steel is 78MPa.
Chapter 3 : Torsion
Example 3-2
⒜ Determine the required diameter do of the solid shaft.
The required diameter do is determined either from the allowable shear stress or
from the allowable rate of twist.
3. Analyze
① Based on allowable shear stress
16T 161200N m
d3o    152.8* 106 m3
πτall  N 
π 40 * 106 2 
 m 
do  0.0535m 53.5mm
Chapter 3 : Torsion
Example 3-2
⒜ Determine the required diameter do of the solid shaft.
3. Analyze
② Based on allowable angle of twist
TL
φ  θL 
GIp
T
θ
GIp
T 1200N m 9
Ip    4
 
Gθall 78GPa 0.75o /m πrad/180o 1175 * 10 m
32Ip 321175 * 10 m 
9 4
6
d 
4
o   11.97* 10 m4
π π
do  0.0588m 58.8mm
Chapter 3 : Torsion
Example 3-2
⒝ Determine the required outer diameter d2 of the hollow shaft if the thickness t of
the shaft is specified as one-tenth of the outer diameter.
3. Analyze
① Inner diameter
d1  d2  2t  d2  20.1d2   0.8d2
② Polar moment of inertia
Ip 
π 4
32

d2  d1 
4
π 4
32

d2  0.8d2  
4 π
32
  
0.5904d24  0.05796d24
Chapter 3 : Torsion
Example 3-2
3. Analyze
③ Required outer diameter
ⓐ Based on allowable shear stress
Tr Td2/2  T
τall   
Ip 0.05796d24 0.1159d32
T 1200N m
d32    258.8* 106 m3
0.1159τall 0.115940MPa
d2  0.0637m 63.7mm
Chapter 3 : Torsion
Example 3-2
3. Analyze
ⓑ Based on allowable angle of twist
TL
φ
GIp
φ T 1200N m
θ  

L GIp 78GPa 0.05796d24 
1200N m
d24 
 
78GPa0.05796 0.75o /m πrad/180o 
 20.28* 106 m4
d2  0.0671m 67.1mm
Chapter 3 : Torsion
Example 3-2
3. Analyze
ⓒ Required outer diameter
d2 = larger value of (63.7 or 67.1mm)
④ Inner diameter of tube
d1  d2  2t
 d2  0.2d2  0.8d2
 0.8 * 67.1mm
 56mm
Chapter 3 : Torsion
Example 3-2
⒞ Determine the ratio of diameter (that is, the ratio d2/do) and the ratio of weights of
the hollow and solid shafts.
3. Analyze
① Ratio of diameter
d2 67.1mm
  1.14
do 58.8mm
14% increased
Chapter 3 : Torsion
Example 3-2
⒞ Determine the ratio of diameter (that is, the ratio d2/do) and the ratio of weights of
the hollow and solid shafts.
3. Analyze
② Ratio of weights
Wh LA h Ah
π 2

d2  d12 
   4
Ws LA s A s π 2
do
4
67.12  53.72
 2
 0.47  47%
58.8
Chapter 3 : Torsion
Example 3-3
A hollow shaft and a solid shaft constructed of the same material have the same
length and the same outer diameter R. The inner radius of the hollow shaft is 0.6R
Chapter 3 : Torsion
Example 3-3
⒜ Assuming that both shafts are subjected to the same torque, compare their
shear stresses, angle of twist, and weights.
2, 3. Categorize, analyze
ⓐ Shear stress
Tmaxr
 all . 
Ip
ⓑ Polar moment of inertia of solid bar
πr4 πR4
Ip.s    0.5πR4
2 2
ⓒ Polar moment of inertia of tube
πR4 π0.6R
4
Ip.h    0.4352πR4
2 2
Chapter 3 : Torsion
Example 3-3
① Ratio of shear stress
TR
τH Ip.h 0.5πR4
β1    4
 1.15
τs TR 0.4352πR
IP.s
② Ratio of angle of twist
TL
φH GIp.h 0.5πR4
β2     1.15
φs TL 0.4352πR 4
GIP.s
Chapter 3 : Torsion
Example 3-3
③ Ratio of weight
WH γLAh 0.4352πR4
β3    4
 0.64
Ws γLAs 0.5πR
Chapter 3 : Torsion
Example 3-3
⒝ Determine the strength to weight ratios for both shafts
2. Categorize
The relative efficiency of a structure is measured by its strength to weight ratio,
which is defined for a bar in torsion as the allowable torque divided by the weight.
3. Analyze
① Hollow shaft
ⓐ Strength
Th  

τmaxIp τmax 0.4352πR4 
 0.4352πR3τmax
R R
ⓑ Weight
Wh  LA h  0.64πR2L
Chapter 3 : Torsion
Example 3-3
2. Categorize
3. Analyze
① Hollow shaft
ⓒ Strength to weight ratio
τmaxIp 
τmax 0.4352πR4 
Th R R 0.4352πR3τmax τmaxR
    0.68
Wh LA h LA h 0.64πR2L L
Chapter 3 : Torsion
Example 3-3
2. Categorize
3. Analyze
② Solid shaft
ⓐ Strength
Ts  

τmaxIp τmax 0.5πR4 
 0.5πR3τmax
R R
ⓑ Weight
Ws  LAs  πR2L
Chapter 3 : Torsion
Example 3-3
2. Categorize
3. Analyze
② Solid shaft
ⓒ Strength to weight ratio
τmaxIp 
τmax 0.5πR4 
Ts R R 0.5πR3τmax τmaxR
    0.5
Ws LA s πR2L πR2L L
Chapter 3 : Torsion
4. Non-uniform torsion(불균일 비틀림)

⑴ Non-uniform torsion
ⓐ The bar need not prismatic
균일단면일 필요가 없다.
ⓑ The applied torques may act anywhere along the axis of the bar.
토크는 봉의 축을 따라 어느 곳이든 작용할 수 있다. 즉, 봉의 축 길이에 따라
토크가 일정할 필요가 없다.
Note :
Pure torsion refers to torsion of a prismatic bar subjected to torques acting only at
the ends.
⑵ Analysis
Bars in uniform torsion can be analyzed by applying the formulas of pure torsion to
finite segments of the bar and then adding the results, or by applying the formulas
to differential elements of the bar and then integrating.
불균일 비틀림을 받는 봉은 순수비틀림의 공식을 봉의 유한 구간에 적용하든지,
또는 그 공식을 봉의 미소요소에 적용하고 이를 적분함으로써 해석
Chapter 3 : Torsion

⑵ Case.1
Bar consisting of prismatic segments with constant torque throughout each
segment
각 구간에 걸쳐 일정한 토크가 작용하는 균일단면 구간으로 구성된 봉
⒜ 내부 토크에 대한 해석절차
Divide the bar into segments in such a way that each segment is prismatic and
subjected to a constant torque that is., in state of pure torsion
각 구간이 균일단면을 가지고, 일정한 토크를 받는 각 구간별로 봉을 여러구간으로
분할.
Chapter 3 : Torsion

⑵ Case.1
⒜ 내부 토크에 대한 해석절차
1st step ;
Free body diagram(자유물체도)를 작성
2nd step ;
Solving equation of equilibrium with sign convention
3rd step ;
Determine the magnitude and direction of the internal torque in each segment.
4th Step ;
Determine shear stresses using torsional formula.
Tr
 max 
Ip
Chapter 3 : Torsion

⑵ Case.1
Non-uniform bar Free body diagram Equation of equilibrium
T  0
i Tcd  T1  T2  T3  0
T  0
i Tbc  T1  T2  0
T  0 i Tab  T1  0
Note :
Each of these torques is constant throughout the length of its segment
Chapter 3 : Torsion

⑵ Case.1
Non-uniform bar Free body diagram Equation of equilibrium
T  0
i Tcd  T1  T2  T3  0
T  0
i Tbc  T1  T2  0
T  0 i Tab  T1  0
Sign convention :
An internal torque is positive when its vector points away from the cut section and
negative when its vector points toward the section.
토크 벡터의 방향이 단면으로부터 멀어지면 내부 토크는 양의 부호를 갖고, 단면을
향하면 음의부호를 가짐
Chapter 3 : Torsion

⑵ Case.1
⒝ 전체 비틀림각에 대한 해석절차
The total angle of twist of one end of the bar with respect to the other end
다른 단에 대한 한 단의 전체 비툴림각
1st . Determine angle of twist for each segment.
TL
φ
GIp
2nd . Total angle of twist of one end of the bar with respect to the other end is then
obtained algebraic summation.
전체 비틀림각은 각 구간의 비틀림각을 산술적으로 더하여 얻음
φ  φ1  φ2      φn
n n
TiL i
φ  φi 
i1

i1 Gi Ip i
Chapter 3 : Torsion

⑵ Case.1
Sign convention(부호규약)
Some of the torques(and the corresponding angles of twist) may be positive, and
some may be negative. By summing algebraically the angles of twist for all
segments, you obtain the total angle of twist Φ between the ends of the bar.
어떤 토크( 그 토크에 상응하는 비틀림각)은 양일 수도 있고, 어떤 것은 음일 수도
있음. 각 구간에 대한 비틀림각을 대수적으로 더하여, 봉의 양단 사이의 비틀림각을
구함.
Chapter 3 : Torsion

3. Case.2
Bar with continuously varying cross sections and constant torque
연속적으로 변하는 단면을 가지고, 일정한 토크를 받는 봉
⑴ Internal shear stress(내부 전단응력)

When the torque is constant, the maximum shear stress in a solid bar always
occurs at the cross section having the smallest diameter
Torque가 일정하기 때문에 최소 단면에서 최대 전단응력 발생
Tr 16T
 max   3
Ip πdmin
Chapter 3 : Torsion

3. Case.2
⑵ Angle of twist(비틀림 각)
1st. Consider an element of length dx at distance x from one end of the bar
봉의 한 단에서 거리 x 만큼 떨어진 곳에서 길이가 dx인 요소선택
2nd. Differential angle of rotation dφ for the element
요소의 미소 회전각
Tdx
dφ 
GIp x
Chapter 3 : Torsion

3. Case.2
⑵ Angle of twist(비틀림 각)
3rd. The angle of twist for the entire bar is the summation of the differential angles of
rotation
전체 봉의 회전각은 미소회전각을 전체 길이에 대해 적분
L L Tdx
φ 
0
dφ  
0 GIp x
Chapter 3 : Torsion

4. Case.3
Bar with continuously varying cross sections and continuously varying torque
연속적으로 변하는 단면을 가지고, 연속적으로 변하는 토크를 받는 봉
ⓐ The bar is subjected to a distributed torque of intensity “ t ” per unit distance
along the axis of the bar. As the result, the internal torque T(x) varies continuously
along the axis.
ⓑ Bar a continuously varying cross sections along the axis.
Chapter 3 : Torsion

4. Case.3
연속적으로 변하는 단면을 가지고, 연속적으로 변하는 토크를 받는 봉
⑴ Internal torque(내부 토크)에 대한 해석절차
1st. Free body diagram
2nd. Evaluate internal torque using equation of equilibrium
자유물체도에 대한 토크의 평형방정식으로부터 한 단에서 거리 x에서 internal
torque T(x)를 x의 함수로 표현
3rd. Polar moment를 거리 x의 함수로 표현 Ip(x)
L Txrx
 max  
0 Ip x
dx
L L Txdx
φ  dφ  
0 0 GIp x
Chapter 3 : Torsion
Example 3-4
A solid steel shaft ABCDE having a diameter d = 30mm turns freely in bearing at
points A and E. Thee shaft is driven by a gear at C, which applies a torque T2 =
450N∙m in the direction shown in the figure. Gears at B and D are driven by the
shaft and have resisting torques T1 = 275N∙m and T3 = 175N∙m, respectively, acting
in the opposite direction to the torque T2. Segment BC and CD have lengths LBC =
500mm and LCD = 400mm, respectively, and the shear modulus is G = 80GPa.
Determine the maximum shear stress in each part of the shaft and the angle of
twist between gears B and D.
Chapter 3 : Torsion
Example 3-4
Solution :
1, 2. Conceptualize
Each segment of the bar is prismatic and subjected to a constant torque.
① Free body diagram for segment CD
② Equation of equilibrium
T i  0, T1  T2  Tcd  0
275N m  450N m  Tcd  0
Tcd  175N.m
Chapter 3 : Torsion
Example 3-4
Solution :
3. Analyze
① Shear stress for segment CD
Tcdr 16Tcd 16175N m
τcd     33.0MPa
π30mm
3 3
Ip πd
Chapter 3 : Torsion
Example 3-4
Solution :
1, 2. Conceptualize
① Free body diagram for segment BC
 T  0,
i T1  Tbc  0
275N m  Tbc  0
Tbc  275N.m
Chapter 3 : Torsion
Example 3-4
Solution :
3. Analyze
① Shear stress for BC
Tbcr 16Tbc 16275N m
τbc     51.9MPa
π30mm
3 3
Ip πd
Chapter 3 : Torsion
Example 3-4
Solution :
3. Analyze
① Angle of twist for segment BC
TbcLbc  275N m500mm
   0.0216rad
φbc
GIp 
80GPa 79520mm4

② Angle of twist for segment BC
φcd 
TcdLcd

175N m400mm  0.011rad
GIp 
80GPa 79520mm4 
Chapter 3 : Torsion
Example 3-4
Solution :
3. Analyze
③ Total angle of twist
The angle of twist ΦBD between gears B and D is the algebraic sum of the angles of
twist for the intervening segments of the bar.
TbcLbc TcdL cd
φbc   0.0216rad φcd   0.011rad
GIp GIp
φ  φbc  φcd   0.0216 0.011rad  0.0106rad 0.61o
Note :
ⓐ The minus sign means that gear D rotates clockwise (when viewed from the
right-hand end of the shaft) with respect to gear B.
ⓑ Twist displacements are positive if the displacement vector points in the positive
direction of the shaft axis.
Chapter 3 : Torsion
Example 3-5
Two sections(AB, BC) of steel drill pipe, joined by bolted flange plates at B, are
being tested to assess the adequacy of both the pipe and the bolted connection.
In the test, the pipe structure is fixed at A, a concentrated torque 2To is applied at
x = 2L/5, and a uniformly distributed torque with intensity to = 3To/L is applied on
pipe BC.
Chapter 3 : Torsion
Example 3-5
⒜ Find the maximum shear stress τmax in the pipes and its location. Assume that
load variable To = 226kN∙m. let G = 81GPa, and assume that both pipes have the
same inner d = 250mm. Pipe AB has a thickness of tAB = 19mm, while pipe BC has
a thickness of tBC = 16mm.
1. Conceptualize
Make section cuts along the shaft to find internal torques T(x).
2. Categorize
ⓐ Use the torsion formula to find shear stresses on the surface of each segment.
ⓑ Use the torque-displacement relation to find the twist rotation over the length of
the pipe.
ⓒ Examine shear stresses in the bolted connection to find the required number of
bolts
Chapter 3 : Torsion
Example 3-5
3. Analyze
① Summing torsional moments about the x-axis of the structure to find reactive
torque at A.
 2L 
 Mx  0, RA  2To  to  5   0
 
 2L   3To  2L  4
RA  2To  to    2To       To
 5   L  5  5
Chapter 3 : Torsion
Example 3-5
3. Analyze
2
② Make section cuts along the shaft to find internal torque T(x) at 0  x  L
ⓐ Free body diagram
5
Chapter 3 : Torsion
Example 3-5
3. Analyze
2
② Make section cuts along the shaft to find internal torque T(x) at 0  x  L
ⓑ Equation of equilibrium 5
To  T1x  0 T1x 
4 4
 Tx  0, 
5 5
To
Note :
Reactive torsional moment vector is in the(-x) direction based on a static sign
convention
Chapter 3 : Torsion
Example 3-5
3. Analyze
2 3
③ Make section cuts along the shaft to find internal torque T(x) at L  x  L
ⓐ Free body diagram 5 5
Chapter 3 : Torsion
Example 3-5
3. Analyze
2 3
③ Make section cuts along the shaft to find internal torque T(x) at L  x  L
ⓑ Equation of equilibrium 5 5
To  2To  T2 x  0 T2 x  

4 6
 Tx  0, 
5 5
To
Note :
T2(x) points in the negative x direction.
Chapter 3 : Torsion
Example 3-5
3. Analyze
3
④ Make section cuts along the shaft to find internal torque T(x) at L  x  L
ⓐ Free body diagram 5
Chapter 3 : Torsion
Example 3-5
3. Analyze
3
ⓑ Equation of equilibrium 5
 3 
To  2To  to  x  L   T3 x   0
4
 Tx  0, 
5 5 

 3  4 3To  3  x 
T3 x   To  2To  to  x  L   To  2To 
4
  
 x  L   3To   1

5  5  5 L  5  L 
Chapter 3 : Torsion
Example 3-5
3. Analyze
3
x  5
T3 x  3To   1
L 
ⓒ Internal torsion at B
3   13   6
T3  L   3To   L   1   To
5  L 5   5
ⓓ Internal torsion at C
1 
T3 L   3To  L   1  0
L 
Chapter 3 : Torsion
Example 3-5
3. Analyze
⑤ Torsional moment diagram
The diagram displays the variation of internal torsional moment over the length of
pipe structure(x = 0 to x = L)
Chapter 3 : Torsion
Example 3-5
3. Analyze
⑥ Polar moment of inertia(극관성 모멘트)
The polar moment of inertia of each pipe is computed as
ⓐ Pipe AB
Ipab 
π
32
 
d  2tab 4  d4

π
32
  
250  219  250  2.919104 m4
4 4

ⓑ Pipe BC
Ipbc 
π
32
 4
d  2tbc  d4

π
32
  
250  216  250  2.374104 m4
4 4

Chapter 3 : Torsion
Example 3-5
3. Analyze
⑦ Maximum shear stress in pipe τmax
The maximum torsional moments in both AB and BC are near joint B.
ⓐ Pipe AB
 6  d  2tab  6  250mm 219mm 
 To    226kN m 
Tmax ,abr  5  2  5  2 
 max ab   
,
Ipab Ipab  
2.919104 m4
 133.8MPa
Chapter 3 : Torsion
Example 3-5
3. Analyze
⑦ Maximum shear stress in pipe τmax
The maximum torsional moments in both AB and BC are near joint B.
ⓑ Pipe BC
 6  d  2tbc  6  250mm 216mm 
 To    226kN m 
Tmax ,bcr  5  2  5  2 
 max bc   
,
Ipbc Ipbc  
2.374104 m4
 161.1MPa
Chapter 3 : Torsion
Example 3-5
⒝ Find the expression for twist rotation Φ(x) over the length of the pipe structure. If
the maximum allowable twist of the pipe structure is φallow = 0.5°, Find the maximum
permissible value of load variable To(kN∙m) . Let L = 3m. Also, plot the torsional
moment diagram(TMD) and torsional displacement diagram(TDD).
3. Analyze
Use the torque-displacement relations to find the variation of twist rotation Φ over
the length of the pipe structure.
① Boundary condition(경계조건) : fixed support

4 
 To 0
T1x0  5 
φ10   0
GIpab GIpab
Chapter 3 : Torsion
Example 3-5
3. Analyze
② Torque-displacement relation at 0 ≤ x ≤2/5L
T1xx
4To
x 4Tox
φ1x  5 2
  at 0  x  L
GIpab GIpab 5GIpab 5
Note : region 0 ≤ x ≤2/5L에서 torque To = constant

Chapter 3 : Torsion
Example 3-5
3. Analyze
③ Angle of twist at x = 2/5L
 2  2   4  2 
T1 L  L   To  L 
2 
φ1 L  
 
T1 x x    5  5 
  5  5   8ToL  0.32ToL
 5  x  2L GIpab GIpab GIpab 25GIpab GIpab
5
Chapter 3 : Torsion
Example 3-5
3. Analyze
④ Torque-displacement relation at 2/5L ≤ x ≤3/5L
 2   6  2 
T2 x x  L    To  x  L 
2  5  2To 2L  3x
φ2 x  φ1 L    5  8ToL  5 
  
5  GIpab 25GIpab GIpab 5GIpab
⑤ Angle of twist at x = 3/5L
  3 
2To  2L  3 L  
 3  2To 2L  3x   5  2ToL
φ2  L    
5  5GIpab 5GIpab 25GIpab
Chapter 3 : Torsion
Example 3-5
3. Analyze
⑥ Torque-displacement relation at 3/5L ≤ x ≤ L
 3To   ς
 L  ς dς 3To
1  
3  3 
φ3 x  φ2  L   3L 
x L  x
 L  dς
 φ2  L   3L
5  5 GIpbc 5  5 GIpbc
  3   ς
2To 2L  3 L  3To 1  
  5  x
 L  dς
  3L
5GIpab 5 GIpbc
Chapter 3 : Torsion
Example 3-5
3. Analyze
⑥ Torque-displacement relation at 3/5L ≤ x ≤ L
  3   ς
2To 2L  3 L  3To 1   x
5  
φ3 x      x
 L  dς  2LT 3T 1
    
o o 2
3L  ς ς
5GIpab 5 GIpbc 25GIpab GIpbc  2L  3L
5
 3To  
2
2LTo 1 3 1  3  
    x x2
 L   L 
25GIpab  GIpbc  2L 5 2L  5  
 

2LTo


3To 21L2  50Lx  25x2 
25GIpab 50GIpbcL
Chapter 3 : Torsion
Example 3-5
3. Analyze
3
⑦ Angle of twist L  x L
5
φ3 x 
2LTo


3To 21L2  50Lx  25x2 
25GIpab 50GIpbcL
ⓐ Angle of twist at x = 3/5L

3  2LTo
φ3  L  
 5  25GIpab
ⓑ Angle of twist at x = L
φ3 L  
2LTo 6LTo LT
  0.219 o
25GIpab 25GIpbc GIpab
Chapter 3 : Torsion
Example 3-5
3. Analyze
⑧ Torsional displacement diagram
2To 2L  3x
φ2 x 
2 3
φ1x 
4Tox 2
at 0  x  L at L  x  L
5GIpab 5 5GIpab 5 5
φ3 x 
2LTo

 
3To 21L2  50Lx  25x2 3
at L  x  L
25GIpab 50GIpbcL 5
Note:
Ipab  1.23Ipbc
Chapter 3 : Torsion
Example 3-5
3. Analyze
⑨ Maximum permissible torque To.max .
ⓐ Restrict Φmax to the allowable value of 0.5o.
2  0.32ToL
φ1 L  
 5  x  2L GIpab
5
To.max 
GIpab
φallow 
  
81GPa 2.919* 104 m4   
0.5o  215kN m
0.32L 0.323m
Chapter 3 : Torsion
Example 3-5
⒞ Use maximum To from part (b) to find the number of do = 22mm diameter bolts at
radius r = 380mm required in the flange plate connection at B. Assume that the
allowable shear stress for the bolts is τa = 190MPa.
3. Analyze
① Use To.max to find the required number of db = 22mm diameter bolts at radius r =
380mm. Allowable shear stress for the bolts is τa = 190MPa .
② Flange plot
③ Assume that each bolt carries an equal share of the torque at B, so each of n
bolts carries shear force Fb at a distance r from the centroid of the cross section.
Chapter 3 : Torsion
Example 3-5
3. Analyze
④ Maximum shear force Fb per bolt
Fb  τa Ab
⑥ Maximum allowable torque
6
nFbr  nτa Abr  To.max
5
6
To,max
6
To,max
6
215kN m
n 5  5  5  9.4EA
π 2
190MPa 22mm  380mm
Fbr τa Abr
4 
Chapter 3 : Torsion
5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

① When a circular bar, either solid or hollow, is subjected to torsion, shear stresses
act over the cross sections and on longitudinal planes.
중실이거나 중공의 원형 단면봉이 비틀림 모멘트를 받을 때, 전단응력은 단면과
길이방향의 평면에 걸쳐서 작용
② Stress element
Chapter 3 : Torsion

② Stress element
ⓐ Circular bar(원형봉 : 중실봉 혹은 중공봉)에 비틀림 모멘트가 작용
ⓑ Pure shear(순수전단)
ⓒ Stress(응력)
Only stresses acting on the element are the shear stresses on the four side faces.
요소에 작용하는 유일한 응력은 4-면에 작용하는 전단응력.
ⓓ 토크의 작용방향
오른쪽 면에 시계방향으로 작용, 따라서 전단응력의 방향은 응력요소에 표시된
토크의 작용방향과 일치.
Chapter 3 : Torsion

③ Sign convention(부호규약)
⒜ Positive :
ⓐ A shear stress acting on a positive face of an element is positive if it acts in the
positive direction of one of the coordinate axes.
전단응력은 요소의 양의 면에서 축 양의 방향으로 작용하면 양의 부호
ⓑ A shear stress acting on a negative face of an element is positive if it acts in the
negative direction of one of the coordinate axes.
전단응력은 요소의 음의 면에서 축 음의 방향으로 작용하면 양의 부호
Chapter 3 : Torsion

③ Sign convention(부호규약)
⒝ Negative :
ⓐ A shear stress acting on a positive face of an element is negative if it acts in the
negative direction of one of the coordinate axes.
전단응력은 요소의 양의 면에서 축 음의 방향으로 작용하면 음의 부호
ⓑ A shear stress acting on a negative face of an element is negative if it acts in the
positive direction of one of the coordinate axes.
전단응력은 요소의 음의 면에서 축 양의 방향으로 작용하면 음의 부호
Chapter 3 : Torsion

⑴ Stresses on inclined planes(경사면 위의 응력)
① Cut from the element a wedge shaped stress element having one face oriented
at an angle θ to the x axis.
순수전단 상태에 있는 요소로부터 면의 방향이 x-축으로부터 각 θ 인 한면을 가지는
웨지형태의 응력요소를 잘라내자.
ⓐ Normal stresses σθ and shear stresses τθ act on this inclined face.

ⓑ Normal stresses σθ are positive in tension, shear stresses τθ are positive when
they tend to produce counterclockwise rotation of the material.
Chapter 3 : Torsion

② Equation of equilibrium for triangular element
삼각형요소에 대한 평형방정식
Write two equations of equilibrium for the triangular element : one in the direction of
σθ and the other in the direction of τθ.
삼각형 요소에 대한 σθ-방향과 τθ-방향, 즉 두 개의 평형방정식을 작성
Where
Ao : 수직인 면의 면적
Chapter 3 : Torsion

ⓐ Equation of equilibrium in the σθ - direction :
Lets sum forces in the direction of σΘ
F θ  0; σθAosecθ  τAosinθ  τAotanθcosθ 0

σθ  2τsinθcosθ τsin2θ

Chapter 3 : Torsion

ⓑ Equation of equilibrium in the τθ - direction :
Lets sum forces in the direction of τΘ
V θ  0 ; τθAosecθ  τAocosθ  τAotanθsinθ 0

 
τθ  τ cos2θ  sin2θ  τcos2θ

Chapter 3 : Torsion

ⓒ Normal σθ and shear stress τθ acting on face oriented at an angle θ to the x axis.
σ θ  2τsinθcosθ  τsin2θ 
 

Note :
ⓐ The equations give the normal and shear stresses acting on any inclined plane
in terms of the shear stress acting on the x- and y- planes.
ⓑ The angle Θ defines the orientation of the inclined plane.
Chapter 3 : Torsion

③ Graph of normal stresses σθ and shear stresses τθ versus angle θ of the
inclined plane.
σ θ  2τsinθcosθ  τsin2θ
  

Chapter 3 : Torsion

④ Stresses acting on the element oriented at θ= 45° for pure shear
순수전단에 대해 θ = 45° 위치의 응력요소에 작용하는 응력
σ θ 45  τsin2θ  τ
τθ 45  τcos2θ  0
ⓐ Θ = 45° :
Normal stress σθ is positive(tension) and equal to the shear stress τ.
Chapter 3 : Torsion

④ Stresses acting on the element oriented at θ= 45° for pure shear
순수전단에 대해 θ = 45° 위치의 응력요소에 작용하는 응력
σ θ 45  τsin2θ  τ
τθ 45  τcos2θ  0
ⓑ Θ=-45° :
Normal stress σθ is negative(compression) and equal to the shear stress -τ.
Chapter 3 : Torsion

Note :
A positive angle θ is measured counterclockwise from the x-axis and a negative
angle is measured clockwise.
ⓐ For the top face of the element(θ = 90o), τθ = -τ
The minus sign for τθ means that it acts clockwise against the element to the right
on face ab.
τθ90  τcos2θ  τcos180o  τ
Chapter 3 : Torsion

⑵ Strains in pure shear(순수전단에서 변형률)
ⓐ Shear strain  is the change in angle between two lines that were originally
perpendicular to each other.
전단변형률  은 원래 수직한 두 직선 사이의 각변화량
ⓑ When shear distortion occurs, the lengths of sides of the element, including
thickness, do not change but the element change its shape from a rectangular
parallelepiped to an oblique parallelepiped.
전단 뒤틀림이 발생할 때, 변의 길이나 두께의 변화는 없고 형상만 직육면체에서
경사진 직육면체로 변화.
This change in shape is called a shear distortion(전단변형, 전단 뒤틀림)
Chapter 3 : Torsion

① Shear strain(전단변형률)
Θ = 0o인 요소에 대한 전단변형률은 전단에 관한 Hooke’s law에 의해 전단응력과

관계 :
τ
 
G
Where
G : shear modulus of elasticity
Chapter 3 : Torsion

② θ = 45°인 위치의 요소에 생기는 변형률
ⓐ θ = 45° 방향의 인장응력

θ = 45°인 위치에 작용하는 인장응력 : 요소를 θ = 45° 방향으로 신장
Poisson 효과 때문에 이 응력은 요소를 직교방향(θ = 135° 또는 θ = -45°) 으로
수축
Chapter 3 : Torsion

ⓑ θ = 135° 방향의 압축응력

θ = 135°인 위치에 작용하는 압축응력 : 요소를 θ = 135° 방향으로 수축
Poisson 효과 때문에 이 응력은 요소를 직교방향(θ = 45°) 으로 신장
ⓒ Since there are no shear distortions, the element remains a rectangular
parallelepiped even though its dimensions have changed.
Chapter 3 : Torsion

ⓓ The tensile stress σmax acting at θ = 45° produce a positive normal strain in that
direction equal to
σ max τ
εθ45o  
E E
ⓔ The tensile stress σmax also produce a negative strain in the perpendicular
direction equal to
σmax τ
ν  ν
E E
Where
υ : Poission's ratio
Chapter 3 : Torsion

ⓕ The tensile stress σmax acting at θ = 135° produce a negative normal strain in
that direction equal to
 σ max  τ
εθ135o  
E E
ⓖ The tensile stress σmax also produce a positive strain in the perpendicular
direction equal to
σmin τ
ν ν
E E
Where
υ : Poission's ratio
Chapter 3 : Torsion

③ θ = 45° 및 θ = 135° 인 위치의 요소에 생기는 최대 변형률
ⓐ The normal strain in the 45° direction ;
 ν min   ν  1  ν 
σmax σ τ τ τ
εmax 
E E E E E
ⓑ The normal strain in the 135° direction ; .
 σmin
 ν max   ν   1  ν 
σ τ τ τ
εmin 
E E E E E
Chapter 3 : Torsion
Example 3-6
A circular tube with an outside diameter of 80mm and an inside diameter of 60mm
is subjected to a torque T = 4.0kN∙m. The tube is made of aluminum alloy 7075-6.
Chapter 3 : Torsion
Example 3-6
⒜ Determine the maximum shear, tensile, and compressive stresses in the tube
and show these stresses on sketches of properly oriented stress elements.
Solution :
① Maximum values of all three stresses(shear, tensile, and compressive) are equal
numerically, although they act on different plane.
 max 
Tr

4.0kN m0.04m  58.2MPa
Ip π

32
0.08m2  0.06m2 
Chapter 3 : Torsion
Example 3-6
Solution :
3. Analyze
① The maximum shear stresses act on cross sectional and longitudinal planes,
where the x-axis is parallel to the longitudinal axis of the tube.
최대전단응력은 단면과 길이방향평면에 작용
 max  58.2MPa
Chapter 3 : Torsion
Example 3-6
Solution :
3. Analyze
① The maximum shear stresses act on cross sectional and longitudinal planes,
where the x-axis is parallel to the longitudinal axis of the tube.
최대전단응력은 단면과 길이방향평면에 작용
 max  58.2MPa
Chapter 3 : Torsion
Example 3-6
Solution :
3. Analyze
ⓑ Maximum tensile and compressive stress(최대인장 및 압축응력)
σt = 58.2MPa, σc = - 58.2MPa and act on planes at ±45° to the axis.
σθ45  τsin2θ  τsin90o  τ  58.2MPa
 
σθ45  τsin2θ  τsin - 90o  τ  58.2MPa
Chapter 3 : Torsion
Example 3-6
⒝ Determine the corresponding maximum strains in the tube and show these
strains on sketches of the deformed elements. Assume G = 27GPa.
Solution :
3. Analyze
ⓐ Maximum shear strain(최대 전단변형률)
τmax 58.2MPa
 max    0.0022rad
G 27GPa
 max  58.2MPa
 max  58.2MPa
Chapter 3 : Torsion
Example 3-6
⒝ Determine the corresponding maximum strains in the tube and show these
strains on sketches of the deformed elements. Assume G = 27GPa.
Solution :
3. Analyze
ⓑ Maximum normal strains
 max 0.0022rad
εmax    0.0011rad
2 2
▪ Maximum tensile strain at 135o
εt  0.0011
▪ Maximum compressive strain at 45o
εc  0.0011
Chapter 3 : Torsion
Example 3-6
⒞ What is the maximum permissible torque Tmax if the allowable normal strain is
εa = 0.9*10-3 ?
Solution :
1,2. Conceptualize, categorize
The tube is in pure shear, so the allowable shear strain is twice the allowable
normal strain
ⓐ Shear strain to normal strain relation
a
εa 
2
 
 a  2εa  2 * 0.9 * 103  1.8 * 103

τa  G a  27GPa * 1.8 * 103 
Chapter 3 : Torsion
Example 3-6
εa = 0.9*10-3 ?
Solution :
3. Analyze
From shear formula
d   0.08m
Ta  2  Ta  
 2  2 
τa  
Ip π
32

0.08m  0.06m
4 4

Ta  τa
32

π

0.08m4  0.06m4  2 
 0.08m
Chapter 3 : Torsion
Example 3-6
εa = 0.9*10-3 ?
Solution :
3. Analyze
From shear formula

Ta  27GPa * 1.8 * 10 3
 π
32
 4

4 
0.08m  0.06m  2 

 0.08m
 3339.9N.m 3.34kN.m
Chapter 3 : Torsion
Example 3-6
⒟ If T = 4.0kN∙m and εa = 0.9*10-3, What new diameter is required so that the tube
can carry the required torque T ( assume that the inner diameter of the tube
remains at 60mm)?
Solution :
Tar
τ
Ip
Ip T Ta
 a 
d2 2τ 2G a
π 4
32

d2  0.06mm
4
 4kN  m

d2 
227GPa 1.8 * 106 
Chapter 3 : Torsion
Example 3-6
⒟ If T = 4.0kN∙m and εa = 0.9*10-3, What new diameter is required so that the tube
can carry the required torque T ( assume that the inner diameter of the tube
remains at 60mm)?
Solution :
3. Analyze
π 4
32

d2  0.06mm
4
 4kN  m

d2 
227GPa 1.8 * 106 
d2  83.2mm
Chapter 3 : Torsion
6. Relationship between moduli of elasticity E and G

탄성계수 E와 전단탄성계수 G 사이의 관계
① Derivation of relationship between moduli of elasticity E and G
전단탄성계수 G와 탄성계수 E의 관계식 유도.
ⓐ Element in pure shear(순수 전단상태에 있는 요소)
When this element is subjected to pure shear by stresses τ, the front face distorts
into a rhombus
이 요소가 응력 τ에 의해서 순수전단을 받을 때,요소의 전면은 마름모꼴로 변형
Chapter 3 : Torsion

ⓑ 순수전단을 받는 요소의 변형된 대각선 bd 길이
Lbd  2h1  εmax 

Where
 max : normalstrainin the 45o directionto x - axis
Chapter 3 : Torsion

Cosine rule을 적용하면 ;
π 
L2bd  h2  h2  2h2cos   
2 
L bd  2h1  εmax 
 2h 1  εmax 
2 2 2
Lbd
π 
1 ε max
2
 1  cos   
2 
1  2εmax  εmax
2
 1  sin
Chapter 3 : Torsion

Cosine rule을 적용하면 ;
1 2εmax  εmax
2
 1 sin
2
εmax and : very small εmax
2
: disregard,sin  
 τ
εmax  
2 2G
Where
τ
 
G
Chapter 3 : Torsion

ⓒ 전단탄성계수 G와 탄성계수 E의 관계식
 τ
εmax  
2 2G
εmax에 식 εmax  τ 1  ν  을 대입하고 정리하면
E
전단탄성계수 G와 탄성계수 E의 관계식
E
G
21 ν 
Chapter 3 : Torsion
7. Transmission of power by circular shafts(원형축에 의한 동력전달)

ⓐ 동력은 축의 회전운동을 통해 전달
ⓑ 전달된 동력의 크기는 토크의 크기와 회전속도에 의존.
ⓒ A common design problem is to determine the required size of a shaft so that it
will transmit a specified amount of power at a specified rotational speed without
exceeding the allowable stresses for the material.
재료의 허용응력을 초과하지 않으면서 주어진 회전속도에서 규정된 동력을 전달할
수 있는 축의 크기를 결정.
Chapter 3 : Torsion

⑴ The work W done by a torque of constant torque (일정한 토크에 의해 한 일)
Product of the torque and the angle through which it rotates.
토크와 회전한 각도의 곱
W  Tψ
Where
ψ : angle of rotationin radian
Chapter 3 : Torsion

⑵ Power(동력)
Power is the rate at which work is done
일의 시간에 대한 변화율
dW dψ
P T  Tω
dt dt
Where
dψ
ω : angularspeed(inradian/sec.)
dt
Note : angular speed(각속도)
The rate of change dψ/dt of the angular displacement.
각 변위 ψ에 대한 변화율 dψ/dt
Chapter 3 : Torsion

⑶ Angular speed(각속도)
Angular speed can be expressed as the frequency f of rotation, which is the number
of revolutions per second(s-1)
각속도는 종종 단위 시간당 회전 수인 회전주파수 f로 표현
ω  2πf
Note :
2 numberof rev. rad
 
rev s s
1revolution
1Hz :
sec.
Chapter 3 : Torsion

⑷ 동력(power)를 주파수(frequency)와 토크(Torque)로 표현
P  Tω  2πfT
where
f : frequncy
T : torque
ⓐ 주파수의 단위를 Revolutions per minute(rpm)로 표현
n  60f(rpm)
ⓑ 동력(power)에 대한 다른 표현
P  2πfT 
2πnT
n  rpm
60
Chapter 3 : Torsion
Example 3-7
A motor driving a solid circular steel shaft transmits 30kW to a gear at B. The
allowable shear stress in the steel is 42MPa.
Chapter 3 : Torsion
Example 3-7
⒜ What is the required diameter d of the shaft if it is operated at 500rpm?
축이 500rpm으로 회전할 때 축의 필요한 지름은 얼마인가?
60P 6030kW
T   573N m
2πn 2π500rpm
Tr 16T
 max  
Ip πd3
3. Analyze
16T 16573Nm
d3 
πτa

π42MPa
 6.948105 m3 
d  41.1mm
Chapter 3 : Torsion
Example 3-7
⒝ What is the required diameter d if it is operated at 3000rpm?
축이 3000rpm으로 회전할 때 축의 필요한 지름은 얼마인가?
60P 6030kW
T   95.49N  m
2πn 2π3000rpm
Tr 16T
 max  
Ip πd3
3. Analyze
16T 1695.49Nm
d3 
πτa

π42MPa
 1.158105 m3 
d  22.6mm
Chapter 3 : Torsion
Example 3-8
A solid steel shaft ABC with a 50mm diameter is driven at A by a motor that
transmits 50kW to the shaft at 10Hz. The gears at B and C drive machinery
requiring power equal to 35kW and 15kW, respectively. Compute the maximum
shear stress  max in the shaft and the angle of twist AC between the motor at A and
the gear at C. (Use G = 80GPa)
Chapter 3 : Torsion
Example 3-8
Solution :
1. Conceptualize
① Free body diagram
② Determine the torques applied to the shaft by the motor and the two gears.
P  2πfT
P
T
2πf
Chapter 3 : Torsion
Example 3-8
Solution :
1. Conceptualize
② Determine the torques applied to the shaft by the motor and the two gears.
ⓐ Torque TA at end A of the shaft
P 50kW
TA    796N m
2πf 2π10Hz
ⓑ Torque TB applied by the gear to the shaft
P 35kW
TB    557N m
2πf 2π10Hz
ⓒ Torque Tc applied by the gear to the shaft

P 15kW
Tc    239N m
2πf 2π10Hz
Chapter 3 : Torsion
Example 3-8
Solution :
2. Categorize
① Internal torques in segment AB
>> TAB
ⓑ Equation of equilibrium
T  0
i - Ta  Tab  0
Tab  Ta  796N m
Chapter 3 : Torsion
Example 3-8
Solution :
2. Categorize
② Internal torques in segment BC
>> TBC
ⓑ Equation of equilibrium
T  0
i - Ta  Tb  Tbc  0
Tbc  Ta  Tb  796  557N  m  239N m
Chapter 3 : Torsion
Example 3-8
Solution :
3. Analyze
① Shear stresses and angles of twist in segment AB
ⓐ Shear stress
Tabr 16Tab 16796N m
τab     32.4MPa
π0.05m
3 3
Iab πd
ⓑ Angles of twist
φab 
TabLab

796N m1.0m  0.0162rad
GIp
80GPa π 0.05m
4
 32 
Chapter 3 : Torsion
Example 3-8
Solution :
3. Analyze
② Shear stresses and angles of twist in segment BC
ⓐ Shear stress
Tbcr 16Tbc 16239N m
τbc     9.7MPa
π0.05m
3 3
Ibc πd
ⓑ Angles of twist
φbc 
TbcLbc

239N m1.2m  0.0058rad
GIp
80GPa π 0.05m
4
 32 
Chapter 3 : Torsion
Example 3-8
Solution :
3. Analyze
③ Total angle of twist between the motor at A and the gear at C
ⓐ Angles of twist
φab  0.0162rad
φbc  0.0058rad
ⓑ Both parts of the shaft twist in the same direction
φac  φ i  φab  φbc  0.0162 0.0058rad  0.022rad
 180o 
 0.022*    1.26o

 π 
Chapter 3 : Torsion
8. Statically indeterminate torsional members(부정정 비틀림 부재)

① Statically indeterminate torsional members
ⓐ All internal torques and all reactions can not be obtained from free body
diagrams and equations of equilibrium.
모든 내부 토크와 반력들을 자유물체도와 평형방정식으로 부터 결정할 수 없슴.
Example :
If additional restraints, such as fixed supports, are added to the bars, the equation
of equilibrium will no longer be adequate for determining the torque.
고정지지점과 같은 추가적인 구속사항이 추가되는 경우
Chapter 3 : Torsion

⑴ Statically indeterminate torsional members
ⓑ Statically indeterminate torsional member can be analyzed by supplementing the
equilibrium equations with compatibility equation pertaining to the rotational
displacements.
부정정 비틀림 부재는 평형방정식과 적합방정식을 함께 사용하여 해석
Chapter 3 : Torsion

⑴ Statically indeterminate torsional members
ⓑ Statically indeterminate torsional member can be analyzed by supplementing the
equilibrium equations with compatibility equation pertaining to the rotational
displacements.
부정정 비틀림 부재는 평형방정식과 적합방정식을 함께 사용하여 해석
Chapter 3 : Torsion

⑵ General method for analyzing statically indeterminate torsional member
비틀림을 받는 부정정 부재의 해석절차
1st step : Make a free body diagram of the given physical situation
주어진 물리적 사항의 자유물체도를 작성
ⓐ 자유물체도를 작성할 때 변위가 구속되거나(d.o.f = 0)
변위가 일치하는(d.o.fi = dofj) 기하학적 위치를 기준으로 분할하여 Free body로 선택
d.o.f 이 일치하는 위치
⇒ 지시된 위치에서 Inner tube의 d.o.f와 outer tube의 d.o.f가 일치 : φi  φo

Chapter 3 : Torsion

2nd step : Write equation of equilibrium obtained from free body diagram
선택된 free body로 부터 평형방정식을 작성
T2
T1
T  T1  T2
Chapter 3 : Torsion

3rd step : Formulate equations of compatibility based on physical conditions
pertaining to the angles of twist (degrees of freedom)
자유도(비틀림각)와 관련된 물리적 조건에 근거한 적합방정식을 세워라
ⓐ The compatibility equations contain angles of twist as unknowns.
적합방정식에는 unknown(미지수)으로써 angles of twist 를 포함
φ1  φ2
Chapter 3 : Torsion

4th step : Relate angles of twist(d.o.f) to torques(unknowns) by torque –
displacement relations for each of free body diagram.
토크-변위 관계식을 사용하여 각각의 자유물체도에 대해 비틀림각(d.o.f)과 미지의
토크 관계식을 작성
T1L
φ1 
G1Ip1
T2L
φ2 
G2Ip2
Chapter 3 : Torsion

5th step : Introduce equation obtained from torque – displacement relations into
compatibility equation and obtain the unknown torques by solving simultaneously
the equation of equilibrium and compatibility.
토크 – 변위 관계식에서 얻은 관계식을 적합방정식에 대입하고, 평형방정식과
적합방정식을 연립하여 풀어 미지의 하중을 결정
ⓐ 적합방정식
φ1  φ2
T1L TL
 2
G1Ip1 G2Ip2
ⓑ 평형방정식
T  T1  T2
Chapter 3 : Torsion

5th step : Introduce equation obtained from torque – displacement relations into
compatibility equation and obtain the unknown torques by solving simultaneously
the equation of equilibrium and compatibility.
토크 – 변위 관계식에서 얻은 관계식을 적합방정식에 대입하고, 평형방정식과
적합방정식을 연립하여 풀어 미지의 하중을 결정
ⓒ 미지수-2, 방정식-2
연립하여 풀면
 G1Ip1   G2Ip2 

T1  T  
T2  T 
G I  G I  G I  G I 
 1 p1 2 p2   1 p1 2 p2 
Chapter 3 : Torsion
Example 3-9
The bar ACB shown in figure is fixed at both ends and loaded by a torque To at
point C. Segment AC and CB of the bar have diameters da and db, lengths La and
Lb, and polar moments of inertia Ipa and Ipb, respectively. The material of the bar is
the same throughout both segments.
Chapter 3 : Torsion
Example 3-9
⒜ Obtain formulas for the reactive torques Ta and Tb at the ends
Solution :
① Free body diagram
T  0
i To  Ta  Tb  0
To  Ta  Tb
Chapter 3 : Torsion
Example 3-9
Solution :
③ Compatibility equation
ⓐ Fixed point B에서 compatibility equation을 구성하는 경우 :

Fixed point B에서 redundant로 Tb를 취하고 각각의 primary and secondary
structure를 구성하면 각각의 d.o.f 합(적합방정식)은 1  2  0 으로 구성됨
Chapter 3 : Torsion
Example 3-9
Solution :
③ Compatibility equation
ⓑ 각각 primary and secondary structures 선택하여 free body diagram을 작성한 후

torque – displacement relation로부터 결정한 d.o.fs로 부터 compatibility equation을
구성하면 1  2 이 된다.
Chapter 3 : Torsion
Example 3-9
Solution :
④ Torque-displacement relation for primary structure
Primary structure에 대해 토크-변위 관계식을 적용하여 d.o.f를 표현.
ToL a
φ1 
GIpa
Chapter 3 : Torsion
Example 3-9
Solution :
⑤ Torque-displacement relation for secondary structure
Secondary structure에 대해 토크-변위 관계식을 적용하여 d.o.f를 표현.
2
TiLi TL TL
φ2   φi    b a  b b
i1 GiIpi GIpa GIpb
TbLa TbLb
φ2   
GIpa GIpb
Note:
Constanttorquethroughouteachsegment
Chapter 3 : Torsion
Example 3-9
Solution :
⑥ Substitute the angles of twist into the compatibility equation
φ1  φ2  0
ToL a TbL a TbL b
  0
GIpa GIpa GIpb
Where
ToL a
φ1 
GIpa
TbL a TbLb
φ2   
GIpa GIpb
Chapter 3 : Torsion
Example 3-9
Solution :
3. Analyze
① Solving simultaneously equation of equilibrium with equation of compatibility,
Ta  Tb  To
ToL a TbL a TbL b
 
GIpa GIpa GIpb
Then
 LbIpa 

Ta  To  

 LaIpb  LbIpa 
 LaIpb 

Tb  To  
L I  L I 
 a pb b pa 
Chapter 3 : Torsion
Example 3-9
Solution :
3. Analyze
② As a special case, note that if the bar is prismatic, reactive torques
 LbIpa  ToLb

Ta  To  
L I  L I  L
 a pb b pa 
 LaIpb  ToLa

Tb  To  

 LaIpb  LbIpa  L
Where
La  Lb  L
Ipa  Ipb  I
Chapter 3 : Torsion
Example 3-9
⒝ The maximum shear stresses τac and τcb in each segment of the bar
Solution :
3. Analyze
Obtaining maximum shear stresses from the torsional formula,
비틀림 공식으로부터 최대전단응력을 구하면
Tada Tbdb
τac  τcb 
2Ipa 2Ipb
Substituting Ta and Tb into the above equations
 LbIpa  ToLb

Ta  To  
L I  L I  L
 a pb b pa 
 LaIpb  ToLa

Tb  To  

 LaIpb  LbIpa  L
Chapter 3 : Torsion
Example 3-9
⒝ The maximum shear stresses τac and τcb in each segment of the bar
Solution :
3. Analyze
Obtaining maximum shear stresses from the torsional formula,
비틀림 공식으로부터 최대전단응력을 구하면
ToLbda ToLadb
τac  τcb 
2LaIpb  LbIpa  2LaIpb  LbIpa 
Chapter 3 : Torsion
Example 3-9
⒞ The angle of rotation φc at the cross section where the load To is applied
토크 To가 작용하는 위치의 단면에서 회전각 φc를 구하는 공식을 유도하라
Solution :
3. Analyze
The angle of rotation φc at section C is equal to the angle of twist of either segment
of the bar, since both segments rotate through the same angle at section C.
TaLa TbLb ToLaLb
φc   
GIpa GIpb GLaIpb  LbIpa 
Chapter 3 : Torsion
9. Strain energy in torsion and pure shear

비틀림과 순수전단에서의 변형에너지
⑴ Basic concepts to determine the strain energy of a bar in torsion
비틀림을 받는 봉의 변형에너지를 결정하기 위한 기본 개념 :
ⓐ Prismatic bar in pure torsion under the action of a torque T
토크 T를 받는 순수 비틀림 상태의 균일단면 봉
ⓑ The material of bar is linearly elastic and follows Hooke’s law.

봉의 재료는 선형탄성이고 훜의 법칙에 따름
Chapter 3 : Torsion

⑴ Basic concepts to determine the strain energy of a bar in torsion
비틀림을 받는 봉의 변형에너지를 결정하기 위한 기본 개념 :
ⓒ Relationship between the applied torque and the angle of twist is linear and is
given by
TL
φ
GIp
Chapter 3 : Torsion

⑵ Work done by the torque(토크에 의해 한 일)
φ δ T 1
W o
T1dφ1    φ1dφ1  Tφ
o φ
  2
T1 : any value of the torquebetweenzero and the maximum value T
1 : corresponding angle of rotationof the bar
Chapter 3 : Torsion

⑶ Strain energy of the bar(봉의 변형에너지)
From the principle of conservation of energy, the strain energy of the bar is equal to
the work done by the load(external torque)
에너지 보존법칙에 따라 봉의 변형에너지는 하중(external torque)에 의해 한 일과
같다.
1
W  U  Tφ
2
ⓐ Using the torque-displacement relation, lets express the strain energy.
토크-변위 관계식을 사용하여 변형에너지를 표현하면
TL
φ
GIp
T2L GIpφ2
U U
2GIp 2L
Chapter 3 : Torsion

⑷ Non-uniform torsion(불균일 비틀림)
① Case 1
segment.
각 구간에 알정한 토크가 작용하는 균일단면 구간으로 구성된 봉
Chapter 3 : Torsion

① Case 1
segment.
각 구간에 알정한 토크가 작용하는 균일단면 구간으로 구성된 봉
ⓐ Determine the strain energy of each segment and then add to obtain the total
strain energy of the bar
구간별 변형에너지를 결정하고, 합하여 봉의 전체 에너지를 결정.
n n
Ti2Li
U   Ui  
i1 i1 2Gi Ip i
Where
Ti : internaltorquein segment
Chapter 3 : Torsion

② Case 2
ⓐ Determine the strain energy of an element of length dx at distance x from origin

and then integrate along the axis to obtain total strain energy
좌표의 원점에서 거리 x 인 위치에서 길이가 dx인 요소의 변형에너지를 결정하고,
축에 따라 적분하여 전체 변형에너지를 구하라.
Chapter 3 : Torsion

② Case 2
ⓐ Determine the strain energy of an element of length dx at distance x from origin
and then integrate along the axis to obtain total strain energy
좌표의 원점에서 거리 x 인 위치에서 길이가 dx인 요소의 변형에너지를 결정하고,
축에 따라 적분하여 전체 변형에너지를 구하라.
T2dx
dU 
2GIp x
L T2dx
U 
0 2GIp x
T : internal torque
Chapter 3 : Torsion

③ Case 3
연속적으로 변하는 단면과 연속적으로 변하는 토크를 받는 봉
Chapter 3 : Torsion

③ Case 3
Chapter 3 : Torsion

③ Case 3
ⓐ The internal torque can be evaluated with the aid of a free body diagram and an
equation of equilibrium.
자유물체도를 작성하고, 평형방정식을 만들어 내부 토크를 계산
ⓑ The polar moment of inertia Ip(x) can be evaluated from the cross sectional
dimension.
극관성 모멘트는 요소의 단면에서 계산
dU 
Tx dx
2
U
Tx dx
L
2
2GI x
p 2GI x
0
p
T(x) : internal torque acting on the element

Chapter 3 : Torsion

④ Limitation
ⓐ The equation of strain energy apply only to bars of linearly elastic materials with
small angles of twist.
ⓑ The strain energy of a structure supporting more than one load cannot be
obtained by adding the strain energies obtained for the individual loads acting
separately.
Chapter 3 : Torsion

⑸ Strain energy density in pure shear(순수전단에서의 변형에너지 밀도)
ⓐ The elements of bar in torsion are stressed in pure shear
비틀림을 받는 봉의 요소는 순수전단 하에서 응력을 받음
ⓑ Lets obtain expressions for the strain energy associated with the shear stresses.
전단응력과 연계된 변형에너지에 대한 표현식을 얻음
Chapter 3 : Torsion

① A small element of material subjected to shear stresses τ on its side faces
요소의 변에 전단응력 τ을 받는 작은 응력요소
ⓐ Under action of the shear stresses, the element is distorted, so the front face
becomes a rhombus.
전단응력 작용으로 요소는 뒤틀려서 마름모꼴 형상
ⓒ The change in angle at each corner of the element is the shear strain 
요소의 모서리에서의 각 변화는 전단변형률 
Chapter 3 : Torsion

② Shear force V acting on the sides of the element
요소의 변에 작용하는 전단력
V  τht
where
V : shear force
This shear force produce work as the element deforms from its original shape to its
distorted shape.
이 전단력들은 요소의 형상이 초기형태에서 뒤틀린 형태로 변하는 동안 일을 함
Chapter 3 : Torsion

③ Relative distances through which the shear forces move.
전단력이 이동한 거리
δ h
Note :
Top face of the element is displaced horizontally through a distance δ (relative to
the bottom face) as the shear force is gradually increased from zero to its final
value V.
Chapter 3 : Torsion

④ Work done by the shear forces V.
전단력 V가 한 일
dW  V1dδ1
δV 1
W 0  δ  1 1 2 Vδ
  δ dδ 
From the principleof conservation of energy

The work is equalto strainenergy,U
1
 W  U  Vδ
2
Note that the forces acting on the side faces of the element do not move along their
line of action – hence they do no work
Chapter 3 : Torsion

⑤ Strain energy stored in element(요소에 저장된 변형에너지)
1
U Vδ
2
Substituting V  τht and    h into the above.
U
1
τhth  1 τh2t
2 2
Chapter 3 : Torsion

⑥ Strain energy density(변형 에너지 밀도)
Strain energy stored per unit volume
단위체적당 저장된 변형에너지
1
U τh2t
2
DividingU by volume h2t
1
u  τ
2
τ2 G 2
u u
2G 2
Chapter 3 : Torsion
Example 3-10
A solid circular bar AB of length L is fixed at one end and free at the other. Three
different loading conditions are to be considered : ⒜ torque Ta acting at the free end
⒝ torque Tb acting at the midpoint of the bar ; ⒞ torque Ta and Tb acting
simultaneously.
For each case of loading, obtain a formula for the strain energy stored in the bar.
Then evaluate the strain energy for following data ;
Ta  100N m Tb  150N m L  1.6m G  80GPa andIp  79.52* 103 mm4
Chapter 3 : Torsion
Example 3-10
Solution :

Strain energy
Ta2L
Ua 
2GIp
Chapter 3 : Torsion
Example 3-10
Solution :

Strain energy
Ub 
 2 
Tb2 L Tb2L
2GIp 4GIp
Chapter 3 : Torsion
Example 3-10
Solution :

Torque acting on segment CB is Ta and Torque acting on segment AC is Ta + Tb
Strain energy
T L  T  T  L 
2 2
2 2
TL
Uc  
a a b
i i
 2  2
i1 2Gi Ip i 2GIp  2GIp 
Ta2L Ta TbL Tb2L
  
2GIp 4GIp 4GIp
Chapter 3 : Torsion
Example 3-10
Solution :
Uc  
2
TL 2
i i

 2   T  T  L 2 
Ta2 L a b
2
i1 2Gi Ip i 2GIp  2GIp 

Ta2L Ta TbL Tb2L
  
2GIp 4GIp 4GIp
The strain energy produced by the two loads acting simultaneously is not equal to
the sum of strain energies produced by the loads acting separately.
The reason is that strain energy is a quadratic function of the loads, not a linear
function.
Chapter 3 : Torsion
Example 3-10
Solution :
3. Analyze
Strain energy
Ua 
Ta2L

100N m 1.6m
2
 1.26J
2GIp 

N 
 
2 80 * 109 2  79.52* 103 1012m4
m 

Chapter 3 : Torsion
Example 3-10
Solution :
3. Analyze
Strain energy
Ub 
Tb2L

150N m 1.6m
2
 1.41J
4GIp 

N 
 
4 80 * 109 2  79.52* 103 1012m4
m 

Chapter 3 : Torsion
Example 3-10
Solution :
3. Analyze
Strain energy
Ta2L Ta TbL Tb2L
Uc     1.26J 1.89J 1.41J  4.56J
2GIp 4GIp 4GIp
Ta TbL

100N m150N m1.6m  1.89J
4GIp 

N 
 
4 80 * 109 2  79.52* 103 1012m4
m 

Chapter 3 : Torsion
Example 3-11
A prismatic bar AB, fixed at one end and free at the other, is loaded by a distributed
torque of constant intensity t per unit distance along the axis of the bar.
Chapter 3 : Torsion
Example 3-11
⒜ Derive a formula for the strain energy of the bar
Solution :
1. Conceptualize
① The internal torque, T(x) acting at distance x from the free end of the bar
Tx  tx
② This internal torque is equal to the total torque acting on the part of the bar
between x = 0 and x = x.
③ The total torque is equal to the density t of torque times the distance x over
which it acts.
Chapter 3 : Torsion
Example 3-11
⒜ Derive a formula for the strain energy of the bar
Solution :
2. Categorize
① Total strain energy of the shaft
Tx dx 
2
t2L3
0 tx dx  6GIp
L 1 L

2
U
0 2GIp 2GIp
Chapter 3 : Torsion
Example 3-11
⒝ Evaluate the strain energy of a hollow shaft used for drilling into the earth if the
data are
T  210 N  m/m, L  3.7m, G  80GPa, Ip  7.1510-6 m4  
Solution :
3. Analyze
U
t2L3

210N m/m 3.7m
2 3
 65.1N m

6GIp 680GPa 7.15* 10 m
6 4

Chapter 3 : Torsion
Example 3-12
A tapered bar AB of solid circular cross section is supported at the right-hand end
and loaded by a torque T at the other end.
The diameter of the bar varies linearly da at the left hand end to db at the right hand
end. Determine the angle of rotation φA at the A of the bar by equating the strain
energy to the work done by the load.
Chapter 3 : Torsion
Example 3-12
Solution :
Form the principle of conservation of energy, the work done by the applied torque
equals the strain energy of the bar.
① Work done by torque
1
W TφA
2
② Diameter of the bar at distance x from end A.
 d  da 
dx  da   b x
 L 
③ Polar moment of inertia
4
π  d  da 
Ip x 
π
32
dx 
4
 da  b
32  L
x 

Chapter 3 : Torsion
Example 3-12
Solution :
Form the principle of conservation of energy, the work done by the applied torque
equals the strain energy of the bar.
③ Strain energy
U 

LTx dx 16T
2 2
L dx 16T2L  1 1
πG 
    3 
02GI x
p
0
 db  da 
4
3πGdb  da   da db 
 3
 da  x 
 L 
Where
 db  da  4
dx  da   x Ip x 
π
dx 
4 π  d  da
 da  b

x 
 L  32 32  L 
Chapter 3 : Torsion
Example 3-12
Solution :
3. Analyze
From principle of conservation of energy
U W
1 16T2L  1 1
TφA   3  3
2 3πGdb  da   da db 
Solving for ΦA
32TL  1 1
φA   3  3
3πGdb  da   da db 

재료역학 - 3장 강의PPT

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재료역학 - 3장 강의PPT

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Chapter 3:

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

2. Torsional deformations of a circular bar(원형 봉의 비틀림 변형)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

Known as torsional formula (비틀림공식)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

3. Circular bars of linearly elastic materials(선형 탄성재료로 된 원형 봉)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

⑴ Internal shear stress(내부 전단응력)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

4. Non-uniform torsion(불균일 비틀림)

To  2To  T2 x  0 T2 x  

① Boundary condition(경계조건) : fixed support

Note : region 0 ≤ x ≤2/5L에서 torque To = constant

ⓐ Angle of twist at x = 3/5L

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

ⓐ Normal stresses σθ and shear stresses τθ act on this inclined face.

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

F θ  0; σθAosecθ  τAosinθ  τAotanθcosθ 0

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

V θ  0 ; τθAosecθ  τAocosθ  τAotanθsinθ 0

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

5. Stresses and strains in pure shear(순수전단에서의 응력과 변형률)

Θ = 0o인 요소에 대한 전단변형률은 전단에 관한 Hooke’s law에 의해 전단응력과