4

STRESS DUE TO TORSION

4.0 Introduction
When a tuning moment is applied to a shaft, it tends to twist the shaft. The torque
applied is also known as ‘twisting moment’, and may be determined using the theory
explained below.

4.1 Derivation of torsion equation

Consider a shaft under torsion as shown in Fig 4.1.
T
D
F
 D  R
C F
A r B

T
T
L

Fig 4.1: Torsion of shaft

Let: AB=L, the length of the solid shaft

R= radius of shaft
T= applied torque, at end B
= intensity of shear stress
= angle of shear strain (or shear strain)
= angle of twist
Consider a line CD on the surface of the shaft, and parallel to its axis AB. After
twisting, line CD changes its position to CD and the original position of radius BD shifts
to BD.
Now, DD = R  θ = L  
R θ
  …(i)
L
Modulus of rigidity, G = shear stress/shear strain
= /
Or  = /G …(ii)
From equations (i) and (ii);
R θ τ

L G
Gθ τ
Or  …(iii)
L R
 After twisting, point F on the radius BD at a distance r from the centre B shifts to F
on radius BD, i.e.
FF = rθ = L
r
Or  =
L
If  is the shear stress at FF, then
τ rθ

G L
τ Gθ
Or  …(iv)
r L
From equations (iii) and (iv);
τ Gθ 
  …(v)
r L R
Thus it can be stated that the intensity of shear stress at any point in the cross-section
of a shaft subjected to pure torsion is proportional to its distance from the centre. This
shear stress intensity is zero at the axis and increases linearly to maximum  at the
surface. The longitudinal axis of the shaft is the neutral axis.

Resisting torque:
From conditions of equilibrium, the external torque T must be balanced by the
resisting torque, i.e. moments of the tangential shearing stresses acting on any transverse
section.
Now consider an elementary concentric ring of radius r and thickness dr as shown in
Fig 4.2. Let the intensity of shear stress at this radius be .
From equation (v),
τ  

r R dr 
r R
Or τ  …(vi) r
R
Area of elementary ring of radius r, B
= 2πrdr
Resisting force of the ring against shearing, 
= area  shear stress
rτ 
= 2πrdr ×
R Fig 4.2
Resisting moment of the force on the ring,
τ
= 2πr 2 dr × r
R
Resisting moment of the entire cross-section,
R
dr
=  2πr 3 τ×
0 R

2
 But the resisting moment must be equal to the torque applied,
R
dr
i.e. T =  2πr 3 τ
0 R
R R
2πτ 3 2πτ
= 
R 0
r dr = k  r 3dr, where k 
0 R
R
 r4  2πτ R 4
= k  = ×
 4 0 R 4
R 3
 T = τ …(vii)
2
But the polar moment of inertia, J of a circular section about the longitudinal axis is
R 4
D 4 D 4 D4 D 4
= . This is obtained by comparing J with I ZZ = I XX  I YY    .
2 32 64 64 32
From equation (vii),
τJ  R 3 R R 4 1 J 
T=      
R  2 R 2 R R
T τ
Or = …(viii)
J R
But from equation (iii),
Gθ τ

L R
Combining equations (iii) and (viii), we get
T τ Gθ
= = …(4.1)
J R L
Eq. 8.1 is known as the Torsion equation. The equation can be compared with the
T τ Gθ M F E
equation for bending, i.e. = = , with = = .
J R L I y R
J I
The expression corresponds to the expression , and is called torsional
R D/2
section modulus.
The expression GJ corresponds to EI, and is called torsional rigidity of the shaft.
The relative stiffness of two shafts is measured by the inverse ratio of angles of twist in
equal lengths of shaft, when subjected to equal torques.

The following assumptions are made in the derivation of the torsion equation:
(i) A plane section of the shaft normal to its longitudinal axis before twisting
remains plane after twisting.
(ii) A circular section of the shaft remains circular after twisting.
(iii) The shaft is composed of the same material throughout.
(iv) The twist along the length of the shaft is uniform throughout.
(v) The maximum shear stress induced in the shaft does not exceed its elastic
limit value.

3
 (vi) The distances between normal sections before twisting remain the same even
after twisting.

The following points are worthy noting in connection with this theory:
(i) In a shaft, shear strain is proportional to the applied torque.
(ii) Shear strain is proportional to the distance from the centre. Its value is zero
along the axis of the shaft but reaches a maximum on the surface of the shaft.
(iii) The ratio of polar moment of inertia and the radius of shaft is known as polar
modulus of the shaft.
(iv) The polar modulus of section is a measure of the strength of the shaft in torsion.
(v) The product of the modulus of rigidity and polar moment of inertia is known as
‘torsional rigidity’ and is usually represented by K.
(vi) The torsional rigidity is the torque that produces a twist of one radian in a shaft
of unit length.

Example 4.1: A steel shaft ABC has a solid cross-section of varying diameter. AB is
72mm  and is 1m long; BC is 48mm  and is 0.6m long. The end A is securely clamped.
A torque of 2kNm is applied at C, acting in opposite direction to an 8 kNm torque at B. If
G=80 kN/mm2, determine the maximum shearing stress in each part of the shaft and the
angle of shift at B and C, relative to A.

Solution
Section AB:
The equation for torsion is given as,
8kNm
T τ Gθ 2kNm
= =
J R L
72mm

48mm
Total torque at A, 8 - 2 = 6kNm
πD 4 π × 72 4 C
Polar modulus, J = = = 2638335 mm 4 A 1m B 0.6m
32 32
From the torsion equation,
Fig 4.3
T τ
=
J R
6  10 6
τ
= , or τ = 81.87N/mm 2
2638335 72/2
 G
Also, =
R L
81.87 80×103 ×θ BA  180 
 = , or θ BA  0.0284 radians   0.0284   1.62 0 
72/2 1000   
Section BC:
Total torque at B (section BC) = 2kNm
πD 4 π × 484
Polar modulus, J = = = 521153 mm 4
32 32

4
 From the torsion equation,
T τ
=
J R
2  106 τ
 = , or τ = 92.10N/mm 2
521153 48/2
 G
Also, =
R L
92.10 80×103 × θ CB
 = , or θ CB  0.0288 radians,  0.0284radians
48/2 600
 θ CA  θ CB  θ BA  0.
C does not twist relative to A.

4.2 Power transmitted by a shaft

Mechanical power is defined as work done per second. Work is defined as force 
distance moved.
Consider a force F acting tangentially on the shaft of radius R. If the shaft due to this
turning moment or torque  T = F  R  starts rotating at N r.p.m., then power supplied to
the shaft/s
P = F  distance moved/s
= F  2RN / 60 Nm/s
F  2RN
Or P= watts ,
60
T  2N
= kW , where T=F  R
60 1000
2RNT
Hence P = …(4.2)
60 1000
T
Or P= , where  = 2 N
60 1000

Where
T = the mean or average torque in Nm,
F = Force,
R = radius of shaft,
 = angular velocity,
N = speed in rev/s

Example 4.2: A solid steel shaft is to transmit 75kW at 200rpm. If the allowable shear
stress, is 70N/mm2, determine a suitable diameter for the shaft, assuming that the
maximum torque transmitted on each revolution exceeds the mean by 30%.

Solution:
Given: Power to be transmitted =75kw
Speed, N=200rpm

5
Allowable shear stress, =70N/mm2.
Torque transmitted, Tmax=1.3 Tmean

Using the relation:

2πNT
P= , we get ,
60 1000
2 × 200  T
75 =
60 1000
75  60 1000
 T = Tmean =  3581Nm
2 × 200
Hence Tmax = 1.3  3581  4655.3Nm
From the torsion equation,
T  G
= =
J R L

Or T =  J
R

 T =   R 3
2

4655.3 103  70   R 3
2
Or R  42338
3

Or R  34.85mm
Diameter, D=69.70mm

Example 4.2: A shaft is made from a tube in which the ratio of the inside to outside
diameters is 0.6. The material must not experience a shear stress greater than 500kPa. If
the shaft is to transmit 1.5MW of mechanical power at 1500rev/min, determine the shaft
diameters.

Solution:
Important quantities: P=1.5106 Watts,= 500103Pa, N=1500rev/min, d=0.6D

Thus: N=1500rev/min=1500/60 =25rev/s

P 1.5×106
P = 2πNT , or T = =  9549.3Nm
2πN 2 25

J=
π  D4 - d 4 
=

π D 4 -  0.6D 
4
 = π D - 0.36D  = 0.08545D
4 4
4

32 32 32
T  2 9549.3 2  500 103 9549.3 D4
= = , hence = =   D3
J R D 0.08545D 4
D 0.08545  2  500 10 3
D
D  0.11175, or D  0.11175  0.4816m  481.6mm and d = 0.6D = 289mm
3 3

4.3 Combined Bending and Torsion

6
 A shaft transmitting power may be subjected to bending moment due to self weight,
pulls exerted by belts/rope drives or weights of pulleys and couplings.
Consider any point C in the shaft, at a radial distance r from the centre and a distance
y from the neutral axis (NA) as shown in Fig 4.4.
Let M= bending moment at a section of a shaft,
T=twisting moment.

C 1
y r 2
X X
x O
1 2

Fig 4.4: Combined bending and torsion

Shear stress due to torsion based on eq. (viii) is given by,

T
τ= r …(i)
J
The bending stress at this point is given by,
M
f= y …(ii)
I
In short shafts, the principal stresses will be maximum at the surface, i.e. A and B for
both torsion and bending stress.
T
Torsion stress, τ = R (at surface).
J
D/2 16T
Or τ = T× = …(iii)
π 4 πD3
D
32
M D/2 32M
Bending stress, f b = R = M × = (at surface) …(iv)
I πD 4 πD3
64
Principal stresses are:
2
f f 
σ = b ±  b  + τ2
2 2
2 2
 32M/πD3   32M/πD3   16T 
= ±   + 3 
 2   2   πD 
2 2
16M  16M   16T 
= 3
±  3 
+ 3 
πD  πD   πD 

7
 =
16
πD 3 
M  M2 + T2  …(v)

 σ1 and σ 2 can be obtained from Eq.(v), and will be of opposite signs.

The position of principal stresses are given by,
2τ 2× 16T/πD  T
3

Tan 2θ = = = …(vi)
fb  32M/πD3  M
Example 4.3: A shaft 100mm in diameter is subjected to a bending moment of 10 kNm
and a twisting moment of 15 kNm at a certain cross-section. Determine the maximum
direct stress induced in the section and specify the position of the plane on which it acts.

Solution
16T 16×15×106
Shear stress, τ = = = 76.39 N/mm 2
π 100 
3 3
πD
32M 32×10×106
Bending stress, f b = = = 101.86 N/mm 2
π 100 
3 3
πD
2
fb f 
Principal stresses are: σ = ±  b  + τ2
2 2
fb f b2 101.86 101.86
+  76.39   142.74 N / mm 2 ,
2
 σ1 = + + τ2 = +
2 4 2 4
f f b2 101.86 101.86
+  76.39   40.88 N / mm 2
2
and σ 2 = b - + τ2 = -
2 4 2 4
2τ T 15
Tan 2θ = = = = 1.5
fb M 10
 2θ = 56018, or θ = 2809, or 11809 with axis of shaft.

4.4 Statically Indeterminate Circular Section Bars Under Torsion

Before maximum stress and angle of twist can be determined, reactions are
determined first.
Consider the bar shown in Fig 4.5 when subjected to torque at point B along its
length.

From equilibrium, we have,

T = TA + TC …(i)
A second equation is obtained by considering compatibility of the displacement at B
of the two lengths AB and BC. Thus angle of twist at B in AB equals the angle of twist at
B in BC, i.e.
θB AB = θB BC  …(ii)
From the torsion equation,

8
 T τ Gθ Gθ
= = , or T = J
J R L L
TL
Also, θ =
GJ
TA L AB TC L BC
 
GJ AB GJ BC

T
TA TC

(a) A B C Loading diagram

LAB LBC

+ve
(b) TA T Torsion diagram
TB
-ve

Fig 4.5
TC L BC GJ L
Thus, TA = × = TC BC …(iii)
GJ L AB L AB
Substitute in eq. (i):
L L 
T = TC BC + TC = TC  BC +1 ,
L AB  L AB 
Which gives
L AB
TC = T …(iv)
LAB + L BC
L BC
and TA = T …(v)
L AB + L BC
The distribution of torque along the length of the bar is shown in Fig 4.5(b). Note
that if L AB  L BC , TC is the maximum torque in the bar.

Example 4.4: A bar is subjected to torque as shown in Fig 4.6. Determine: (i) the
maximum stress, (ii) the angle of twist at the point of application of the torque.

Solution
For equilibrium,
T = TA + TC …(i)
From compatibility of displacement
at B in the lengths AB and BC,
θB AB = θB BC 

9
 TA L AB TC L BC
Also, 
GJ AB GJ BC
L J
Whence, TA  BC AB TC …(ii)
L ABJ BC
50kNm
Substitute in Eq. (i):
L J 
T = TC  BC AB +1

200mm

100mm
 L AB J BC 
 π 4 
 0.5× 32 × 0.2  C
Or 50 = TC  +1 A 2.0m B 0.5m
π
 2.0× × 0.1 4

 32 
40
 TC = 10 kNm, and TA  40 kNm {from Eq. (i)}. Units: kNm
Maximum shear stress occurs in the length BC +ve
of the bar and is given by:
-ve
T  τ T
τ= R  = 
J  R J 10
Torsion Diagram
100
10 106 
Or  = 2 = 50.8 N/mm 2 Fig 4.6

100 4

32
Rotation at B is given by either,
T L TL
θ B = A AB , or θ B = C BC
GJ AB GJ BC
Using the first expression,
40×106 × 2×103
θB = = 0.0064 rads, or θ B = 0.37 0
π
80×103 × × 2004
32

4.5 Strain energy due to torsion

It can be seen that for a bar of given material, a given length L, and radius R, the
 θ
angle of twist is directly proportional to the applied torque  From equation, T = JG  .
 L
Therefore, a torque-angle twist graph is linear and for a gradually applied torque takes the
form shown in Fig 4.7. The work done by a gradually applied torque T is equal to the
area under the torque –angle of twist curve and is given by;
1
Work done = T Torque
2
The corresponding strain energy, U, T
is therefore also given by
1
U = T
2  Angle of twist

Fig 4.
10
 Substituting for T and  from the equation,
T τ Gθ
= = ,
J r L
in terms of maximum shear stress, τ max on the
surface of the bar we, have
1 τ max J τ max L  L J 
U= ×    , and T = 
2 R GR  GR R 
1 τ 2max 2 πR 4
Or U= πR L, since J =
4 G 2
2
τ
Hence U = max × volume of bar …(i)
4G
Alternatively, in terms of the applied torque T, we have,
1 T2L
U = Tθ = …(ii)
2 2GJ

11
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