CHAPTER 3
TORQUE
Torsion
Consider a bar to be rigidly attached at one end and
twisted at the other end by a torque or twisting moment T
equivalent to 𝐹 × 𝑑, which is applied perpendicular to the
axis of the bar, as shown in the figure. Such a bar is said to
be in torsion.
𝑇=𝐹𝑑
TORSIONAL SHEARING STRESS, τ
For a solid or hollow circular shaft subject to a twisting
moment T, the torsional shearing stress at a distance ρ
from the center of the shaft is
T Tr
and max
J J
where
𝐽 = polar moment of inertia of the section
𝑟 = outer radius
𝑇= twisting moment/torque
For solid cylindrical shaft:
𝜋 4
𝐽= 𝐷
32
16 𝑇
𝜏𝑚𝑎𝑥 =
𝜋 𝐷3
For hollow cylindrical shaft:
𝜋
𝐽= (𝐷4 −𝑑4 )
32
16 𝑇𝐷
𝜏𝑚𝑎𝑥 =
𝜋 (𝐷4 − 𝑑4 )
ANGLE OF TWIST
The angle θ through which the bar length L will twist is
TL
in radians
JG
where
𝑇 is the torque in N·m,
L is the length of shaft in m,
G is shear modulus in MPa,
J is the polar moment of inertia in 𝑚4 ,
D and d are diameter in m, and
r is the radius in m.
POWER TRANSMITTED BY THE SHAFT
A shaft rotating with a constant angular velocity 𝜔 (in
radians per second) is being acted by a twisting moment
𝑇. The power transmitted by the shaft is
Po Tw 2Tf
where :
𝑇 is the torque in N·m, (1 ft-lb=1.356 N-m)
f is the number of revolutions per second, and
𝑃𝑜 is the power in watts. (1 ℎ𝑝 = 745.7 𝑊)
(1 ℎ𝑝 = 550 𝑓𝑡 − 𝑙𝑏𝑓/𝑠)
(1𝑊 = 1 𝑁 − 𝑚/𝑠)
Sample Problems:
1.A steel shaft 5 m long is stressed to 60 Mpa when twisted through
4°. Using 𝐺 = 83 𝐺𝑃𝑎, compute the shaft diameter. What power
can be transmitted by the shaft at 20 rev/s?
Given: L = 5 𝜏 = 60 𝑀𝑃𝑎 𝜃 = 4°
𝐺 = 83 𝐺𝑝𝑎 𝑓 = 20 𝑟𝑒𝑣/𝑠𝑒𝑐
Solution:
- due to twist
𝑇𝐿
𝜃=
𝐽𝐺
𝜋 𝑇 5
4° = 𝜋
180° 𝑑 4 83 𝑥 109
32
𝑇 = 113774606.3 𝑑 4 (1)
- due to shear
16𝑇
𝜏=
𝜋𝑑 3
16(113774606.3 𝑑 4)
60 𝑥 106 =
𝜋𝑑 3
𝑑 = 0.1035 𝑚 = 103.5 𝑚𝑚
Substitute 𝑑 to (1)
𝑇 = 113774606.3 (0.1035)4
𝑇 = 13055.90 𝑁 − 𝑚
- Due to power transmitted by the shaft
𝑃𝑂 = 2𝜋𝑇𝑓
𝑃𝑂 = 2𝜋 13055.90 20
𝑃𝑂 = 1640652.5 𝑁 − 𝑚/𝑠
𝑃𝑂 = 1640652.5 𝑊𝑎𝑡𝑡𝑠
2. What is the minimum diameter of a solid steel shaft that will not
twist through more than 3° in a 6-m length when subjected to a
torque of 12 kN·m? What maximum shearing stress is developed?
Use G = 83 GPa.
Given: 𝜃 = 3° 𝐿 =6𝑚
𝑇 = 12 𝑘𝑁 − 𝑚 𝐺 = 83 𝐺𝑃𝑎
Solution:
- due to twist - due to shear
𝑇𝐿
𝜃= 16𝑇
𝐽𝐺 𝜏=
𝜋 𝜋𝑑 3
3° 16(12,000)
180° 𝜏=
12,000 6 𝜋(0.1143 )
= 𝜋 𝜏 = 41.25 𝑥 106
𝑑 4 83 𝑥 109
32 = 41.25 𝑀𝑃𝑎
𝑑 = 0.114 𝑚 = 114 𝑚𝑚
3. A steel marine propeller shaft 36 cm. in diameter and 5.5 𝑚 long
is used to transmit 4000 𝑘𝑊 at 3 𝑟/𝑠 . If 𝐺 = 83 𝐺𝑃𝑎 ,
determine the maximum shearing stress.
Given: 𝑑 = 36 𝑐𝑚 = 0.36 𝑚 𝐿 = 5.5 𝑚
𝑃𝑂 = 4000 𝑘𝑊 𝑓 = 3 𝑟𝑒𝑣/𝑠
𝐺 = 83 𝐺𝑃𝑎
Solution:
- due power transmitted by the - Due to shear
shaft
16𝑇
𝜏=
𝑃𝑂 = 2𝜋𝑇𝑓 𝜋𝑑 3
16(212206.59)
4000 𝑥 103 = 2𝜋𝑇 3 =
𝜋(0.363 )
𝑇 = 212206.59 𝑁 − 𝑚
𝜏 = 23,164,422.41 𝑃𝑎
𝜏 = 23.16 𝑀𝑃𝑎
4. A 50-mm-diameter steel shaft rotates at 4 r/s. If the shearing stress
is limited to 82 MPa, determine the maximum horsepower that can
be transmitted.
Given: 𝑑 = 50 𝑚𝑚 = 0.05 𝑚 𝑓 = 4 𝑟𝑒𝑣/𝑠
𝜏 ≤ 82 𝑀𝑃𝑎
Solution:
- Due to power transmitted by
- due to shear the shaft
16𝑇 𝑃𝑂 = 2𝜋𝑇𝑓
𝜏=
𝜋𝑑 3 𝑃𝑂 = 2𝜋 2012.58 20
16 𝑇 𝑃𝑂
82 𝑥 106=
𝜋(0.053 ) = 252,908.61 𝑁 − 𝑚/𝑠
𝑇 = 2012.58 𝑁 − 𝑚 𝑃𝑂 = 252,908.61𝑊𝑎𝑡𝑡𝑠
𝑃𝑂 = 339.16 ℎ𝑝
5. A steel propeller shaft is to transmit 4.5 MW at 3 Hz without
exceeding a shearing stress of 50 MPa or twisting through more
than 1° in a length of 26 diameters. Compute the proper diameter
if G = 83 GPa.
Given: 𝑃𝑂 = 4.5 𝑀𝑊 𝑓 = 3 ℎ𝑧. 𝜏 ≤ 50 𝑀𝑃𝑎
𝜃 ≤ 1° 𝐿 = 26𝑑 𝐺 = 83 𝐺𝑃𝑎
Solution:
- Due to power transmitted - due to shear
by the shaft
16𝑇
𝜏=
𝑃𝑂 = 2𝜋𝑇𝑓 𝜋𝑑 3
4.5 𝑥 106 = 2𝜋𝑇(3) 6
16 (238,732.41)
50 𝑥 10 =
𝑇 = 238,732.41 𝑁 − 𝑚 𝜋(𝑑 3 )
𝑑 = 0.115 𝑚 = 115 𝑚𝑚
- due to angle of twist
𝑇𝐿
𝜃=
𝐽𝐺
𝜋 238,732.41 26𝑑
1° = 𝜋
180° 𝑑 4 83 𝑥 109
32
𝑑 = 0.352 𝑚 = 352 𝑚𝑚
- For the minimum diameter (safe diameter), use the bigger
value
𝒅𝒎𝒊𝒏 = 𝟑𝟓𝟐 𝒎𝒎
Note:
The bigger the diameter, the better.
6. Show that the hollow circular shaft whose inner diameter is half
the outer diameter has a torsional strength equal to 16/15 of that
of a solid shaft of the same outside diameter.
Solution:
For a Hollow Circular Shaft For a Solid Circular Shaft
16𝑇𝐷
𝜏ℎ = 16𝑇
𝜋(𝐷4 −𝑑4 ) 𝜏𝑠 = (2)
16 𝑇𝐷 𝜋𝐷3
𝜏ℎ =
1 4
𝜋 𝐷4 − 2
𝐷
16 𝑇𝐷 Substituting (2) to (1) will give,
𝜏ℎ =
𝜋 15 𝐷4 16
16
16 16𝑇
𝜏ℎ = 𝜏𝑠
𝜏ℎ = (1) 15
15 𝜋𝐷3
7. An aluminum shaft with a constant diameter of 50 𝑚𝑚 is loaded
by torques applied to gears attached to it as shown. Using 𝐺 =
28 𝐺𝑃𝑎, determine the relative angle of twist of gear D relative to
gear A.
Solution:
a. Find the torque of each segment
- Segment AB - Segment BC
𝑇𝐴𝐵
𝑀=0 𝑇𝐵𝐶
𝑇𝐴𝐵 = 600 𝑁 − 𝑚
𝑀=0
(clockwise)
𝑇𝐵𝐶 + 900 = 600
𝑇𝐵𝐶 = −300 𝑁 − 𝑚
(counter clockwise)
- Segment CD
𝑇𝐶𝐷 𝑀=0
𝑇𝐶𝐷 + 900 = 600 + 1100
𝑇𝐶𝐷 = 800 𝑁 − 𝑚 (clockwise)
b. Rotation of each segment,
- Segment AB - Segment BC
𝑇𝐿 𝑇𝐿
𝜃𝐴𝐵 = 𝜃𝐵𝐶 =
𝐽𝐺 𝐴𝐵 𝐽𝐺 𝐵𝐶
600(2) 300(3)
𝜃𝐴𝐵 = 1 𝜃𝐵𝐶 = 1
𝜋 0.054 28𝑥109 4 9
32 32𝜋 0.05 28𝑥10
𝜃𝐴𝐵 = 0.0698 𝑟𝑎𝑑 𝜃𝐵𝐶 = 0.0524 𝑟𝑎𝑑
𝜃𝐴𝐵 = 4.002° 𝜃𝐵𝐶 = 3.001°
(clockwise) (counter clockwise)
- Segment CD
𝑇𝐿
𝜃𝐶𝐷 =
𝐽𝐺 𝐶𝐷
800(2)
𝜃𝐶𝐷 = 1
𝜋 0.05 4 28𝑥109
32
𝜃𝐶𝐷 = 0.0931 𝑟𝑎𝑑
𝜃𝐶𝐷 = 5.336° (clockwise)
c. Rotation of D relative to A
𝐷
𝜃𝐷/𝐴 = 𝐴𝜃 (clockwise rotation is positive)
𝜃𝐷/𝐴 = 𝜃𝐴𝐵 − 𝜃𝐵𝐶 + 𝜃𝐶𝐷
𝜃𝐷/𝐴 = 6.337°
8. The steel shaft shown rotates at 4 𝐻𝑧 with 35 𝑘𝑊 taken off at A,
20 𝑘𝑊 removed at B, and 55 𝑘𝑊 applied at C. Using 𝐺 = 83 𝐺𝑃𝑎,
find the maximum shearing stress and the angle of rotation of gear
A relative to gear C.
Solution:
𝑃𝑜
a. Convert power to torque, 𝑇 = 2𝜋𝑓
35,000
𝑇𝐴 = = 1392.61 𝑁 − 𝑚
2𝜋(4)
20,000
𝑇𝐵 = = 795.77 𝑁 − 𝑚
2𝜋(4)
55,000
𝑇𝐶 = = 2188.38 𝑁 − 𝑚
Note: 2𝜋(4)
Assume “ taken off and removed” to be counter clockwise and “applied” to be
clockwise.
b. Find the torque of each segment
- Segment AB
𝑀=0
𝑇𝐴𝐵 = 1392.61 𝑁 − 𝑚
(clockwise)
- Segment BC
𝑀=0
𝑇𝐵𝐶 = 1392.61 + 795.77
𝑇𝐵𝐶 = 2188.38 𝑁 − 𝑚
(clockwise)
𝑇𝐵𝐶
16𝑇
c. Stress of each segment, 𝜏 = 𝜋𝑑 3
16(1392.61) 6 𝑃𝑎 = 42.63 𝑀𝑃𝑎
𝜏𝐴𝐵 = = 42.63 𝑥 10
𝜋(0.055)3
16(2188.38) 6 𝑃𝑎 = 40.58 𝑀𝑃𝑎
𝜏𝐵𝐶 = = 40.58 𝑥 10
𝜋(0.065)3
d. Rotation of A relative to C.
𝐶 𝑇𝐿
𝜃𝐴/𝐶 = 𝐴 𝐽𝐺 (clockwise rotation is positive)
𝑇𝐿 𝑇𝐿
𝜃𝐴/𝐶 = 𝜃𝐴𝐵 + 𝜃𝐵𝐶 = +
𝐽𝐺 𝐴𝐵 𝐽𝐺 𝐵𝐶
1392.61(4) 2188.38(2)
𝜃𝐴/𝐶 = +
1 1
𝜋 0.055 4 (83𝑥109 ) 𝜋 0.065 4 (83𝑥109 )
32 32
𝜃𝐴/𝐶 = 0.105 𝑟𝑎𝑑
𝜃𝐴/𝐶 = 6.004°
9. A compound shaft consisting of a steel segment and an aluminum
segment is acted upon by two torques as shown. Determine the
maximum permissible value of 𝑇 subject to the following
conditions: 𝑠𝑡 = 83 𝑀𝑃𝑎, 𝑎𝑙 = 55 𝑀𝑃𝑎, and the angle of
rotation of the free end is limited to 6° . For steel, 𝐺 =
83 𝐺𝑃𝑎 and for aluminum, 𝐺 = 28 𝐺𝑃𝑎.
Solution:
a. Torque of each segment in terms of T.
- Aluminum segment - Steel segment
𝑇𝑎𝑙
𝑇𝑠𝑡
𝑀=0 𝑀=0
𝑇𝑎𝑙 = 𝑇 𝑇𝑠𝑡 = 𝑇 + 2𝑇
𝑇𝑠𝑡 = 3𝑇
b. Analyze each segment based on their allowable shearing stress.
- Aluminum segment - Steel segment
16𝑇 16𝑇
𝜏𝑎𝑙 = 𝜏𝑠𝑡 =
𝜋𝑑 3 𝑎𝑙 𝜋𝑑 3 𝑠𝑡
6 16(𝑇) 6 16(3𝑇)
55 𝑥 10 = 𝜋(0.04)3 83 𝑥 10 = 𝜋(0.05)3
𝑇 = 691.15 𝑁 − 𝑚 𝑇 = 679.04 𝑁 − 𝑚
c. Analyze the compound shaft based on its total angle of twist.
𝜃𝑇 = 𝜃𝑎𝑙 + 𝜃𝑠𝑡
𝑇𝐿 𝑇𝐿
𝜃𝑇 = +
𝐽𝐺 𝑎𝑙 𝐽𝐺 𝑠𝑡
𝜋 𝑇(0.6) 3𝑇(0.9)
6° = 1 4 (28𝑥109 )
+ 1 4 (83𝑥109 )
180° 32 𝜋(0.04) 32 𝜋(0.05)
𝑇 = 757.32 𝑁 − 𝑚
d. For the safe value of T,
𝑇𝑚𝑎𝑥 = 679.04 𝑁 − 𝑚
10. A solid steel shaft is loaded as shown. Using 𝐺 = 83 𝐺𝑃𝑎,
determine the required diameter of the shaft if the shearing
stress is limited to 60 𝑀𝑃𝑎 and the angle of rotation at the free
end is not to exceed 4 deg.
A C
Solution:
a. Torque of each segment in terms of T.
- Segment BC
𝑇𝐵𝐶
𝑀=0
𝑇𝐵𝐶 = 1200 𝑁 − 𝑚
(clockwise)
- Segment AB
𝑇𝐴𝐵 𝑀=0
𝑇𝐴𝐵 + 750 = 1200
𝑇𝐴𝐵 = 450 𝑁 − 𝑚
(clockwise)
b. Analyze each segment based on their allowable shearing stress.
- Segment BC - Segment AB
16𝑇 16𝑇
𝜏𝐵𝐶 = 𝜏𝑠𝑡 =
𝜋𝑑 3 𝐵𝐶 𝜋𝑑 3 𝑠𝑡
16(1200) 16(450)
60 𝑥 106 = 60 𝑥 106 =
𝜋𝑑 3 𝜋𝑑 3
𝑑 = 0.0467 𝑚 𝑑 = 0.0337 𝑚
𝑑 = 46.7 𝑚𝑚 𝑑 = 33.7 𝑚𝑚
c. Analyze the compound shaft based on its total angle of twist.
𝜃𝑇 = 𝜃𝐴𝐵 + 𝜃𝐵𝐶
𝑇𝐿 𝑇𝐿
𝜃𝑇 = +
𝐽𝐺 𝐴𝐵 𝐽𝐺 𝐵𝐶
𝜋 450(2.5) 1200(2.5)
4° = 1 4 (83𝑥109 )
+ 1 4 (83𝑥109 )
180° 32
𝜋𝑑 32
𝜋𝑑
0.0519 𝑚
𝑑 = 51.9 𝑚𝑚
d. For the safe value of d,
𝑑𝑚𝑖𝑛 = 51.9 𝑚𝑚
11. The compound shaft shown in is attached to rigid supports. For the
bronze segment AB, the diameter is 75 𝑚𝑚, ≤ 60 𝑀𝑃𝑎, and
𝐺 = 35 𝐺𝑃𝑎. For the steel segment BC, the diameter is 50 𝑚𝑚,
≤ 80 𝑀𝑃𝑎 , and 𝐺 = 83 𝐺𝑃𝑎 . If 𝑎 = 2 𝑚 and b = 1.5 𝑚 ,
compute the maximum torque 𝑇 that can be applied.
Solution:
a. Analyze torque
𝑀 = 0;
𝑇 = 𝑇𝑏𝑟 + 𝑇𝑠𝑡 (1)
c. At point B, interface of the two segments,
𝜃𝑏𝑟 = 𝜃𝑠𝑡
𝑇𝐿 𝑇𝐿
=
𝐽𝐺 𝑏𝑟 𝐽𝐺 𝑠𝑡
𝑇𝑏𝑟 (2) 𝑇𝑠𝑡 (1.5)
1 4 (35𝑥109 )
= 1 4 (83𝑥109 )
32
𝜋(0.075) 32
𝜋(0.05)
𝑇𝑏𝑟 = 1.601 𝑇𝑠𝑡 (2)
d. Analyze each segment based on their allowable stress.
- Steel Segment - Bronze Segment
16𝑇 16𝑇
𝜏𝑠𝑡 = 𝜏𝑏𝑟 =
𝜋𝑑 3 𝑠𝑡 𝜋𝑑 3 𝑏𝑟
16𝑇𝑠𝑡 16𝑇𝑏𝑟
80 𝑥 106 = 𝜋(0.05)3 60 𝑥 106 = 𝜋(0.075)3
𝑇𝑠𝑡 = 1963.495 𝑁 − 𝑚 𝑇𝑏𝑟 = 4970.098 𝑁 − 𝑚
e. Conditions:
If 𝑇𝑏𝑟 = 4970.098 𝑁 − 𝑚
From (2) 𝑇𝑠𝑡 = 3104.371 𝑁 − 𝑚 > 1963.495 𝑁 − 𝑚 (Unsafe)
But;
If 𝑇𝑠𝑡 = 1963.495 𝑁 − 𝑚
From (2) 𝑇𝑏𝑟 = 3143.555 𝑁 − 𝑚 < 4970.098 𝑁 − 𝑚 (Safe)
Therefore from eq. (1)
𝑇 = 3143.555 + 1963.495
𝑇 = 5107.05 𝑁 − 𝑚
