MECHANICS OF MATERIALS

MECH 305
Dr. Erwin Sulaeman
UAE University
College of Engineering
Department of Mechanical Engineering
Chapter 3: Torsion and engineering application
to design of shafts
3.1 Introduction
3.2 Torsional Deformations of a Circular bars
3.3 Circular Bars of Linearly Elastic Materials
3.4 Non-uniform Torsion
3.5 Stresses and Strains in Pure Shear
3.6 Relationship Between Moduli of Elasticity E and G
3.7 Transmission of Power by Circular Shafts
3.11 Stress Concentrations in Torsion
Midterm
• Tuesday, 20 Feb ; 18:45pm
• Closed book
• All electronic gadget
• Topics : ch 2.2; Ch 2.10; Ch 3.
 3.1 Introduction

▪ Torsion is the twisting of a straight bar when it is loaded

by twisting moments or torques that tend to produce
rotation about the longitudinal axes of the bar.
▪ For instance, when we turn a screw driver to produce
torsion our hand applies torque ‘T’ to the handle and
twists the shank of the screw driver
▪ Other examples of bars in torsion are drive shafts in
automobiles, axles, propeller shafts, steering rods, and
drill bits.
1.1 Introduction
Torsion: twisting of a straight bar when loaded by moments
(or torques). Moments or torques tend to produce rotation
about the longitudinal axis of the bar (twisting).

Couple: the pair of forces that tends to twist the bar about its
longitudinal axis.
Moment of a couple: T (Nm) = Force (N) x Arm (m) or
T (lb in.) = Force (lb) x Arm (in.)

Representation of the moment of a couple: a vector with a

double-headed arrow.

Then we can write the moments as:

T1 = P1d1 T2 = P2d2
3.2 Torsional Deformations of a Circular
▪ When subjected to torsion, every cross-section of a circular shaft remains plane and
undistorted then the bar is said to be under pure torsion.
▪ Consider a cylindrical bar of circular cross section twisted by the torques T at both the
ends, Since every cross section of the bar is symmetrical, we say that the bar is in pure
torsion.
▪ Under the action of torque T, the right end of the bar will rotate through small angle 
known as the angle of twist.
▪ The angle of twist varies along the axis of the bar at intermediate cross section denoted
by (x)
3.2 Torsional Deformations of a Circular
Shear Strains at the Outer Surface
But, bb’ = rd

d/dx is the rate of change of the angle of

twist  with respect to the distance x
measured along the axis of the bar referred to
as the rate of twist, or the angle of twist per
unit length; denoted by symbol .

For pure torsion:

3.2 Torsional Deformations of a Circular
Shear Strains Within the Bar
The shear strains within the interior of the bar can be found by the
same method used to find the shear strain max at the surface.
Because radii in the cross sections of a bar remain straight and
undistorted during twisting, the element inside at radius  is
twisted in the same was as element situated on the surface
of an interior cylinder of radius r. Thus,

This equation shows that the shear strains in a circular bar

vary linearly with the radial distance  from the center, with
the strain being zero at the center and reaching a maximum
value max at the outer surface.
3.3 Circular Bars of Linearly Elastic Materials
From Hooke’s Law:  = G
G is shear modulus of elasticity (Modulus
of rigidity) and γ is shear strain.

From Shear Strain equation :

Therefore, Shear Stress at the outer surface of
the bar :
3.3 Circular Bars of Linearly Elastic Materials
The Torsion Formula: relationship between shear stresses and torque.
Consider an element of area dA
located at radial distance r from
the axis of the bar
The resultant moment ( torque T) is the
summation over the entire cross sectional
area of all such elemental moments.

For circular cross section of radius r Generalized torsion formula:

and diameter d

Angle of twist:

Torsional rigidity: Torsional flexibility:

3.3 Circular Bars of Linearly Elastic Materials
Circular Tubes
Circular tubes are more efficient than solid bars in resisting torsional loads.
Shear stresses in a solid circular bar are maximum at the outer boundary of
the cross section and zero at the center. Therefore, most of the material in a
solid shaft is stressed significantly below the maximum shear stress.
The analysis of the torsion of a circular tube is almost identical to that
for a solid bar. The relationship between the torque T and the maximum stress is
the same as before, but the limits on the integral for the polar moment of inertia
are ρ = r1 and ρ = r2 . Therefore, the polar moment of
inertia of the cross-sectional area of a tube is:
where r = average radius,
or d = average diameter and
t = tube thickness
If the tube is relatively thin so that the wall thickness t is small compared to the average radius r, the
term t2 and d2 may be disregarded. The formula for Ip may simplify to: :
3.3 Circular Bars of Linearly Elastic Materials
Example 3.1
3.3 Circular Bars of Linearly Elastic Materials
Example 3.1:continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.1:continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.1:continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.2
A steel shaft is to be manufactured either as a solid
circular bar or as a circular tube (Fig. 3-12). The shaft is
required to transmit a torque of 1200 Nm without
exceeding an allowable shear stress of 40 MPa nor an
allowable rate of twist of 0.75°/m. (The shear modulus of
elasticity of the steel is 78 GPa.)
(a) Determine the required diameter d0 of the solid shaft.
(b) 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.
(c) Determine the ratio of diameters (that is, the ratio
d2/d0) and the ratio of weights of the hollow and solid
shafts.
3.3 Circular Bars of Linearly Elastic Materials
Example 3.2: continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.2: continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.2: continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.2: continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.2: continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.2: continued
3.3 Circular Bars of Linearly Elastic Materials
Example 3.2: continued
Exercise 1.
Exercise 2
Exercise 3
Exercise 4
3.4 Non-uniform Torsion
▪ Non-uniform torsion refers to the case when a bar is not prismatic and the applied
torques act anywhere along the axis of the bar.
▪ Bars in non-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.
▪ Three cases of non-uniform torsion are considered here. Other cases can be
handled by similar techniques.
3.4 Non-uniform Torsion
Case 1. Bar consisting of prismatic segments with constant
torque throughout each segment (Fig. 3-14).
Sign convention normally is as follows: An internal torque is positive when
its vector points away from the cut section and negative when its vector
points toward the section

The maximum shear stress and angle of twist in

each segment of the bar is readily obtained from
the torsion formula using the appropriate cross-
sectional dimensions and internal torque
The total angle of twist of one end of the bar with
respect to the other is then obtained by algebraic
summation, as follows:
3.4 Non-uniform Torsion
Case 2. Bar with continuously varying cross
sections and constant torque (Fig. 3-15).

Maximum shear stress:

For tubular bars, max is at the cross section
having smallest diameter.

Angle of twist:

For differential element:

For the entire bar:

3.4 Non-uniform Torsion
Case 3. Bar with continuously varying cross sections and
continuously varying torque (Fig. 3-16)
Internal torque T(x) varies continuously along
the axis (Fig. 3-16b).
Polar moment of inertia IP(x) can be evaluated
from the cross-sectional dimensions of the bar.
The cross section of maximum shear stress can
then be identified, and the maximum shear
stress can be determined

The angle of twist for the bar can be

found as:
3.4 Non-uniform Torsion
Example 3.4
A solid steel shaft ABCDE (Fig. 3-17) having diameter d = 30 mm turns freely in bearings at
points A and E. The shaft is driven by a gear at C, which applies a torque T2 = 450 Nm in
the direction shown in the figure. Gears at B and D are driven by the shaft and have resisting
torques T1 = 275 Nm and T3 = 175 Nm, respectively, acting in the opposite direction to the
torque T2. Segments BC and CD have lengths LBC = 500 mm and LCD = 400 mm,
respectively, and the shear modulus G = 80 GPa.
Determine the maximum shear stress in each part of the shaft and the angle
of twist between gears B and D.
3.4 Non-uniform Torsion Torque
Example 3.2: continued

FBDs

Angle of twist:
3.5 Stresses and Strains in Pure Shear
3.5 Stresses and Strains in Pure Shear
3.7 Transmission of Power by Circular Shafts
The most important use of circular shafts is to transmit mechanical power from one device
or machine to another. The work done by a torque of constant magnitude is equal to the
product of the torque (T) and the angle through which it rotates (ψ)

Power is the rate at which work is done

In U.S. engineering practice, power is sometimes expressed in horsepower (hp)

3.7 Transmission of Power by Circular Shafts
Example 3.7
3.7 Transmission of Power by Circular Shafts
Example 3.7: continued
Solution: (a) Required diameter for motor operating at 500 rpm.

(b) Required diameter for motor operating at 3000 rpm.

This diameter is less than the diameter found

in part (a).
This example illustrates that the higher the
speed of rotation, the smaller the required
size of the shaft (for the same power and the
same allowable stress).
3.7 Transmission of Power by Circular Shafts
Example 3.7 (in US Units)
A motor driving a solid circular steel shaft transmits 40 hp to a
gear at B (Fig. 3-30). The allowable shear stress in the steel is
6000 psi.
(a) What is the required diameter d of the shaft if it is operated at
500 rpm?
(b) What is the required diameter d if it is operated at 3000 rpm?
3.7 Transmission of Power by Circular Shafts
Example 3.8
3.7 Transmission of Power by Circular Shafts
Example 3.8: continued
Solution: Torque acting on the shaft: At A, B and C

Internal torques in the two segments:

Shear stresses and angle of twist:

Therefore: