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Torsion of tubes with quasi-polygonal holes using complex variable method

Article in Mathematics and Mechanics of Solids · May 2014

DOI: 10.1177/1081286512462836

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Mathematics and Mechanics of Solids

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Torsion of tubes with quasi-polygonal ©The Author(s) 2012

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holes using complex variable method DOI: 10.1177/1081286512462836
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Benyamin Gholami Bazehhour and Jalil Rezaeepazhand

Department of Mechanical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran

Received 5 July 2012; accepted 7 September 2012

Abstract
In this paper, torsional analysis of hollow bars with specially shaped non-circular cross-sections is presented. The well-
known formulation of the torsion problem in complex variable theory is used to obtain an expression for shear stresses,
angle of twist and cross-sectional warping. The most important part of the solution of the torsion problem here is to
obtain an appropriate closed-form conformal mapping for specially shaped cross-sections. The obtained mapping is used
to achieve a solution for torsion problem of bars with specially shaped hollow cross-section. Finally, the calculated results
are compared with the finite-element method solution. The presented solution is capable of accurately predicting the
angle of twist, warping, and shear stress in the studied hollow bars.

Keywords
Torsion, hollow cross-section, quasi-polygonal, complex variable, conformal mapping

1. Introduction
Shafts, bars and tubes are widely used in industrial applications. They can be seen in agricultural and industrial
machineries, automobiles, power transmission, space structures, aeronautical components, engineering struc-
tures and generally wherever load carrying elements are required to bear different types of loadings including
torsion. Therefore, torsional analysis of such bars with solid or hollow cross-sections is of great importance in
both designing and manufacturing.
The pure torsional analysis of prismatic bars and tubes has long been an important and attractive problem
in the theory of elasticity. Torsion is also an influential factor in designing of some load carrying elements in
structures and buildings.
Solution to the classical torsion problem of bars with solid cross-section and isotropic homogeneous material
has been presented using a variety of methods by many researchers. A comprehensive review of analytical,
approximate, experimental and numerical methods can be found in open literature.
Finding the torsional response of bars with non-circular cross-sections, however, is not as easy as that of
circular cross-sections and usually the complexities associated with the boundary make the solution difficult.
The exact solution has been established for some common and regular bars with simple cross-sectional shapes,
such as ellipses, triangles, rectangles, etc. [1, 2]. Explicit and exact solutions are exceptions and for an arbitrary
shape of the bar typically numerical solutions would be inevitable.
The most widely used numerical methods are the finite-element method (FEM), finite difference method
and boundary element method. The more complex the cross-sectional shape, the more nodes and elements
are needed to achieve convergent solutions [2]. Häfner et al. presented a three-dimensional FEM for analysis of

Corresponding author:
Benyamin Gholami Bazehhour, Department of Mechanical Engineering, Ferdowsi University of Mashhad, P.O. Box 91775-1111, Mashhad, Iran.
Email: be_gh92@stu-mail.um.ac.ir

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2 Mathematics and Mechanics of Solids

torsion for arbitrarily shaped cross-sections with both homogeneous and heterogeneous materials [3]. Moreover,
modeling of warping in smart piezoelectric shafts has been investigated for rectangular cross-sections using the
FEM [4]. In addition, a finite difference solution of the torsion problem of inhomogeneous and compound
prismatic bars has been presented by Ely and Zienkiewicz [5]. More recently, torsion of regular polygonal
cross-sections has been studies using large singular FEM [6].
Some approximate solutions have also been presented; Lee [7] proposed a closed-form approximate torsional
constant and a torsional shape factor for fibers with a generalized elliptical cross-section using the Galerkin
method. In addition, Serra [8] presented an approximate method for torsional analysis of solid bars with arbitrary
cross-section. In his method, the cross-section is divided into a finite number of imaginary strips, which rotate
at the same angle. His method was later developed for bars with hollow cross-sections.
As mentioned before, there are some analytical methods and approaches for calculating the torsional
response of bars. In general, this problem can be formulated either in terms of the Neumann boundary value
problem of the Laplace equation for the warping function, the Dirichlet boundary value problem of the Laplace
equation for the conjugate warping function or the Dirichlet boundary value problem of the Poisson equation for
the stress function [2]. Stronge and Zhang [9] presented an analytical solution for warping and centre of twist of
any prismatic shaft for infinitesimal deformation. Liu [2] used a meshless regularized integral equation method
(MRIEM) to achieve a solution of the elastic torsion problem of a uniform bar with arbitrary cross-section by
the first kind Fredholm integral equation on an artificial circle, which encloses the bar’s cross-section. Complex
variable method which is a very powerful tool for the solution of many elasticity problems has also been used
in the torsion problem of non-circular bars. However, achieving the solution relies on the ability of finding a
conformal mapping function which transforms a unit circle upon the desired region [10].
Similar to bars with solid cross-section, there are analytical, approximate and numerical methods proposed
for torsional analysis of hollow bars and tubes. For circular hollow cylinders, the solution can be found in
most of the elasticity textbooks [1, 10, 11]. The torsion of solid and hollow homogeneous isotropic simple and
conical rods under different torsional loadings has been investigated in detail in the monograph of Arutiunian
and Abramian [12]. Membrane analogy has been also presented for the torsion problem of both solid and hollow
bars [1, 11]. Analysis of a circular torsion bar weakened by circular holes has been investigated using a null-field
approach [13].
Wang [14] studied the torsion of a flattened isotropic tube consisting of two rectangular pieces and two half
annular pieces. Later, he generalized his numerical method to treat hollow tubes with an arbitrary combination
of rectangular and annular pieces [15]. Hematiyan and Doostfatemeh [16] developed a method for torsion of
thin- to moderately thick-walled hollow polygonal tubes. They used governing equations in terms of Prandtl’s
stress function to derive their approximate formulas. In addition, they assumed the geometry of hollow cross-
section to be consisted of straight and circular arch curves. However, the formulas were unable to give any
results for stress concentrations and warping displacements. Their method was extended to a similar analysis
on functionally graded tubes [17]. Moreover, a boundary collocation method has been used by Kołodziej and
Fraska for torsional analysis of regular polygonal cross-sections with circular or polygonal centered holes [18].
They obtained a solution in an explicit formula for the stress function and for stiffness using some numerical
procedure in the solution. As stated before, Serra [8] presented an approximate method for torsional analysis
of solid bars with arbitrary cross-section using imaginary strips. This method was later expanded for hollow
bars by Arif Gürel et al. [19]. They applied the method to some hollow polygonal cross-sections and compared
their results with existing exact solutions. They concluded that their method was simple to use and applicable
to a variety of cross-sections, especially moderately thin-walled cross-sections. Nevertheless, Arif Gürel et al.’s
solution is incapable of predicting warping displacements and stress concentrations at the sharp corners. In
our prior work [20], the imaginary strips method [7, 15] has been expanded to analyze the torsional behavior of
multi-layered tubes with arbitrarily shaped cross-sections. Also on the torsion of non-homogeneous bars, Ecsedi
presented a solution for the Saint-Venant torsion problem of solid and hollow cylindrical non-homogeneous
bars with shear modulus being a function of the Prandtl’s stress function of the same cylindrical bars when the
material is considered homogeneous [21].
As stated previously, complex variable theory provides a very powerful tool for the solution of many
problems in elasticity. Such applications include solutions of the torsion as well as some plane problems.
Furthermore, this technique is useful for cases involving anisotropic and thermoelastic materials [11]. Using
methods in complex variable theory enables us to solve many problems that would be intractable using other
methods. This method is based on the reduction of the boundary value problem to a formulation in the com-
plex domain. This formulation then allows many powerful mathematical techniques available from complex

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Gholami Bazehhour and Rezaeepazhand 3

variable theory, such as the residue theorem, to be applied to such problems. Muskhelishvili [22], Sokolnikoff
[10], Milne-Thomson [23], and England [24] presented comprehensive texts on this method. Complex variable
formulation and Schwarz–Christoffel mapping have been implemented for torsional analysis of uniform polyg-
onal bars with solid cross-sections [25]. Complex variable methods can also be implemented in the torsional
analysis of hollow cylinders. Nevertheless, the underlying problem is the difficulties associated with finding the
conformal mapping function of a non-circular hollow cross-section which constructs a correspondence with an
annulus. The general formulation of torsion of hollow cylinders in the complex domain has been presented by
Bartels, which is the basis of this study and summarized in the following section [26]. Although a consider-
able amount of work has been devoted to the torsion of non-circular bars, little attention has been focused on
obtaining the necessary mapping for specially shaped hollow cross-section bars. Our primary aim in this study
is to obtain appropriate conformal mappings in an analytical form which map specially shaped hollow regions
(doubly connected) onto an annulus. Then, the mapping is used to find the solution for the torsion problem of
bars with cross-sections of such hollow regions. The presented analytical solution in this study is capable of
obtaining warping displacements as well as stress concentrations. The obtained mapping can also be used to
find analytical solutions for a class of boundary value problems related to such doubly-connected regions.

2. Formulation of the torsion problem in complex variable theory

Let φ(x, y)denote the warping function (also torsion function) and ψ(x, y) be its conjugate. Now define F(z) as
follows:
F(z) = φ(x, y) + iψ(x, y) (1)
where the simply connected region R belongs to the z-plane (z = x + iy). The function F(z) is analytic throughout
the region R representing the cross-section of the bar. Now the region R is conformally mapped onto a unit circle
|ζ | ≤ 1 in the ζ -plane by:
z = w(ζ ). (2)
The function F(z) in Equation (1) can be expressed in terms of the variable ζ :
φ + iψ = F [w(ζ )] = f (ζ ) (3)
where f (ζ ) is analytic in the interior of the unit circle. From the boundary conditions in the torsion problem (see
[11]) and considering that x2 + y2 = zz̄:
1 1
ψ = (x2 + y2 ) = zz̄ + C (4)
2 2
where C is a constant which can remain undetermined. Thus, the imaginary part of f (ζ ) has to satisfy:
1
ψ = w(ζ )w(ζ̄ ) + C on γ , (5)
2
where γ is the boundary of the unit circle. In this manner, the torsion problem is solved if we succeed in
determining the imaginary part of the analytic function f (ζ ).
From Equation (3) we have
iψ = φ − f (ζ ) (6)
On the other hand, it can be seen that
f¯ (ζ̄ ) = φ − iψ (7)
From Equations (6) and (7) we obtain
f (ζ ) − f¯ (ζ̄ ) = 2iψ (8)
Replacing ψ from Equation (5), we get
f (ζ ) − f¯ (ζ̄ ) = iw(ζ )w̄(ζ̄ ) + C on γ . (9)
If σ = eiθ , from Harnack’s theorem [27] we can finally arrive at

1 w(σ )w̄(σ̄ )
f (ζ ) = dσ + const. (10)
2π γ σ − ζ

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4 Mathematics and Mechanics of Solids

This formula is used for a solid cross-section. The general procedure of deriving f (ζ ) for a hollow cross-
section does not defer in essence from that of a solid cross-section, i.e. we seek a solution to a boundary value
problem on an annulus instead of a unit circle. However, because the mapping has to be done onto an annulus
(R < |ζ | < 1) and two boundary values must be taken into account in doubly connected regions, obtaining an
expression for f (ζ ) in Equation (3) is quite difficult and needs domination of complex variable theory and its
numerous theorems. For such a doubly connected region, f (ζ ) has been obtained by Bartels [26] as follows:
∞   
1  u2 (σ2 ) u1 (σ1 )
f (ζ ) = dσ2 − dσ1 + const. (11)
π n=−∞ γ2 σ2 − Pn ζ γ1 σ1 − Pn ζ

in which γ2 and γ1 are the outer and inner boundaries of the annulus, respectively. Also σ2 = eiθ , σ1 = Reiθ and
Pn = R2n . Here u2 (σ2 ) and u1 (σ1 ) are real functions that are periodic and continuous for all values of ϑ and
must satisfy the following equation [26]:

uj (σj )
dσj = 0 (j = 1, 2) (12)
γj σj

in which uj (σj ) takes the following value on the boundary:

w(σj )w̄(σ̄j )
uj (σj ) = +Cj (j = 1, 2). (13)
2
In such a manner, again the solution of the problem directly relies on our ability to find the conformal mapping
function w(ζ ) onto an annulus (R < |ζ | < 1). Details on the general solution to the torsion problem can be
found in many elasticity textbooks [10]:
 
T f  (ζ )
τzx − iτzy = − iw̄(ζ̄ ) (14)
J w (ζ )
where T is the torsional moment. In addition, an expression for the torsional constant J can be achieved with
the help of mapping:

1  2
I0 = w̄(ζ̄ ) w(ζ )dw(ζ )
4i γ

1    
D0 = − f (ζ ) + f¯ (ζ̄ ) d w(ζ )w̄(ζ̄ ) (15)
4 γ

and
J = I0 + D0 (16)
where I0 is the polar moment of inertia. So far, the formulation of the torsion problem of bars with hollow
cross-sections has been reviewed.
Formula (11) forms the basis for a very general method of treating a class of boundary value problems
related to doubly connected regions [26]. One of these problems is the torsion of a bar with hollow cross-section.
Nevertheless, as asserted before, finding a proper conformal mapping, which is crucial to achieving the solution,
is not an easy task, especially in cases where the cross-section is hollow (doubly connected regions). Thus, in
the next section, a conformal mapping for specially shaped hollow regions will be presented in which iterative
or numerical methods are circumvented by taking appropriate measures to achieve a closed-form function. This
conformal mapping will then be used in the solution of torsion summarized in this section.

2.1. Conformal mapping of specially shaped hollow regions

It can be proven that every doubly-connected region in the z-plane can be conformally mapped onto an annulus
in the ζ -plane [28]. However, radii of the annular region cannot be selected arbitrarily, but depend on the original
shape in the z-plane. To make the calculations easier, the outer radius of the annulus is often assumed to be unit.

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Gholami Bazehhour and Rezaeepazhand 5

(a) z-plane (b) ζ-plane (R<r< 1)

Figure 1. Conformal mapping from a hollow region in the z-plane (a) onto a ring in the ζ -plane (b).

Nevertheless, the inner radius R is yet to be determined (see Figure 1). Assume that w(ζ ) conformally maps the
region in the z-plane onto an annulus:
z = w(ζ ) = ζ eϕ(ζ ) (17)
where ϕ(ζ ) is an analytic function. In the above equation ζ = reiθ (R<r<1), which defines an annulus with
inner radius R. Now Equation (17) can be rewritten as

w(ζ )
ϕ(ζ ) = ln( ) = P + iQ (18)
ζ

where P and Q are real and imaginary parts of ϕ, respectively. In Equation (18), ln () denotes the natural
logarithm. Thus, the real part can be found as follows:

P = ln |w(ζ )| − ln |ζ | . (19)

The x and y components of inner and outer boundaries of the desired hollow region in the z-plane are defined
by the following equations [29]:
 
xinn = λinn (cos(θ) + winn cos(ninn θ)) xout = λout cos(θ)
(20)
yinn = λinn (sin(θ) − winn sin(ninn θ)) yout = λout sin(θ)

in which λ is a real and positive parameter which determines the size of the boundary. Also n (integer) specifies
the number of sides and w changes the bluntness (sharpness) of the corners. On the outer boundaries of the two
regions, from Equations (18) and (19) we have

|w(ζ )| = x2out + y2out (21)

|ζ | = 1.

Therefore,
1
P= ln(x2out + y2out ) − 0 (22)
2
and on the inner boundaries we have
|w(ζ )| = x2inn + y2inn (23)
|ζ | = R.
Therefore,
1
P= ln(x2inn + y2inn ) − ln R. (24)
2

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6 Mathematics and Mechanics of Solids

As mentioned before, P is the real part of an analytic function, and thus it is a harmonic function, satisfying
the Laplace equation. Regarding the boundary values (22) and (24), the following Dirichlet boundary value
problem is achieved:
∇ 2P = 0

P = 12 ln(x2out + y2out ) on the outer boundary (25)
P = 12 ln(x2inn + y2inn ) − ln R on the inner boundary.

Replacing the x and y components from Equation (20), one can obtain
∇ 2P = 0

P = 12 ln[λ2out ] on the outer boundary (26)
P = 12 ln[λ2inn (1 + w2inn + 2winn cos(ninn + 1)θ )] − ln R on the inner boundary.

A general solution to the Dirichlet boundary value problem with such boundary values is [30]
∞
Bn
P = A0 + B0 ln(r) + (An rn + n )(Cn cos(nθ) + Dn sin(nθ)). (27)
n=1
r

2.2. Approximation of boundary values

It is difficult to deal with the boundary values in (26) and they must be approximated with appropriate expres-
sions. The Fourier expansion is one of the few resorts to resolve the difficulties associated with complex
boundary values in similar problems. Nevertheless, due to the logarithmic nature of the boundary values in (26),
any attempt to obtain their Fourier expansions yields unwieldy integrals that need extra calculations, possibly
numerical calculus, to produce approximate series.
To overcome this problem, a somewhat innovative shortcut is used to approximate the boundary values. If
we draw the logarithmic parts in boundary values with respect to ϑ, it is seen that for all of the values that the
constants (λ, w, n) can take, sinusoidal variations are observed, which can be approximated by a cosine function.
Therefore, boundary values in (26) may be rewritten as follows:

 P=0
∇ 2

Papp = C1out cos(Nout θ) + C2out on the outer boundary (28)

Papp = C1inn cos(Ninn θ) + C2inn − ln R on the inner boundary

where  Pmax −Pmin

C1out = 2
on the outer boundary
Pmax −Pmin
C1inn = 2
on the inner boundary
 (29)
Pmax +Pmin
C2out = 2
on the outer boundary
Pmax +Pmin
C2inn = 2
on the inner boundary
where Pmax and Pinn are obtained when cos(n + 1) equals 1 and 0 in (28), respectively. Therefore, the coefficients
in approximated boundary values in (28) can be written as follows:

C1out = 14 ln(1) = 0 on the outer boundary

1+w2inn +2winn
C1inn = 1
4
ln 1+w2inn −2winn
on the inner boundary
(30)

C2out = 1
4
lnλ4out   on the outer boundary
C2inn = 1
4
lnλ4inn 1 + w4inn − 2w2inn on the inner boundary.

In boundary value problem (28), Papp denotes approximated boundary values of P, Nout = nout + 1 and Ninn =
ninn + 1. Figure 2 shows the exact and approximated boundary values together.
The approximated values show a good agreement with the exact values. With the simplified boundary values,
it would be much easier to attain P from the Dirichlet boundary value problem of (28).

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Gholami Bazehhour and Rezaeepazhand 7

Figure 2. Exact and approximated boundary values for a quasi-triangular shape (λ = 1, w = 0.1, n = 2).

2.3. Solution to the Dirichlet boundary value problem

Considering Equations (27) and (28), we can find a solution to P which satisfies the Laplace equation:
C2inn − C2out 1
P = C2out + ( − 1) ln r + C(rNinn − N ) cos(Ninn θ)on (31)
ln R r inn
in which
C1inn
C= . (32)
RNinn − RNinn
1

As mentioned previously, the inner radius of the ring in the ζ -plane cannot be selected arbitrarily, but it is depen-
dent on the original region in the z-plane. In order to obtain R, we use the fact that P is harmonic, i.e.∇ 2 P = 0.
Thus, on a given area such as A:  
∇ PdA = ∇.(∇P)dA = 0.
2
(33)
A A

From the divergence theorem (also Gauss’s theorem) we have

 
∇.(∇P)dA = (∇P).ndS (34)
A ∂A

where ∇P is the gradient of P in polar coordinate, ∂A is a closed line in the region A that encloses the inner
boundary (for example, the outer boundary of A), dS is a line element on ∂A and n is the unit vector normal to
∂A which here can be replaced by êr (because A is an annular region in the ζ -plane):
    
∂P ∂P
(∇P).ndS = (∇P).êr dS = êr + êθ .êr dS. (35)
∂A ∂A ∂A ∂r r∂θ

Knowing that êr .êr = 1 and dS = rdϑ, Equation (35) can be rewritten as follows:
     2π
∂P ∂P ∂P ∂P
êr + êθ .êr dS = dS = rdθ = 0. (36)
∂A ∂r r∂θ ∂A ∂r 0 ∂r

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8 Mathematics and Mechanics of Solids

After differentiating P with respect to r, and considering the fact that r = 1 in the region A, one finally arrives at
   
∂P C2inn − C2out Ninn −1 1
= − 1 + CNinn r + N +1 cos(Ninn θ). (37)
∂r ln R r inn

Thus,
 2π
∂P C2inn − C2out
rdθ = − 1 = 0. (38)
0 ∂r ln R
From the above equation, the inner radius R of the annulus in the ζ -plane can be obtained:

R = e(C2inn −C2out ) . (39)

Now we proceed to find the mapping function. Recall the fact that both P and Q are harmonic functions and
satisfy Cauchy–Riemann in polar coordinates:

∂P 1 ∂Q 1 ∂P ∂Q
= , =− . (40)
∂r r ∂θ r ∂θ ∂r

So far we have obtained P. So it would not be difficult to obtain Q from the above relations:
 
1
Q=C r + N
Ninn
sin(Ninn θ) + M (41)
r inn

where M is a constant and can be determined later. From Equation (18):

ϕ(ζ ) = P + iQ = C2out + iM + CrNinn (cos(Ninn θ) + i sin(Ninn θ))

C
− N (cos(Ninn θ) − i sin(Ninn θ)). (42)
r inn

Since ζ = reiθ , the above equation can be simplified as follows:


rNinn (cos(Ninn θ) + i sin(Ninn θ)) = (reiθ )Ninn = ζ Ninn
(43)
1
rNinn
(cos(Ninn θ) − i sin(Ninn θ)) = (reiθ )−Ninn = ζ −Ninn .

Replacing the above quantities in (42):

ϕ(ζ ) = C2out + iM + C(ζ Ninn − ζ −Ninn ). (44)

Now, from Equation (17) we can write

Ninn −ζ −Ninn )
z = w(ζ ) = ζ eC2out +iM+C(ζ (45)

where w(ζ ) gives a conformal mapping of the hollow region in the z-plane on to the ring (R < r < 1) in the
ζ -plane. To determine the unknown constant M, it is enough to put a point with known coordinates in the z-
plane and its corresponding point in the ζ -plane into left- and right-hand sides of Equation (45), respectively.
For example, a point on the outer boundary at ϑ = 0 in the z-plane corresponds to a point on the outer boundary
(r = 1) at ϑ = 0 in the ζ -plane. In this manner, the constant M is obtained to be zero. Thus, the final conformal
mapping function w(ζ ) has the following form:
Ninn −ζ −Ninn )
w(ζ ) = ζ eC2out +C(ζ . (46)

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Gholami Bazehhour and Rezaeepazhand 9

Figure 3. Circular ring with quasi-triangular hole with λinn = 1, winn = 0.15, ninn = 2, λout = 2 (solid lines: exact, dashed lines:
mapped).

Figure 4. Circular ring with quasi-hexagonal hole with λinn = 1, winn = 0.05, ninn = 5, λout = 2 (solid lines: exact, dashed lines:
mapped).

2.4. Verification of the mapping

Now we can check the accuracy of the presented mapping function. In general, sharper corners produce larger
errors in different methods of conformal mapping. The reason is that the corners of a non-circular region are
mapped on only a few degrees and that means much variation is crowded into a small arc (for this reason
the problem is called ‘crowding’). It was previously stated that for mapping of doubly connected (or generally
multiply connected) regions, usually iterative methods and long series are necessary to capture the details of the
non-circular region. However, long series have large digital errors. In this study a non-iterative method was used
to obtain the mappings. The examples shown in Figures 3 and 4 show that the obtained mapping is accurate for
circular cross-sections with quasi-polygonal cutouts.

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10 Mathematics and Mechanics of Solids

Solid lines in the above figures indicate the exact inner and outer boundaries of the desired regions depicted
by Equation (20) while the dashed lines are delineated using Equation (46). As can be seen, the mapping
function in Equation (46) is capable of capturing the exact boundaries with a good accuracy.

2.5. Torsion of specially shaped hollow regions

Prior to this section, we summarized the formulation of the torsion problem in complex variable theory and then
obtained the necessary conformal mapping for specially shaped doubly connected regions. Now we apply the
conformal mapping to reach a solution for torsion of hollow bars with cross-sections defined by Equation (20).
In the following equations, γ2 and γ1 are outer and inner boundaries of the annulus in the ζ -plane, respectively.
Remember the mapping from Equation (46). Here w(σ2 ), in which σ2 = eiθ , can be written as follows:
iNinn θ −e−iNinn θ )
w(σ2 ) = eiθ eC2out +C(e . (47)
Similarly, its conjugate w̄(σ̄2 ) would be
−iNinn θ −eiNinn θ )
w̄(σ̄2 ) = e−iθ eC2out +C(e . (48)
Multiplying the above two equations, we arrive at

w(σ2 ).w̄(σ̄2 ) = e2C2out . (49)

For convenience, the following contour integral is calculated at first
 
w(σ2 ).w̄(σ̄2 ) 1
dσ2 = e2C2out
dσ2 = 2πie2C2out . (50)
γ2 σ2 γ2 σ2

Using Equations (12) and (50), constant C2 in Equation (13) can be found. Thus, u2 (σ2 ) can be finally obtained:
u2 (σ2 ) = 0. (51)
A similar procedure can be repeated to obtain u1 (σ1 ). Now w(σ1 ), in which σ1 = Reiθ , can be written as follows:
C2out +C(RNinn eiNinn θ − 1
e−iNinn θ )
w(σ1 ) = Reiθ e RNinn (52)
Therefore, w̄(σ̄1 ) will be
C2out +C(RNinn e−iNinn θ − 1
eiNinn θ )
w̄(σ̄1 ) = Re−iθ e RNinn (53)
Multiplying the above two equations and replacing C from Equation (32), we arrive at
(ARNinn eiNinn θ +B 1
e−iNinn θ ) Ninn −Ninn
+Bσ1
w(σ1 ).w̄(σ̄1 ) = R2 e2C2out e RNinn = R2 e2C2out e(Aσ1 )
(54)
where A and B are C1inn .R−Ninn and C1inn .RNinn , respectively. Again for convenience, the following contour
integral is calculated first to achieve u1 (σ1 ):
  Ninn
+Bσ1
−Ninn
w(σ1 ).w̄(σ̄1 ) e(Aσ1 )
dσ1 = R2 e2C2out dσ1 . (55)
γ1 σ1 γ1 σ1

The above contour integral can be solved using the residue theorem. As it can be seen, however, that the inte-
grand’s only singularity at σ2 = 0 is in fact an essential singularity. In the case of an essential singularity, there
are no simple formulas like removable, simple or multiple poles. So we must rely on our ability to find the
Laurent expansion. Knowing the Laurent expansion of the exponential function, we can write [31]

∞
Am σ1
mNout 
∞
Bn σ1
−nNout
 N −N
(Aσ1 inn +Bσ1 inn )  m! n!
e m=0 n=0
R2 e2C2out dσ1 = R2 e2C2out dσ1 . (56)
γ1 σ1 γ1 σ1

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Gholami Bazehhour and Rezaeepazhand 11

Here, only coefficients of 1/σ1 produce non-zero residues. So only the terms resulted by m = n are expanded:

∞
Am σ1
mNout 
∞
Bn σ1
−nNout
 m! n!
m=0 n=0
R2 e2C2out dσ1
γ1 σ1
   
1 Aσ1Ninn A2 σ12Ninn Bσ1−Ninn B2 σ1−2Ninn
=R e 2 2C2out
1+ + + ··· 1+ + + ··· dσ1 . (57)
γ1 σ1 1! 2! 1! 2!

Simplifying the right-hand side of the above equation gives

 ∞
1  (AB)m
I1 = R e 2 2C2out
dσ1 . (58)
γ1 σ1 m=0 (m!)2

Using the residue theorem [31], one obtains

∞
 (AB)m
I1 = 2πiR2 e2C2out . (59)
m=0
(m!)2

Using Equations (12) and (59), constant C1 in Equation (13) can be found. Thus, u1 (σ1 ) can be finally obtained
as follows:  ∞

Ninn −Ninn  (AB) m
u1 (σ1 ) = R2 e2C2out e(Aσ1 +Bσ1 ) − R2 e2C2out 2. (60)
m=0
(m!)2
Now that u1 (σ1 ) have been obtained, Equation (11) can be used to achieve f (ζ ). Consider the first integral in the
mentioned equation for n ≤ 0: 
u2 (σ2 )
dσ2 = 0. (61)
γ2 σ2 − Pn ζ

The second integral can be obtained using a similar procedure. From Equation (60), we have
  Ninn −Ninn
u1 (σ1 ) R2 e2C2out e(Aσ1 +Bσ1 )
C1
dσ1 = ( + )dσ1 (62)
γ1 σ1 − Pn ζ γ1 2 σ1 − Pn ζ σ1 − Pn ζ

where C1 is the second term in Equation (60). As stated previously, the general solution of the torsion problem
of hollow bars has been presented before [26]. To avoid the superfluous mathematical material, we directly
proceed to the calculation of the contour integral above. It is noteworthy that the second term in the integral
would only result in constant terms, which do not affect the solution. So:
  Ninn −Ninn
u1 (σ1 ) R2 e2C2out e(Aσ1 +Bσ1 )
dσ1 = ( )dσ1 + const. (63)
γ1 σ1 − Pn ζ γ1 2 σ1 − Pn ζ

In this case σ1 = 0 is an essential singularity. Again, the Laurent expansion has to be implemented:
 ∞ ∞
R2 e2C2out 1 Am σ1mNout  Bn σ1−nNout
I2 = ( )dσ1 + const. (64)
2 γ1 σ1 − Pn ζ m=0 m! n=0
n!

Expanding the series:

   
R2 e2C2out 1 Aσ Ninn A2 σ12Ninn Bσ −Ninn B2 σ1−2Ninn
I2 = 1+ 1 + + ··· 1+ 1 + + ··· dσ1 + const.
2 γ1 σ1 − Pn ζ 1! 2! 1! 2!
(65)

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12 Mathematics and Mechanics of Solids

It can be proven that for a complex variable z, a function like g(z) has the following residue at z = 0 for different
values of N (a =0) [30]:
  
1 0 N ≤0
Res[g(z)] = Res N = (66)
z→0 z→0 z (z − a) − 1
aN
N > 0.

Therefore, only terms containing negative powers of σ1 are kept in the series in integral (65) while other terms
produce zeros:

R2 e2C2out 1 B B2 B3
I2 = ( Ninn + + + ···
2 γ1 σ1 − Pn ζ σ1 2!σ12Ninn 3!σ13Ninn
AB2 AB3 AB4
+ + + + ···
2!σ1Ninn 3!σ12Ninn 4!σ13Ninn
A2 B3 A2 B4 A2 B4
+ + + + · · · )dσ1 + const. (67)
3!2!σ1Ninn 4!2!σ12Ninn 5!2!σ13Ninn
Factorizing coefficients of σ1 , finally, Equation (67) can be simplified as follows:
 ∞
 ∞
R2 e2C2out 1 1 Ak B(k+m+1)
I2 = ( )dσ1 + const. (68)
γ1 σ1 − Pn ζ m=0 σ1 (k + m + 1)!(k)!
2 (m+1)Ninn
k=0

With the help of the residue theorem and Equation (66), the integral in Equation (68) can be calculated:
  ∞ ∞

u1 (σ1 ) R2 e2C2out  1  Ak B(k+m+1)
dσ1 = 2πi − + const. (69)
γ1 σ1 − Pn ζ 2 m=0
(Pn ζ )(m+1)Ninn k=0 (k + m + 1)!(k)!

A similar approach can be repeated to find integrals in Equation (11) for n > 0:

u2 (σ2 )
dσ2 = 0 (70)
γ2 σ2 − Pn ζ
  2 2C2out ∞ ∞

u1 (σ1 ) Re  Ak B(k+m+1)
dσ1 = 2πi (Pn ζ ) (m+1)Ninn
+ const. (71)
γ1 σ1 − Pn ζ 2 m=0 k=0
(k + m + 1)!(k)!

If Pn be replaced by P−n , then the right-hand sides of Equation (69) can be written for n ≥0 instead of n ≤0 as
follows:  ∞ ∞

R2 e2C2out  Pn(m+1)Ninn  Ak B(k+m+1)
I3 = 2πi − + const. (72)
2 m=0
ζ (m+1)Ninn k=0 (k + m + 1)!(k)!
Thus, f (ζ ) in Equation (11) can be obtained using Equations (70) and (72):
 
∞ (m+1)Ninn  ∞
Ak B(k+m+1)
f (ζ ) = −ie 2C2out
−R ζ2 1
(k+m+1)!(k)!
m=0  k=0
∞ ∞ ∞
Ak B(k+m+1)
+i e2C2out −R2 (Pn ζ )(m+1)Ninn (k+m+1)!(k)!
(73)
n=1 m=0 
k=0

∞ (m+1)Ninn ∞
Ak B(k+m+1)
+R 2 Pn
ζ (k+m+1)!(k)!
+ const.
m=0 k=0

The first line in Equation (73) is a result of calculating f (ζ ) for n = 0. The above equation can be simplified as
follows:
∞  (m+1)Ninn  ∞
 ∞
 1 A k (k+m+1)
B  1
f (ζ ) = −ie 2C2out
−R 2
+i e2C2out {Tn (ζ ) − Tn ( )} + const. (74)
m=0
ζ k=0
(k + m + 1)!(k)! n=1
ζ

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Gholami Bazehhour and Rezaeepazhand 13

Table 1. Maximum and minimum shear stresses obtained using the present solution and FEM.

Shape of the Present FEM Relative error (%)

inner boundary τmin (MPa) τmax (MPa) τmin (MPa) τmax (MPa) τmin τmax

Circular 42.44 84.88 42.44 84.88 0.0 0.0

Quasi-triangular 28.72 86.01 28.28 86.51 1.55 0.57
Quasi-hexagonal 32.56 85.02 32.77 85.16 0.64 0.16

where
∞
 ∞
 Ak B(k+m+1)
Tn (ζ ) = −R (Pn ζ )
2 (m+1)Ninn
. (75)
m=0 k=0
(k + m + 1)!(k)!

Having f (ζ ), one can calculate shear stress and angle of twist per unit length using Equations (14) and (16).

3. Verification and results

In the previous sections, solution to the torsion problem of specially shaped hollow cross-sections was found
with the aid of the conformal mapping. To validate the solution, a few tubes with special shaped hollow cross-
sections under 1000 N.m torsional moment are considered. The results are obtained using accurate FEM analysis
(ANSYS-11) and comparisons have been made with the presented solution in the illustrative examples. In the
FEM analysis with ANSYS, eight-node SOLID45 element has been used which is generally implemented for
three-dimensional modeling of solid components. In addition, mesh sensitivity analysis has been performed for
all of the examples below to reach convergent and accurate results in FEM analysis. The material is assumed to
be linearly elastic with E = 200 (GPa) and ν = 0.3.
First, a circular cross-section with inner radius 1 and outer radius 2 is modeled using Equation (20). Max-
imum and minimum shear stresses, which occur on the outer and inner boundaries, can be easily found using
Saint-Venant’s solution [11]. In this case, the presented method gives the exact values for maximum and min-
imum shear stresses (see Table 1). Now consider a hollow cross-section defined by the shape parameters in
Equation (20): 
λinn = 1, winn = 0.1, ninn = 2
(76)
λout = 2, wout = 0.
With the above parameters, a hollow cross-section with a circular outer boundary and quasi-triangular inner
boundary is modeled. As it is evident in Table 1, the maximum and minimum shear stresses agree well. Next a
hollow cross-section with a circular outer boundary and quasi-hexagonal inner boundary defined by the shape
parameters in the following equation is investigated:

λinn = 1, winn = 0.04, ninn = 5
(77)
λout = 2, wout = 0.

Similarly, the maximum and minimum shear stresses in Table 1 are in a good agreement in this case.
The relatively small discrepancies between the present and FEM results in non-circular cases are mainly due
to the approximation used in obtaining the conformal mapping (Equation (46)). The error decreases as the inner
boundary of the cross-section becomes more similar to a circle.
Real part of Equation (74) gives an expression for warping displacement (αφ) of the cross-section (see
Equation (3)). In addition, components of shear stress τzx and τzy can be obtained using real and imaginary parts
of Equation (14). Figure 5 illustrates contours of warping displacement, shear stress and components of shear
stress for a cross-section with circular outer boundary and quasi-triangular inner boundary (see Equation (76)).
The same entities have been obtained and depicted in Figure 6 for the cross-section with quasi-hexagonal inner
boundary (see Equation (77)).
Note that the frequency of warping displacements is proportional to the shape of inner boundaries, i.e. for
quasi-triangular and quasi-hexagonal inner boundaries there are 6 and 12 zero warping tracks, respectively. Sim-
ilar relation can be observed for contours of shear stresses. Minimum shear stresses in the above cross-sections
occur in the middle of each side of the inner boundaries. It is also noteworthy that the warping displacement

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14 Mathematics and Mechanics of Solids

Figure 5. Contours of warping displacement (a), shear stress (b), components of shear stress ((c) and (d)) for a cross-section with
quasi-triangular inner boundary.

reaches its maximum absolute value on the inner boundaries of the cross-sections while no warping occurs on
the entire outer boundaries. For the cross-section with quasi-hexagonal inner boundary, the both contours of τzx
and τzy are symmetric while for the cross-section with quasi-triangular inner boundary only τzy is symmetric.
The reason is that only the x-axis for the cross-section in Figure 5 is the axis of symmetry.
Variations of maximum and minimum shearing stresses with respect to winn for the cases with quasi-
triangular and quasi-hexagonal holes have been depicted in Figures 7 and 8. As can be seen, the difference
between the present and FEM solution increases as the sharpness parameter increases. This discrepancy
increases radically for maximum shear stress of the quasi-hexagonal cross-section. The downward trend of
the minimum shear stresses in both of the figures can be related to the effect of the shape parameters on the
inner boundary.
All of the studied cases in this paper are closed cross-sections with geometries similar to a circular cross-
section with a circular hole. In addition, the shape parameters do not noticeably change the area of the cross-
section. Thus, for the studied cross-sections, the torsional rigidity (or torsional constant) is almost the same
and equal to the torsional rigidity of a cross-section with circular hole. To be exact, the torsional constant of
the studied quasi-triangular cross-section in Table 1 is only 0.36% smaller than that of the cross-section with
circular hole in Table 1. Similarly, for a quasi-hexagonal cross-section the difference does not exceed 0.4%.

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Gholami Bazehhour and Rezaeepazhand 15

Figure 6. Contours of warping displacement (a), shear stress (b) and components of shear stress ((c) and (d)) for a cross-section
with quasi-hexagonal inner boundary.

4. Conclusions
The torsion problem of hollow bars with specially shaped cross-sections was investigated in this paper. It was
stated that the solution of the torsion problem in the complex domain relies on our ability to find a proper
conformal mapping function which transforms our desired region onto an annulus if the domain is doubly
connected. However, finding the mapping function is not an easy task, especially for a doubly-connected domain
(hollow cross-section). Therefore, the necessary mapping function for specially shaped hollow cross-sections
was derived using some approximations on the boundary values. The obtained closed-form mapping was used
in the formulation in order to achieve a solution for torsion problem of bars with hollow cross-sections. The
solution was verified for a few hollow cross-sections. The presented solution gives reasonable results, quite
close to the FEM solution and the small discrepancy is due to the approximation used in finding the conformal
mapping. The method used in obtaining the mapping in this study can be used to find analytical solutions for a
class of boundary value problems related to similar doubly connected regions.

Funding
This research received no specific grant from any funding agency in the public, commercial, or not-for-profit sectors.

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16 Mathematics and Mechanics of Solids

Figure 7. Variations of maximum and minimum shearing stresses with respect to winn for quasi-triangular cross-section (λinn =
1, ninn = 2, λout = 2).

Figure 8. Variations of maximum and minimum shearing stresses with respect to winn for quasi-hexagonal cross-section (λinn =
1, ninn = 5, λout = 2).

Conflict of interest
None declared.

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