TORSION

Contents

3.1 Introduction

3.2 Deformations in a Circular Shaft

3.3 Stresses in the Elastic Range

3.4 Angle of Twist in the Elastic Range

3.5 Power Transmission

3.1 Introduction
Torsion (Definition)

o It refers to the twisting of a straight bar when it is loaded by moments (or

torques) that tend to produce rotation about the longitudinal axis of the bar.

o Cylindrical members that are subjected to torques and transmit power

through rotation are called shafts; for instance, the drive shaft of an
automobile or the propeller shaft of a ship.

o The most common application is provided by transmission shafts in

automobiles, axles, propeller shafts, steering rods, and drill bits.
o The moment of a couple vector may be represented either by double-
headed couple vectors as in Fig.(a), or in the form of curved arrows as in
Fig. (b).

• The SI unit for torsion is newton meter (N.m).

3.2 Deformations in a Circular Shaft
o Consider a circular shaft of radius r and length L that is attached to a fixed

support at the left end.

o When a torque T is applied at the right end, the shaft will twist, with its

free end rotating through an angle ϕ called the angle of twist. The left fixed
end will react equal and opposite torque T.
o When a torque T is applied at the right end, the straight line pq, before
applying the torque, will also change to pq’, after the torque is applied,

forming an angle γ ,called shearing strain or angular distortion, with the

horizontal line pq.

o Within a certain range of values of T, the angle of twist ϕ is proportional

to the applied torque T and the length L of the shaft.

o To drive a simple theory which describe the behavior of shafts subjected to

torque, it is necessary to make the following assumptions
Assumptions

1. The material is homogeneous, i.e. uniform elastic properties throughout

2. The material is elastic following Hook’s law with shear stress proportional
to shear strain

3. Circular sections remain circular

4. Cross sections rotate as if rigid, i.e. every diameter rotates through the same
angle
Shear Strain within the bar

 Referring the above figure, for small values of γ we can express the arc length qq’ as

qq' = Lγ ………. (i)

• But, on the other hand, we have

qq' = ϕr ……… (ii)

• It follows that

Lγ = rϕ ……….. (iii)

• or shear strain with in the bar is r

Where: γ and ϕ are both expressed in radians  
and r is interior radius of the shaft
L
…………. (3.1)
Shear Strain at the outer surface

 As Eqn. (3.1) signifies, the shearing strain in a circular shaft varies

linearly with r, the distance from the axis of the shaft, and it becomes
maximum on the surface of the shaft, where r = R.
R
 max  ……………. (3.2)
L

 Eliminating ϕ from Eqs. (3.1) and (3.2), we can express the shearing

strain γ at a distance r from the axis of the shaft as

r
   max ……………….. (iv)
R
Shear Strain for hollow shaft

 The shear strain equations for hollow circular shafts are as follows
r2
 max 
…………. (v)
L
r1 r1
 min    max …………. (vi)
L r2
Example 3.1

1. A plastic bar of diameter d = 50 mm is to be twisted by torques T (see

figure) until the angle of rotation between the ends of the bar is 5.0°. If
the allowable shear strain in the plastic is 0.012 rad, what is the minimum
permissible length of the bar?
Example 3.2
2. A circular steel tube of length L = 0.90 m is loaded in torsion by torques T (see
figure).
(a) If the inner radius of the tube is r1 = 40 mm and the measured angle of twist
between the ends is 0.5°, what is the shear strain γ1 (in radians) at the inner
surface?
(b) If the maximum allowable shear strain is 0.0005 rad and the angle of twist is
to be kept at 0.5° by adjusting the torque T, what is the maximum permissible
outer radius (r2)max?
3.3 Stresses in the Elastic Range
o For a linear elastic shaft the relation between shear stress and shear strain can
be expressed using Hooke's law as
  G
…………. (3.3)

o Multiplying both sides of Eq. (iv) by G, we write and equating with eqn. (3.3)

   max …………. (3.4)

r
R
 This eqn. shows the distribution of a shear stress on a solid circular shaft of radius r varying from r
= 0, at the center of the shaft, to r = R, at the outer surface of the shaft as shown in the figure on the
left
 Torsion Formula
 Consider an element of area dA located at radial distance r from the axis
of the bar (see fig.).

The shear force acting on this element is equal to τdA, where τ is the
shear stress at radius r.

The moment of this force about the axis of the bar is equal to the force
times its distance from the centre, or (τrdA).

 Substituting for the shear stress τ from Eq. (3.4), we can express this
elemental moment asdM  max
 rdA  r 2 dA
R
Where: r is interior radius of the shaft
…………. (vii)
 The resultant moment (equal to the torque T ) is the summation over the
entire cross-sectional area of all such elemental moments:
 max  max
T   dM   r dA 
2
J
A
R A
R ……………….. (viii)
J   r 2 dA
• In which A is the polar moment of inertia of the circular cross
section

• For a circle of radius r and diameter d, the polar moment of inertia is

r 4 d 4
J 
2 32
……….. (ix)
• An expression for the maximum shear stress can be obtained by
rearranging Eq. (viii), as
max
follows:

TR
J
………… (3.5)
 Substituting R = d/2 and J = πd4/32 into the torsion formula, we get the
following equation for the maximum stress:
16T
 max  3 ………… (3.6)
d
Example 3.3

3. When drilling a hole in a table leg, a furniture maker uses a

hand-operated drill (see figure) with a bit of diameter d = 4.0 mm.

(a) If the resisting torque supplied by the table leg is equal to 0.3
Nm, what is the maximum shear stress in the drill bit?

(b) If the shear modulus of elasticity of the steel is G = 75 GPa,

what is the rate of twist of the drill bit (degrees per meter)?
Example 3.4

4. The steel shaft of a socket wrench has a diameter of 8.0 mm. and a
length of 200 mm (see figure). If the allowable stress in shear is 60
MPa, what is the maximum permissible torque Tmax that may be exerted
with the wrench? Through what angle ϕ (in degrees) will the shaft twist
under the action of the maximum torque? (Assume G = 78 GPa and
disregard any bending of the shaft.)
Example 3.5
5. Under normal operating conditions, the electric motor exerts a torque of 2.8
kN • m on shaft AB. Knowing that each shaft is solid, determine the maximum
shearing stress in
(a) shaft AB, (b) shaft BC, (c) shaft CD
Example 3.6
6. Shaft BC is hollow with inner and outer diameters of 90 mm and 120 mm.
respectively. Shafts AB and CD are solid and of diameter d. For the loading
shown, determine
(a) The maximum and minimum shearing stress in shaft BC.
(b) The required diameter d of shafts AB and CD if the allowable shearing stress
in these shafts is 65 MPa.
3.4 Angle of Twist in the Elastic Range
 For a shaft of length L and of uniform cross section of radius R subjected to a torque
T at its free end, we recall from Sec. 3.2 that the angle of twist ϕ and the maximum
shearing strain γmax are related as follows
R
 max 
L ……………… (3.2) (repeated)

• But, in the elastic range, the yield stress is not exceeded anywhere in the shaft.
Hooke's law applies, and we have
 max
 max 
G …………………..(x)
TR
And using  max  from eqn. (2.5) and substituting it in eqn.(x),we get
J
TR
 max 
GJ
………..…………..………….. (xi)
 Equating eqn. (3.2) and eqn. (xi) and solving for ϕ, we write

TL ………….. (2.7)

GJ
Example 3.7
7. The horizontal shaft AD is attached to a fixed base at D and is subjected to
the torques shown. A 44-mm-diameter hole has been drilled into portion CD
of the shaft. Knowing that the entire shaft is made of steel for which G = 77
GPa. determine the angle of twist at end A.
Example 3.8
8. For the aluminum pipe shown (G = 27 GPa).
(a) determine the torque To causing an angle of twist of 2°.
(b) Determine the angle of twist if the same torque T o is applied to a solid
cylindrical shaft of the same length and cross-sectional area.
3.5 Power Transmission
 The most important use of circular shafts is to transmit mechanical

power from one device or machine to another, as in the drive shaft of an

automobile, the propeller shaft of a ship, or the axle of a bicycle.

 The power is transmitted through the rotary motion of the shaft, and the
amount of power transmitted depends upon the magnitude of the torque and
the speed of rotation.

 The torque T exerted on the shaft and the power P associated with the
rotation of a rigid body is related as
2nT
P  T  ………… (3.9)
60
Where ω = angular speed (rad/s)
= 2πf
= 2πn/60
f = frequency (cycle/s or Hz)
n (rpm)
Example 3.9
9. A solid steel shaft ABC of 50 mm diameter is driven at A by a motor that
transmits 50 kW to the shaft at 10 Hz. The gears at B and C drive machinery
requiring power equal to 35 kW and 15 kW, respectively. Compute the
maximum shear stress τmax in the shaft and the angle of twist ϕAC between the
motor at A and the gear at C. (Use G = 80 GPa.)
Example 3.10
10. The drive shaft for a truck (outer diameter 60 mm and inner diameter 40
mm) is running at 2500 rpm (see figure).
(a) If the shaft transmits 150 kW, what is the maximum shear stress in the
shaft?
(b) If the allowable shear stress is 30 MPa, what is the maximum power that
can be transmitted?