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StrengthofMaterials/Unit7/Module1TorsionI

ProblemSet[ProfessorVideo][ProfessorNote][FacultyVideo][FacultyNote]
1. Knowingthattheinternaldiameterofthehollowshaftshownisd=0.9in.,determinethe
maximumshearingstresscausedbyatorqueofmagnitudeT=9kip.in.[Ans:12.44ksi]

2. ThetorquesshownareexertedonpulleysAandB.Knowingthateachshaftissolid,
determinethemaximumshearingstress(a)inshaftAB,(b)inshaftBC.[Ans:(a)56.6Mpa
(b)36.6Mpa]

3. Theallowablestressis50MPainthebrassrodABand25MPainthealuminumrodBC.
KnowingthatatorqueofmagnitudeT=125N.misappliedatA,determinetherequired
diameterof(a)rodAB,(b)rodBC.[Ans:(a)50.3mm,(b)63.4mm]

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AdditionalProblems:
1. Thepreliminarydesignofalargeshaftconnectingamotortoageneratorcallsfortheuseof
ahollowshaftwithinnerandouterdiametersof4in.and6in.,respectively.Knowingthat
the allowable shearing stress is 12 ksi, determine the maximum torque that can be
transmitted(a)bytheshaftasdesigned,(b)byasolidshaftofthesameweight,(c)bya
hollow shaftofthe same weightand of8-in.outerdiameter.[Ans:(a)408 kip.in (b)211
kip.in(c)636kip.in]

2. (a)Determine the torque thatcan be applied to a solid shaftof20-mmdiameterwithout

exceedinganallowableshearingstressof80MPa.(b)Solvepart(a),assumingthatthe
solidshafthasbeenreplacedbyahollowshaftofthesamecross-sectionalareaandwith
aninnerdiameterequaltohalfofitsownouterdiameter.[Ans:(a)125.7N.m(b)181.4N.m]

3. Undernormaloperatingconditions,theelectricmotorexertsatorqueof2.8kN.monshaft
AB.Knowingthateachshaftissolid,determinethemaximumshearingstressin(a)shaft
AB,(b)shaftBC,(c)shaftCD.[Ans:(a)81.2Mpa(b)64.5Mpa(c)23.0Mpa]

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4. The solid rod BC hasa diameterof30 mmand ismade ofan aluminumforwhich the
allowableshearingstressis25MPa.RodABishollowandhasanouterdiameterof25
mm;itismadeofabrassforwhichtheallowableshearingstressis50MPa.Determine(a)
thelargestinnerdiameterofrodABforwhichthefactorofsafetyisthesameforeachrod,
(b)thelargesttorquethatcanbeappliedatA.[Ans:(a)15.18mm(b)132.5Nm]

Examples:
1. ShaftBCishollowwithinnerandouterdiametersof90mmand120mm,respectively.
ShaftsABandCDaresolidandofdiameterd.Fortheloadingshown,determine(a)the
maximum andminimum shearingstress inshaftBC,(b)the requireddiameter dof
shaftsABandCDiftheallowableshearingstressintheseshaftsis65MPa.

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Solution:
EquationsofStatics.DenotingbyT

AB

thetorqueinshaftAB,wepassasectionthrough

shaftABand,forthefreebodyshown,wewrite
M =0:(6kN.m)T
x

AB

=0T

AB

=6kN.m

WenowpassasectionthroughshaftBCand,forthefreebodyshown,wehave
M =0:(6kN.m)+(14kN.m)T
x

=0T

BC

=20kN.m

BC

a.ShaftBC.Forthishollowshaftwehave

MaximumShearingStress.Ontheoutersurface,wehave

MinimumShearingStress.Wewritethatthestressesareproportionaltothedistancefrom
theaxisoftheshaft.

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b.ShaftsABandCD.WenotethatinbothoftheseshaftsthemagnitudeofthetorqueisT=
6kN.mand =65MPa.Denotingbyctheradiusoftheshafts,wewrite
all

c 3=58.8X10-6m3c=38.9X10-3m
d=2c=2(38.9mm)d=77.8mm

2. Consideralongtubeof20mmoutsidediameter,d0,andof16mminsidediameter,di,
twistedabout its longitudinalaxis witha torque Tof 40 N.m.Determine the shear
stressesattheoutsideandtheinsideofthetube;seeFigure.

Solution:
FromEq.5,

andfromEq.3,

SimilarlyfromEq.4,

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In a thin-walled tube,all ofthe material works atapproximately the same stress level.
Therefore,thin-walledtubesaremoreefficientintransmittingtorquethansolidshafts.Such
tubesarealsousefulforcreatinganessentiallyuniform"field"ofpureshearstressneeded
for stablishing - relationships.To avoid local buckling,however,the wall thickness
cannotbeexcessivelythin.
3. A hollow cylindrical steel shaft is 1.5 m long and has inner and outer diameters
respectivelyequalto40and60mm.(a)Whatisthelargesttorquethatcanbeapplied
to the shaft if the shearing stress is not to exceed 120 MPa? (b) What is the
correspondingminimumvalueoftheshearingstressintheshaft?

Solution:
(a)LargestPermissibleTorque.ThelargesttorqueTthatcanbeappliedtotheshaftis
thetorqueforwhich
=120MPa.Sincethisvalueislessthantheyieldstrengthfor
max

steel,wecanuseEq.(3)SolvingthisequationforT,wehave

RecallingthatthepolarmomentofinertiaJofthecrosssectionisgivenbyEq.(5),
wherec =1/2(40mm)=0.02mandc =1/2(60mm)=0.03m,wewrite
1

SubstitutingforJand

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max

into(1),andlettingc=c =0.03m,wehave
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=4.08kN.m
(b)MinimumShearingStress.Theminimumvalueoftheshearingstressoccurson
and
arerespectively
theinnersurfaceoftheshaft,whichexpressesthat
min

max

proportionaltoc andc :
1

FacultyNotes
1.BasicAssumptionsforCircularMembers:
Toestablisharelationbetweentheinternaltorqueandthestressesitsetsupin
memberswithcircularsolidandtubularcrosssections,itisnecessarytomaketwo
assumptions,the validity ofwhich will be justified later.These,in addition to the
homogeneityofthematerial,areasfollows:

1. A plane section of material perpendicular to the axis of a circular member

remainsplane afterthe torquesare applied,i.e.,no warp-age ordistortion of
parallelplanesnormaltotheaxisofamembertakesplace.
2. Inacircularmembersubjectedtotorque,shearstrains varylinearlyfromthe
centralaxisreaching

attheperiphery.ThisassumptionisillustratedinFig.

1andmeansthatanimaginaryplanesuchasDO O Cmovesto
1 3

when

the torque is applied.Alternatively,ifan imaginaryradiusO C is considered

3

fixedindirection,similarradiiinitiallyatO BandO Drotatetotherespective

2

newpositions
and
.Theseradiiremainstraight.Itmustbeemphasized
thattheseassumptionsholdonlyforcircularsolidandtubularmembers.Forthis
classofmembers,theassumptionsworksowellthattheyapplybeyondthelimit
oftheelasticbehaviorofamaterial.

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3. Ifattentionisconfinedtothelinearlyelasticmaterial,Hookeslawapplies,and,it
followsthatshearstressisproportionaltoshearstrain.Forthiscasecomplete
agreement between experimenta1ly determined and computed quantities is
found with the derived stress and deformation formulas based on these
assumptions. Moreover their validity can be rigorously demonstrated by the
methodsofmathematicaltheoryofelasticity.
2.TheTorsionFormula:
Intheelasticcase,onthebasisofthepreviousassumptions,sinceisstressis
proportional to strain,and the latter varies linearly from the center,stresses vary
linearlyfromthe central axisofa circularin member.The stressesinduced bythe
assumed distortionsare shearstressesand lie in the plane parallel to the section
takennormaltotheaxisofarod.Thuvariationoftheshearstressfollowsdirectlyfrom
theshear-strainassumptionandtheuseofHookeslawforshear.Thisisi1lustrated;
inFig.2.Unlikethecaseofanaxiallyloadedrod,thisstressisnotofuniformintensity.
The maximumshearstressoccursatpointsmostremote fromthe centerOand is
designated
.These points,such aspointsC and D in Figs.1 and 2,lie atthe
peripheryofasectionatadistancecfromthecenter.Forlinearshearstressvariation,
atany arbitrary pointata distance from O,the shear stress is (/C)
.The
resisting torque can be expressed in termsofstressonce the stressdistribution at
section isestablished.Forequilibriumthisinternal resisting torque mustequal the
externallyappliedtorqueT.Hence,

wheretheintegralsumsupalltorquesdevelopedonthecutbytheinfinitesimalforces
actingatadistancefromamembersaxis,OinFig.2,overthewholeareaAofthe
crosssection,andwhereTistheresistingtorque.Atanygivensection,
constant;hence,thepreviousrelationcanbewrittenas

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(1)

However,
, the polar moment of inertia of a cross-sectional area, is also a
constantforaparticularcross-sectionalarea.ItwillbedesignatedbyJinthistext.For
acircularsection,dA=2d,where2isthecircumferenceofanannuluswitha
radiusofwidthd.Hence,

i.e.,

(2)

wheredisthediameterofasolidcircularshaft.Ifcordismeasuredinmillimeters,J
4

hastheunitsofmm;ifininches,theunitsbecomein .
ByusingthesymbolJforthepolarmomentofinertiaofacirculararea,Eq.1maybe
writtenmorecompactlyas

(3)
Thisequationisthewell-knowntorsionformulaforcircularshaftsthatexpressesthe
maximum shear stress in terms of the resisting torque and the dimensions of a
member.Inapplyingthisformula,theinternaltorqueTcanbeexpressedinnewton4

meters,Nm,orinch-pounds,cinmetersorinches,andJinm orinin .Suchusage

makestheunitsofthetorsionalshearstree

orpascals(Pa)inSIunits,or

orpsiintheU.S.customaryunits.
AmoregeneralrelationthanEq.3forashearstress, ,atanypointadistancefrom
thecenterofasectionis

(4)

Equations3and4areapplicablewithequalrigortocirculartubes,sincethe
sameassumptionsasusedinthepreviousderivationapply.Itisnecessary,however,

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tomodifyJ.Foratube,asmaybeseenfromFig.3,thelimitsofintegrationforEq.2
extendfrombtoc.Hence,foracirculartube,

(5)

orstated otherwise:Jfora circulartube equals+Jfora solid shaftusing the outer

diameterandJforasolidshaftusingtheinnerdiameter.
Forverythin tubes,ifb isnearlyequal to c,and c-b=t,the thicknessofthe tube,J
reducestoasimpleapproximateexpression.

whereR

av

(6)

=(b+c)/2,whichissufficientlyaccurateinsomeapplications.

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Ifacircularbarismadefromtwodifferentmaterialsbondedtogether,asshownin
Fig.4(a),thesamestrainassumptionappliesasforasolidmember.Forsuchacase,
throughHookeslaw,theshear-stressdistributionbecomesasinFig.4(b).Iftheshear
modulusfortheouterstiffertubeisG andthatoftheinnersoftercoreisG ,theratio
1

oftherespectiveshearstressesonaringofradiusOBisG /G .
1

ProcedureSummary
Forthetorsionproblemofcircularshaftsthethreebasicconceptsofengineering
mechanicsofsolidsasusedabovemaybesummarizedinthefollowingmanner:
1.Equilibriumconditionsareusedfordeterminingtheinternalresistingtorquesata
section.
2.Geometryofdeformation (kinematics)ispostulated such thatshearstrain varies
linearlyfromtheaxisofashaft.
3.Materialproperties(constitutiverelations)areusedtorelateshearstrainstoshear
stressesandpermitcalculationofshearstressesatasection.
Thesebasicconceptsareusedfordeterminingbothstressesandangles-of-twist
ofcircularshafts.However,similartothecaseforaxiallyloadedbars,largelocal
stressesariseatpointsofapplicationofconcentratedtorquesorchangesincross
section.AccordingtoSaint-Venantsprinciplethestressesandstrainsareaccurately
describedbythedevelopedtheoryonlybeyondadistanceaboutequaltothe
diameterofashaftfromtheselocations.Typicallylocalstressesaredeterminedby
usingstressconcentrationfactors.
3RemarksontheTorsionformula
SofartheshearstressesasgivenbyEqs.3and4havebeenthoughtofasacting
onlyintheplaneofacutperpendiculartotheaxisoftheshaft.Thereindeedtheyare
acting to form a couple resisting the

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externally applied torques. However, to

understand the problem further, an
infinitesimal cylindrical element,shown in
Fig.5(b),isisolated.
The shear stresses acting in the
planesperpendiculartoaxisoftherodare
knownfromEq.4.Theirdirectionscoincide
with the direction of the internal torque.
(This should be clearly visualized by the
reader.)On adjoining parallel planesofa
disc-like element, these stresses act in
oppositedirections.However,these shear
stresses acting in the plane of the cuts
taken normal to the axis ofa rod cannot
exist alone. Numerically, equal shear
stressesmustactontheaxialplanes(such
asthe planesaefand bcg in Fig.5(b))to
fulfilltherequirementsofstaticequilibrium
foranelement.
Shear stresses acting in the axial
planes follow the same variation in
intensity as do the shear stresses in the
planesperpendiculartotheaxisoftherod.
This variation of shear stresses on the
mutuallyperpendicularplanesisshownin
Fig. 5, where a portion of the shaft has
beenremovedforthepurposesofillustration.
Shearstressescanbetransformedintoanequivalentsystemofnormalstresses
actingatanglesof45degreewiththeshearstresses.Numerically,thesestressesare
relatedtoeachotherinthefollowingmanner:=1=-2.Therefore,iftheshear
strengthofamaterialislessthanitsstrengthintension,ashearfailuretakesplaceon
a plane perpendicular to the axis ofa bar;see Fig.6.This kind offailure occurs
graduallyandexhibitsductilebehavior.

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Alternatively,iftheconverseistrue,
i.e.,1<,abrittlefractureiscaused
by the tensile stresses along a helix
formatting an angle of45 degree with
thebaraxis;seeFig.6.Aphotographof
aductilefractureofasteelspecimenis
shown in fig. 7, and that of a brittle
fracture for cast iron in Fig.8. Another
examples of a brittle fracture for
sandstoneisshowninFig.9.
The stress transformation brought
into the previous discussion, since it
doesnotdependonmaterialproperties,
is also applicable to anisotropic
materials. For example, wood exhibits
drastically different properties of
strength in different directions. The
shearingstrengthofwoodonplanesparalleltothegrainismuchlessthanonplanes
perpendiculartothegrain.Hence,althoughequalintensitiesofshearstressexiston
mutuallyperpendicularplanes,wooden shaftsofinadequate size fail longitudinally
alongaxialplanes.Suchshaftsareoccasionallyusedintheprocessindustries.

ProfessorNote:
Torision:Torisionalstress
Torsionalstressisashearstress
Earlierwestudied

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1)Shearstrain=

Shearstrain=
2)Elementinastateofsimpleshear
ForequilibriumofrectanglecoupleqaboutADisalwaysaccompainedbythecouple
1

q aboutABsuchthat

forequilibriumofABCDcouples

orshear

stressq=q
Principalofcomplementaryshearstressinastateofsimpleshearplanesofshear
1

stressDD1 AA1 perpendiculartoplaneABB1 A

Puretorsionofcylindricalshafts/bars:

Anyelementinpuretorsionhasshearstressonperpendicularfacesbythe
complementaryshearprincipal.
Ashaftintorsiontwistsasaneffectoftorsion:
DisplacementoftwistBC,

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Sectionchange:
Ataradiusr<R,shearstressq<f

ShearstressismaxatRzeroatcentre
TorsionalMomentofresistance:

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Foramaterialstrengthf isfixedaC.SofshafthavingheigherZ (polarmodulus)has

s

highertorsionwithstandingcapacity.

CI isfortorsionalshaftsimilartoEIforbeaminbendingCI iscalledtorsionalrigidity.
p

CI isthetorquerequiredtotwist1radianperunitlengthofshaft.
p

Sectionchange:
Powertransmittedbyshaft
shaftrotatingatNrpm.Pistheshaftpowertransmittedinkilowattscausingamean
torqueofT,Nm,onshaft

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[StartProfessorNote] [StartFacultyNote][Top]

Queries,CommentsandComplementscanbemailedon:
sunil.raiyani@rgukt.in

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