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CHAPTER MECHANICS OF
3 MATERIALS
Ferdinand P. Beer
E. Russell Johnston, Jr.
John T. DeWolf
Lecture Notes:
Torsion
J. Walt Oler
Texas Tech University
Contents
Shaft Deformations
Shearing Strain
• It follows that
ρφ
Lγ = ρφ or γ =
L
J = 12 π c 4
The shearing stress varies linearly with the
radial position in the section.
• Recall that the sum of the moments from
the internal stress distribution is equal to
the torque on the shaft at the section,
τ τ
T = ∫ ρτ dA = max ∫ ρ 2 dA = max J
c c
• The results are known as the elastic torsion
(
J = 12 π c24 − c14 ) formulas,
Tc Tρ
τ max = and τ =
J J
© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 3- 8
MECHANICS OF MATERIALS
Edition
Fourth Beer • Johnston • DeWolf
Normal Stresses
• Elements with faces parallel and perpendicular
to the shaft axis are subjected to shear stresses
only. Normal stresses, shearing stresses or a
combination of both may be found for other
orientations.
• Consider an element at 45o to the shaft axis,
F = 2(τ max A0 ) cos 45° = τ max A0 2
F τ max A0 2
σ 45o = = = τ max
A A0 2
J=
2
(
π 4 4 π
2
) [
c2 − c1 = ( 0.060 ) 4 − ( 0.045) 4 ] τ max =
Tc
=
Tc
65MPa =
6 kN ⋅ m
J π c4 π c3
2 2
= 13.92 × 10− 6 m 4
c = 38.9 × 10−3 m
TBC c2 ( 20 kN ⋅ m )( 0.060 m )
τ max = τ 2 = = d = 2c = 77.8 mm
J 13.92 ×10− 6 m 4
= 86.2 MPa
τ min c1 τ min 45 mm
= =
τ max c2 86.2 MPa 60 mm τ max = 86.2 MPa
τ min = 64.7 MPa τ min = 64.7 MPa
© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 13
MECHANICS OF MATERIALS
Edition
Fourth Beer • Johnston • DeWolf
rBφ B = rCφC
∑ M B = 0 = F ( 0.875 in.) − T0 rC 2.45 in.
φB = φC = φC
∑ M C = 0 = F ( 2.45 in.) − TCD rB 0.875 in.
TCD = 2.8 T0 φ B = 2.8φC
φA/ B =
TAB L
=
( 561lb ⋅ in.)( 24 in.)
(
J ABG π ( 0.375 in.) 4 11.2 × 106 psi
2
)
= 0.387 rad = 2.22o
TAB c T ( 0.375 in.)
τ max = 8000 psi = 0 T L 2.8 ( 561lb ⋅ in.)( 24 in.)
φC / D = CD =
( )
J AB π ( 0.375 in.) 4
2 J CDG π ( 0.5 in.) 4 11.2 × 106 psi
2
T0 = 663 lb ⋅ in.
= 0.514 rad = 2.95o
2.8 T0 ( 0.5 in.)
τ max =
TCD c
J CD
8000 psi =
π ( 0.5 in.) 4 ( )
φ B = 2.8φC = 2.8 2.95o = 8.26o
2
φ A = φ B + φ A / B = 8.26o + 2.22o
T0 = 561lb ⋅ in. T0 = 561lb ⋅ in φ A = 10.48o
© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 18
MECHANICS OF MATERIALS
Edition
Fourth Beer • Johnston • DeWolf
Stress Concentrations
• The derivation of the torsion formula,
Tc
τ max =
J
assumed a circular shaft with uniform
crosssection loaded through rigid end
plates.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways, and crosssection discontinuities
can cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
τ max = K
J
Plastic Deformations
• With the assumption of a linearly elastic material,
Tc
τ max =
J
• If the yield strength is exceeded or the material has
a nonlinear shearingstressstrain curve, this
expression does not hold.
• Shearing strain varies linearly regardless of
material properties. Application of shearingstress
strain curve allows determination of stress
distribution.
• The integral of the moments from the internal stress
distribution is equal to the torque on the shaft at the
section,
c c
T = ∫ ρτ ( 2πρ dρ ) = 2π ∫ ρ 2τ dρ
0 0
Elastoplastic Materials
• At the maximum elastic torque,
J Lγ Y
TY = τ Y = 12 πc3τ Y φY =
c c
Residual Stresses
• Plastic region develops in a shaft when subjected to a
large enough torque.
• When the torque is removed, the reduction of stress
and strain at each point takes place along a straight line
to a generally nonzero residual stress.
• On a T-φ curve, the shaft unloads along a straight line
to an angle greater than zero.
• Residual stresses found from principle of
superposition
Tc ∫ ρ ( τ dA) = 0
′ =
τm
J
© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 23
MECHANICS OF MATERIALS
Edition
Fourth Beer • Johnston • DeWolf
Example 3.08/3.09
SOLUTION:
• Solve Eq. (3.32) for ρY/c and evaluate
the elastic core radius
• Solve Eq. (3.36) for the angle of twist
A solid circular shaft is subjected to • Evaluate Eq. (3.16) for the angle
a torqueT = 4.6 kN ⋅ m at each end. which the shaft untwists when the
Assuming that the shaft is made of an torque is removed. The permanent
elastoplastic material with τ Y = 150 MPa twist is the difference between the
G = 77 GPa
and determine (a) the angles of twist and untwist
radius of the elastic core, (b) the
• Find the residual stress distribution
angle of twist of the shaft. When the
by a superposition of the stress due to
torque is removed, determine (c) the
twisting and untwisting the shaft
permanent twist, (d) the distribution
of residual stresses.
Example 3.08/3.09
SOLUTION:
• Solve Eq. (3.36) for the angle of twist
• Solve Eq. (3.32) for ρY/c and
evaluate the elastic core radius φ ρY φY
1 = ⇒ φ=
4 T 1 − 1 ρY3 ρY T 3
φY c ρY c
T= ⇒ = 4 − 3
3 Y
4 3
c c TY
φY =
TY L
=
( )
3.68 × 103 N ⋅ m (1.2 m )
(
J = 12 πc 4 = 12 π 25 ×10−3 m ) JG ( )
614 × 10-9 m 4 ( 77 × 10 Pa )
= 614 ×10 −9
m 4 φY = 93.4 × 10−3 rad
TY =
(150 × 106 Pa )(614 × 10−9 m 4 ) φ = 8.50o
25 × 10−3 m
= 3.68 kN ⋅ m
1
ρY 4.6 3
= 4 −3 = 0.630
c 3.68
ρY = 15.8 mm
© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 25
MECHANICS OF MATERIALS
Edition
Fourth Beer • Johnston • DeWolf
Example 3.08/3.09
• Evaluate Eq. (3.16) for the angle • Find the residual stress distribution
which the shaft untwists when by a superposition of the stress due to
the torque is removed. The twisting and untwisting the shaft
permanent twist is the difference
between the angles of twist and ′
τ max = =
( )(
Tc 4.6 ×103 N ⋅ m 25 × 10−3 m )
untwist J 614 × 10-9 m 4
= 187.3 MPa
TL
φ′ =
JG
=
( 4.6 × 103 N ⋅ m )(1.2 m )
(6.14 × 10−9 m4 )(77 × 109 Pa )
= 116.8 × 10−3 rad = 6.69°
φp = φ − φ′
= 8.50° − 6.69°
= 1.81o
φ p = 1.81o
Example 3.10
Extruded aluminum tubing with a rectangular
cross-section has a torque loading of 24 kip-
in. Determine the shearing stress in each of
the four walls with (a) uniform wall thickness
of 0.160 in. and wall thicknesses of (b) 0.120
in. on AB and CD and 0.200 in. on CD and
BD.
SOLUTION:
• Determine the shear flow through the
tubing walls.
• Find the corresponding shearing stress
with each wall thickness .
Example 3.10
SOLUTION: • Find the corresponding shearing
stress with each wall thickness.
• Determine the shear flow through the
tubing walls.
With a uniform wall thickness,
q 1.335 kip in.
τ= =
t 0.160 in.
τ = 8.34 ksi