CHAPTER 5

TORISON
The torsional stress and angle of twist of
this soil auger depend upon the output
of the machine turning the bit as well as
the resistance of the soil in contact with
the shaft.
In the part of the jet engine shown here, the
central shaft links the components of the
engine to develop the thrust that propels the
aircraft
2
 Objectives
 Discuss effects of applying torsional loading to a long
straight member
 Determine stress distribution within the member under
torsional load

 Determine angle of twist when material behaves in a linear-

elastic and inelastic manner

 Discuss statically indeterminate analysis of shafts and tubes

3
 Outline
1. Torsional Deformation of a Circular Shaft
2. The Torsion Formula
3. Power Transmission
4. Angle of Twist
5. Statically Indeterminate Torque-Loaded Members
6. Stress Concentration

4
5.1 Torsional deformation of a circular Shaft
• Interested in stresses and strains
of circular shafts subjected to
twisting couples or torques
• Turbine exerts torque T on the
shaft
• Shaft transmits the torque to the
generator
• Generator creates an equal and
opposite torque T’

5
 5.1 Torsional deformation of a circular Shaft

 If the angle of rotation is small, the length of the shaft and its
radius will remain unchanged.
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5.1 Torsional deformation of a circular Shaft

Notice the deformation of

the rectangular element
when this rubber bar is
subjected to a torque.
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5.1 Torsional deformation of a circular Shaft

 If the angle of rotation is small, Shear strain

the length of the shaft and its
radius will remain unchanged.
 The difference in rotations, ,
causes the element to be
subjected to a shear strain. 8
 5.1 Torsional deformation of a circular Shaft

 The shear strain within the shaft

varies linearly along any radial line,
from zero at the axis of the shaft to
a maximum at its outer boundary.

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5.2 The Torsion Formula

10
5.2 The Torsion Formula
5.2 The Torsion Formula

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 5.2 The Torsion Formula
 Solid shaft

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5.2 The Torsion Formula

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5.2 The Torsion Formula

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 5.2 The Torsion Formula
 Tubular shaft

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 5.2 The Torsion Formula
 Tubular shaft
 Like the solid shaft, the shear stress distributed over the tube’s
cross-sectional area varies linearly along any radial line.
 The shear stress varies along an axial plane in this same manner.

This tubular drive shaft for a truck was subjected to an excessive

torque, resulting in failure caused by yielding of the material. 17
 5.2 The Torsion Formula
Distribution of shear stress on cross section

J  12  c 4 J  12   c24  c14 
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5.2 The Torsion Formula
• 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 max A0 cos 45   max A0 2
F  max A0 2
 o     max
45 A A0 2

• Element a is in pure shear.

• Element c is subjected to a tensile stress on
two faces and compressive stress on the
other two.
• Note that all stresses for elements a and c have
the same magnitude 19
5.2 The Torsion Formula
• Ductile materials generally fail in
shear. Brittle materials are weaker in
tension than shear.

• When subjected to torsion, a ductile

specimen breaks along a plane of
maximum shear, i.e., a plane
perpendicular to the shaft axis.

• When subjected to torsion, a brittle

specimen breaks along planes
perpendicular to the direction in which
tension is a maximum, i.e., along
surfaces at 45o to the shaft axis.

20
 5.2 The Torsion Formula
Example 5.1

21
 5.2 The Torsion Formula
SOLUTION

22
 5.2 The Torsion Formula
Example 5.2

23
 5.2 The Torsion Formula
SOLUTION
Internal Torque:

Section Property

Shear Stress.

24
 *5.3 Power Transmission

The belt drive transmits the torque
developed by an electric motor to
the shaft at A. The stress developed
in the shaft depends upon the
power transmitted by the motor and
the rate of rotation of the shaft.
P=T.
The chain drive transmits the torque
developed by the electric motor to the
shaft. The stress developed in the shaft
depends upon the power transmitted by the
motor and the rate of rotation of the
connecting shaft. P=T.
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*5.3 Power Transmission

26
*5.3 Power Transmission

27
 5.4 Angle of Twist

Long shafts subjected to torsion can, in some cases, have a noticeable

elastic twist.
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 5.4 Angle of Twist
 The design of a shaft depends on restricting the amount of rotation
or twist that may occur when the shaft is subjected to a torque.
 Computing the angle of twist for a shaft is important when analyzing
the reactions on statically indeterminate shafts.

 Homogeneous
 Linear-elastic
 Neglect the localized deformations

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5.4 Angle of Twist

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 5.4 Angle of Twist

 Constant Torque and Cross-Sectional Area

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5.4 Angle of Twist

32
 5.4 Angle of Twist
Determine the shear modulus of elasticity G of the material

A torsion testing machine 33

 5.4 Angle of Twist

When computing both the stress and the angle of twist of this soil
auger, it is necessary to consider the variable torsional loading which
acts along its length.
34
 5.4 Angle of Twist
If the bar is subjected to several different torques, or the cross-
sectional area or shear modulus changes abruptly from one region of
the shaft to the next,

The angle of twist of one end of the shaft with respect to the other is
then found from the vector addition of the angles of twist of each
segment.

35
 5.4 Angle of Twist
 Sign Convention
Right-hand rule: both the torque and angle will be positive, provided
the thumb is directed outward from the shaft when the fingers curl to
give the tendency for rotation.

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 5.4 Angle of Twist
 Example 5.3

37
 5.4 Angle of Twist
Example 5.4
The gears attached to the fixed-end steel shaft are subjected to
the torques shown in figure. If the shaft has a diameter of 14
mm, determine the displacement of the tooth P on gear A. G =
80 GPa

38
 5.4 Angle of Twist
SOLUTION Internal Torque

Angle of Twist

39
 5.4 Angle of Twist
Example 5.5
The two solid steel shafts shown in figure are coupled together using
the meshed gears. Determine the angle of twist of end A of shaft AB
when the torque T = 45 N.m is applied. Shaft DC is fixed at D. Each
shaft has a diameter of 20 mm. G = 80 GPa.

40
 5.4 Angle of Twist
SOLUTION

Internal Torque.

41
 5.4 Angle of Twist
SOLUTION

Angle of Twist

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5.5 Statically indeterminate torque-loaded members
• Given the shaft dimensions and the applied
torque, we would like to find the torque
reactions at A and B.
• From a free-body analysis of the shaft,
TA  TB  90 lb  ft
which is not sufficient to find the end torques.
The problem is statically indeterminate.

• Divide the shaft into two components which

must have compatible deformations,
T L T L LJ
  1  2  A 1  B 2  0 TB  1 2 TA
J1G J 2G L2 J1
• Substitute into the original equilibrium
equation,
L1J 2
TA  TA  90 lb  ft
L2 J1 43
 Examples
Example 5.6 SOLUTION:
• Apply a static equilibrium analysis
on the two shafts to find a
relationship between TCD and T0

• Apply a kinematic analysis to

relate the angular rotations of the
gears
Two solid steel shafts are connected • Find the maximum allowable
by gears. Knowing that for each torque on each shaft – choose the
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shaft G = 11.2 x 10 psi and that the smallest
allowable shearing stress is 8 ksi,
determine (a) the largest torque T0 • Find the corresponding angle of
that may be applied to the end of twist for each shaft and the net
shaft AB, (b) the corresponding angle angular rotation of end A
through which end A of shaft AB
rotates. 44
 Examples
SOLUTION:
• Apply a static equilibrium analysis
on the two shafts to find a
relationship between TCD and T0
• Apply a kinematic analysis to
relate the angular rotations of the
gears

rB B  rCC
 M B  0  F 0.875 in.  T0 r 2.45 in.
 B  C C  C
 M C  0  F 2.45 in.  TCD rB 0.875 in.
TCD  2.8 T0  B  2.8C
45
 Examples
• Find the T0 for the maximum • Find the corresponding angle of twist for
allowable torque on each shaft each shaft and the net angular rotation of
– choose the smallest end A

T L 561lb  in.24in.
 A / B  AB 

J ABG  0.375 in.4 11.2  106 psi
2

T c T 0.375 in.  0.387 rad  2.22o
 max  AB 8000 psi  0
 0.375 in.4
J AB T L 2.8 561lb  in.24in.
C / D  CD 
 
2
T0  663 lb  in. J CDG  0.5 in.4 11.2  106 psi
2
T c 2.8 T0 0.5 in.  0.514 rad  2.95o
 max  CD 8000 psi 
 0.5 in.4
 
J CD
2
 B  2.8C  2.8 2.95o  8.26o
T0  561lb  in.
T0  561lb  in o
 A   B   A / B  8.26  2.22 o  A 46 10.48o
 Examples
Example 5.7
The solid steel shaft shown in Figure has a diameter of 20 mm. If it is
subjected to the two torques, determine the reactions at the fixed
supports A and B.

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 Examples
Example 5.7 Equilibrium

(1)

Compatibility

(2)
Solve (1) and (2)

48
 Examples
Example 5.8
The shaft shown in figure is made from a steel tube, which is bonded to
a brass core. If a torque of T = 250 N.m is applied at its end, plot the
shear stress distribution along a radial line of its cross-sectional area.
Take Gst= 80 GPa, Gbr= 36 GPa.

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 Examples
SOLUTION Equilibrium
(1)
Compatibility
(2)
Solve (1) and (2)

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 5.6 Stress Concentration
A torsional stress concentration factor, K
Tc
 max  K
J

Couplings

Keyways

Step shaft
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 5.6 Stress Concentration

Stress concentrations can arise at the coupling of these shafts, and this
must be taken into account when the shaft is designed.
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Summary
• Recall that the angle of twist and maximum
shearing strain are related,
c
 max 
L
• In the elastic range, the shearing strain and
shear are related by Hooke’s Law,
 Tc
 max  max 
G JG
• Equating the expressions for shearing strain
and solving for the angle of twist,
TL

JG
• If the torsional loading or shaft cross-section
changes along the length, the angle of rotation
is found as the sum of segment rotations
Ti Li
 
i J i Gi 53
 Summary
• Principal transmission shaft • Determine torque applied to shaft at
performance specifications are: specified power and speed,
- power P  T  2fT
- speed P P
T 
 2f
• Designer must select shaft • Find shaft cross-section which will
material and cross-section to not exceed the maximum allowable
meet performance specifications shearing stress,
without exceeding allowable
Tc
shearing stress.  max 
J
J  3 T
 c  solid shafts 
c 2  max
J

 4 4
c2 2c2
 
c2  c1 
T
 max
hollow shafts 

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