Chapter 3 Torsion

Introduction
-- Analyzing the stresses and strains in machine
parts which are subjected to torque T
Circular
-- Cross-section

Non-circular
Irregular shapes

-- Material

(1) Elastic
(2) Elasto-plastic

-- Shaft

(1) Solid
(2) Hollow

3.1 Introduction
T is a vector
Two ways of expression
-- Applications:
a. Transmission of torque in shafts,
e.g. in automobiles

Assumptions in Torque Analysis:

a. Every cross section remains plane and undistorted.
b. Shearing strain varies linearly along the axis of the shaft.

3.2 Preliminary Discussion of the Stresses in a Shaft

dF

Where = distance (torque arm)

Since dF = dA

( dA) T
The stress distribution is Statically
Indeterminate.

Free-body Diagram

-- Must rely on deformation to solve the problem.

Analyzing a small element:

3.3 Deformations in a Circular Shaft

= (T, L) -- the angle of twist

(deformation)

Rectangular cross section

warps under torsion

 C
' D '
CD

A circular plane remains

circular plane

Determination of Shear Strain

(in radians)

The shear strain

 max

= c = radius of the shaft

max L

c
Since

max
c

3.4 Stresses in the Elastic Range

Hookes Law

max
c

G G max
c

G
Therefore,

max

G max

max
c

(3.6)

 min

c1
max
c2

 ( dA) T

(3.1)

max
c

(3.6)

max 2
T dA maxdA
dA

c
c
But

dA J

J
Therefore, T max
c

Or,

max

Tc

(3.9)

Substituting Eq. (3.9) into Eq. (3.6)

max

Tc

(3.10)
(3.9)

These are elastic torsion formulas.

1 4
For a solid cylinder: J c
2
1
For a hollow cylinder: J (c24 c14 )
2

F 2( max A0 )cos 45 max A0 2

Since A Ao 2

Eq . (3 13)
A

F max A0 2

max
A
A0 2

(3-13)

Mohrs Circle (Sec. 7.4)

-- Pure Shear Condition

Ductile materials fail

in shear (90o fracture)

Brittle materials are weaker in

tension (45o fracture)

3.5 Angle of Twist in the Elastic Range

max

L
max

max

max

Therefore,
Eq. (3.3) = Eq. (3.15)

Hence,

Tc

JG

max

(3.3)

sin ce max

c Tc

L JG

TL

JG

Tc

(3.15)

For Multiple-Section Shafts:

Ti J i

i J i Gi

Shafts with a Variable Circular Cross Section

Tdx
d
JG

Tdx
JG

3.6 Statically Indeterminate Shafts

-- Must rely on both
(1) Torque equations and T 0

TL
(2) Deformation equation, i.e.
JG
Example 3.05

3.7 Design of Transmission Shafts

-- Two Parameters in Transmission Shafts:
a. Power P
b. Speed of rotation

P power T
where = angular velocity (radians/s) = 2
= frequency (Hz)

P 2 f T
P
T
2f

[N.m/s = watts (W)]

(3.21)

P
T
2f
Tc
max
J

(3.21)
(3.9)

J
T

Therefore,
c max
For a Solid Circular Shaft:

1 4
J c
2

and

1
T
3
c
2
max

1 3
J /c c
2

2T

max

1/ 3

3.8 Stress Concentrations in Circular Shafts

max

Tc
K
J

3.9 Plastic Deformation sin Circular Shafts

max
c

(3.4)

c = radius of the shaft

dA = 2 d

dF T

Knowing dF = dA

dF

dA (2 d)

T 2 2 d
0

Where = ()

(3.26)

(3.1)

 max

Tc

(3.9)

If we can determine experimentally an Ultimate

Torque, TU,
then by means of Eq. (3.9), we have

TU c
RT
J
RT = Modulus of Rupture in Torsion

3.10 Circular Shafts Made of an Elasto-Plastic Material

Case I: < Y Hookes Law applies, < max

max

Case I

Tc

Case II: < Y Hookes Law applies,

J
TY Y
c

= max

TY = max elastic torque

Case II

Since

1
J / C c3
2

1 3
TY c Y
2

(3-29)

Case III: Entering Plastic Region

0 Y:
Y c:

Y region within the plastic

range

Case III

By evoking Eq. (3.26)

c

T 2 d
2

(3.26)

T Telastic Tplastic 2

Y

Y
2

d 2 2 Y d
Y

1
2
2
Y3 Y c 3 Y Y3 Y
2
3
3
2 3
1 Y3
T c Y (1
)
(3.31)
3
3
4c
4
1 Y3
T TY (1
)
3
3
4c

1 3
TY c Y
2

Case IV -- Fully Plastic

4
1 Y3
T TY (1
)
3
3
4c
Y 0:

4
TP TY = Plastic Torque
3

Case IV
(3-33)

L Y
Y

L Y
c
Y

Y Y

4
1 Y3
T TY (1
)
3
3
4

T A

3.11 Residual Stresses in Circular Shafts

P '

 ( dA) 0

3.12 Torsion of Noncircular Members

A rectangular shaft does not axisymmetry.

zx 0

zy 0

yx 0

yz 0

xy 0

xz 0

From Theory of Elasticity:

max

c1ab 2

TL

c2ab3G

1
c1 c2 (1 0.630b / a )
3

(for b/a = 5 only) 3.45

3.13 Thin-Walled Hollow Shafts

Fx 0

FA - FB = 0

FA A ( t Ax )

A ( t A x ) B ( t B x ) 0
At A B t B

q t cons tan t

dF dA ( tds ) ( t )ds qds

dM O pdF p(qds ) q( pds )

dM o q( 2dA)

T 2qA

TL
ds
2
4A G t

2tA