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CHAPTER MECHANICS OF
MATERIALS
3 Ferdinand P. Beer
E. Russell Johnston, Jr.
John T. DeWolf Torsion
David F. Mazurek
Lecture Notes:
Brock E. Barry
U.S. Military Academy
Contents
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek
Fig. 3.5 Small element in shaft showing how • Conditions of equilibrium require the
shear stress components act.
existence of equal stresses on the faces of the
two planes containing the axis of the shaft.
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek
Shaft Deformations
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek
Shearing Strain
• It follows that
L or
L
Normal Stresses
• Elements with faces parallel and perpendicular
to the shaft axis are subjected to shear stresses
only. Normal stresses, shearing stresses or a
Fig. 3.17 Circular shaft with stress elements at
combination of both may be found for other
different orientations. orientations.
• Consider an element at 45o to the shaft axis,
F 2 max A0 cos 45 max A0 2
F max A0 2
45o max
A A0 2
Fig. 3.18 Forces on faces at 45° to shaft axis.
• 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
Fig. 3.19 Shaft elements with only shear the same magnitude.
stresses or normal stresses.
Fig. 1 Free-body diagram for section between A and B. Fig. 2 Free-body diagram for section between B and C.
Fig. 3 Shearing stress distribution on cross section. Fig. 4 Free-body diagram of shaft portion AB.
Fig. 3 Free-body
diagram of shaft
AB.
A/ B
TAB L
561lb in.24 in.
Fig. 4 Free-body
diagram of shaft
CD.
J AB G 0.375 in.4 11.2 106 psi
2
0.387 rad 2.22o
T 0.375 in.
2.8 561lb in.24 in .
TAB c
max 8000 psi 0 T L
C / D CD
J AB 0.375 in.4
2 J CDG 0.5 in.4 11.2 106 psi
2
T0 663 lb in.
0.514 rad 2.95o
2.8 T0 0.5 in.
max
TCDc
J CD
8000 psi
0.5 in.4
B 2.8C 2.8 2.95o 8.26o
2
A B A / B 8.26o 2.22o
T0 561 lb in. T0 561 lb in A 10.48o
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek
Stress Concentrations
• The derivation of the torsion formula,
Fig. 3.26 Coupling of Tc
shafts using (a) bolted
max
J
flange, (b) slot for
keyway. assumed a circular shaft with uniform
cross-section loaded through rigid end
plates.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways, and cross-section discontinuities
can cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
max K
J
Fig. 3.28 Plot of stress concentration factors
for fillets in circular shafts.
Plastic Deformations
• With the assumption of a linearly elastic material,
Tc
max
J
• If the yield strength is exceeded or the material
Fig. 3.29 Distribution of shearing involved is a brittle materials with a nonlinear
strain for torsion of a circular shaft.
shearing-stress-strain curve, these relationships
cease to be valid.
• Shearing strain varies linearly regardless of material
properties. Application of shearing-stress-strain
Fig. 3.30 Nonlinear, shear stress- curve allows determination of stress distribution.
strain diagram.
• The integral of the moments from the internal stress
distribution is equal to the torque on the shaft at the
section,
c c
T 2 d 2 2 d
0 0
Fig. 3.31 Shearing strain distribution for
shaft with nonlinear stress-strain response.
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek
Elastoplastic Materials
• At the maximum elastic torque,
J L Y
TY Y 12 c3 Y Y
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 non-zero residual stress.
• On a T- curve, the shaft unloads along a straight line
Fig. 3.37 Shear stress-strain response
for loading past yield reversing until
to an angle greater than zero.
compressive yield occurs.
• Residual stresses found from principle of superposition
Tc
m dA 0
J
Fig. 3.36 Loaded circular shaft. • Solve Eq. (3.15) for the angle of twist
A solid circular shaft is subjected to a • Evaluate Eq. (3.16) for the angle
torque T 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 Y 150 MPa twist is the difference between the
and G 77 GPa determine (a) the angles of twist and untwist
radius of the elastic core, (b) the
• Find the residual stress distribution by
angle of twist of the shaft. When the
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.
614 10 9
m 4 Y 93.4 103 rad
TY
150 106 Pa 614 10 9 m 4 8.50o
25 10 3 m
3.68 kN m
1
Y 4.6 3
4 3 0.630
c 3.68
Y 15.8 mm
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek
4.6 103 N m 1.2 m
6.14 109 m4 77 109 Pa
116.8 103 rad 6.69
φp
8.50 6.69
1.81o
p 1.81o
Fig. 3.40 Superposition of stress distributions to obtain residual stresses.
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek
8.35 ksi
With a variable wall thickness
1.335 kip in.
AB AC
A 3.84 in. 2.34 in. 8.986 in. 2 0.120 in.
AB BC 11.13 ksi
1.335 kip in.
BD CD
0.200 in.
BC CD 6.68 ksi