in SI Units

Seventh Edition
MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB
and BC and perform static
equilibrium analyses to find
torque loadings.
• Apply elastic torsion formulas to
find minimum and maximum
stress on shaft BC.
Shaft BC is hollow with inner and outer
diameters of 90 mm and 120 mm, • Given allowable shearing stress
respectively. Shafts AB and CD are solid and applied torque, invert the
and of diameter d. For the loading shown, elastic torsion formula to find the
determine (a) the minimum and maximum required diameter.
shearing stress in shaft BC, (b) the
required diameter d of shafts AB and CD
if the allowable shearing stress in these
shafts is 65 MPa.
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in SI Units
Seventh Edition
MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB and BC
and perform static equilibrium analysis
to find torque loadings.

Fig. 1 Free- body diagram for section between A and B. Fig. 2 Free- body diagram for section between B and C.

å M x = 0 = (6 kN × m ) - TAB å M x = 0 = (6 kN × m ) + (14 kN × m ) - TBC

TAB = 6 kN × m = TCD TBC = 20 kN × m

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in SI Units
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Sample Problem 3.1

• Apply elastic torsion formulas to • Given allowable shearing stress and
find minimum and maximum applied torque, invert the elastic torsion
stress on shaft BC. formula to find the required diameter.

Fig. 3 Shearing stress distribution on cross section. Fig. 4 Free- body diagram of shaft portion AB.

p pé
J=
2
(c 4
2 )
- c14 =
2ë
( 0.060 ) 4 - ( 0.045) 4 ùû Tc Tc 6 kN × m
t max = =p 4 65 MPa = p c3
= 13.92 ´ 10 -6 m 4 J 2
c 2

T c ( 20 kN × m )( 0.060 m ) c = 38.9 ´ 10 -3 m
t max = t 2 = BC 2 =
J 13.92 ´ 10 -6 m 4
d = 2c = 77.8mm
= 86.2 MPa

t min c1 t min 45mm

= =
t max c2 86.2 MPa 60 mm t max = 86.2 MPa
t min = 64.7 MPa t min = 64.7 MPa
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in SI Units
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Angle of Twist in Elastic Range

• Recall that the angle of twist and maximum
shearing strain are related,
cf
g max =
L
• In the elastic range, the shearing strain and shear
are related by Hooke’s Law,
t max Tc
Fig. 3.20 Torque applied to fixed end shaft
g max = =
G JG
resulting angle of twist f.
• Equating the expressions for shearing strain and
solving for the angle of twist,
TL
f=
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
Fig. 3.21 Shaft with multiple cross- section
Ti Li
f=å
dimensions and multiple loads. i J i Gi

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in SI Units
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Statically Indeterminate Shafts

• 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 = 120 N × m

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,
TA L1 TB L2 L1J 2
f = f1 + f2 = - =0 TB = TA
J1G J 2G L2 J1

• Substitute into the original equilibrium equation,

L1J 2
Fig. 3.25 ( a) Shaft with central applied TA + TA = 120 N × m
torque and fixed ends. ( b) free- body L2 J1
diagram of shaft AB. ( c) Free- body
diagrams for solid and hollow segments.

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in SI Units
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Sample Problem 3.4

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.
• Find the maximum allowable torque
Two solid steel shafts are connected on each shaft – choose the smallest.
by gears. Knowing that for each shaft
• Find the corresponding angle of twist
G = 77 GPa and that the allowable
for each shaft and the net angular
shearing stress is 55 MPa, determine
rotation of end A.
(a) the largest torque T0 that may be
applied to the end of shaft AB, (b) the
corresponding angle through which
end A of shaft AB rotates.

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in SI Units
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Sample Problem 3.4

SOLUTION:
• Apply a static equilibrium analysis on • Apply a kinematic analysis to relate
the two shafts to find a relationship the angular rotations of the gears.
between TCD and T0 .

Fig. 2 Angles of twist for gears B and C.

Fig. 1 Free- body diagrams of gears B and C.
rBf B = rC fC
å M B = 0 = F ( 22 mm ) - T0 rC 60 mm
fB = fC = f
å MC = 0 = F (60 mm ) - TCD rB 22 mm C
TCD = 2.73 T0 f B = 2.73 fC

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in SI Units
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Sample Problem 3.4

• Find the T0 for the maximum • Find the corresponding angle of twist for each
allowable torque on each shaft – shaft and the net angular rotation of end A.
choose the smallest.
Fig. 5

Fig. 3 Free- body

diagram of shaft
AB.
Fig. 4 Free- body fA/ B =
TAB L
=
(61.8 N × m )( 0.6 m )
diagram of shaft J AB G
2( ) (
p 0.0095m 4 77 ´ 106 Pa
)
CD.
= 0.0376 rad = 2.16o
t max =
TAB c
55MPa =
(
T0 9.5 ´ 10 -3 m )
J AB 4 TCD L 2.73 ( 61.8 N × m )( 0.9m )
p
2 ( 9.5 ´ 10 -3 m ) fC / D = =
(
JCD G p ( 0.0125m ) 4 77 ´ 109 Pa )
2
T0 = 74.1N × m
= 0.0514 rad = 2.95o
TCD c (
2.73 T0 12.5 ´ 10 m -3
)
t max =
JCD
55MPa = 4 ( )
f B = 2.73fC = 2.73 2.95o = 8.04o
p
2 (12.5 ´10 m)
-3

f A = f B + f A / B = 8.04o + 2.16o
T0 = 61.8 N × m
T0 = 61.8 N × m f A = 10.2o

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in SI Units
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Design of Transmission Shafts

• Principal transmission shaft • Determine torque applied to shaft at

performance specifications are: specified power and speed,
- power P = T w = 2p fT
- Speed of rotation P P
T= =
w 2p f
• Designer must select shaft
material and dimensions of the • Find shaft cross-section which will not
cross-section to meet exceed the maximum allowable
performance specifications shearing stress,
without exceeding allowable Tc
shearing stress. t max =
J
J p 3 T
= c =
c 2 t max
(solid shafts)
J p 4 4 T
=
c2 2c2
(
c2 - c1 = )
t max
( hollow shafts)

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in SI Units
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf • Mazurek • Sanghi

Stress Concentrations
• The derivation of the torsion formula,
Fig. 3.26 Coupling of Tc
shafts using ( a) bolted t max =
flange, ( b) slot for J
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
t max = K
J
Fig. 3.28 Plot of stress concentration factors
for fillets in circular shafts.

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