ME 208

MECHANICS OF MATERIALS

Asst. Prof. Dr. Yiğit ERÇAYHAN

These slides have been prepared based upon
Beer-Johnston-Dewolf’s
Mechanics of Materials Book
Torsion
Introduction
The moment in the axial or longitudinal direction of a
machine element is defined as torque.
This phenomena is called as
torsion.  
M T r F

M T d F
Torsional Loads on Circular Shafts

• 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’
 Basic Assumptions of Torsion

1. The material is an isotropic, homogeneous, linear elastic.

2. Sections plane before twisting remain plane after twisting. Because a
circular shaft is axi-symmetric.
3. The strain is linear from center to the surface of circular cross-
section.
4. In non-circular shafts, plane sections do not remain plane after
twisting. This effect is known as wraping of cross-section.
5. The shaft is straight and of uniform section.
6. Strains and deformations are small.
Net Torque Due to Internal Stresses
• The shearing stress is equal and opposite to
the applied torque, and calculated from
internal reaction turque.

T  dF   dA

• Although the net torque due to the shearing
stresses is known, the distribution of the
stresses is not. Distribution of shearing stresses
is statically indeterminate – must consider shaft
deformations.

• The distribution of shearing stresses due to

torsional loads can not be assumed uniform.
Axial Shear Components
• Torque applied to shaft produces shearing
stresses on the faces perpendicular to the
axis.

• Conditions of equilibrium require the existence

of equal stresses on the faces of the two
planes containing the axis of the shaft

• The existence of the axial shear components is

demonstrated by considering a shaft made up
of axial slats.

The slats slide with respect to each other when

equal and opposite torques are applied to the
ends of the shaft.
Shaft Deformations
• From observation, the angle of twist of the shaft is
proportional to the applied torque and to the shaft
length.

• When subjected to torsion, every cross-section of

a circular shaft remains plane and undistorted.

• Cross-sections for hollow and solid circular shafts

remain plain and undistorted because a circular
shaft is axisymmetric

• Cross-sections of noncircular (non-axisymmetric)

shafts are distorted when subjected to torsion.
Shearing Strain
• Consider an interior section of the shaft. As a
torsional load is applied, an element on the
interior cylinder deforms into a rhombus.

• Since the ends of the element remain planar,

the shear strain is equal to angle of twist(Φ).

• It follows that

𝜌Φ
𝐿𝛾=𝜌 Φ or 𝛾=
𝐿
• Shear strain is proportional to twist and radius

𝑐Φ 𝜌
𝛾 𝑚𝑎𝑥= and γ
𝐿 𝑐 𝑚𝑎𝑥❑
Stress in Elastic Range
• Multiplying the previous equation by the
shear modulus,

G  Gmax
c
From Hooke’s Law,  G, so

   max
c
The shearing stress varies linearly with the
J  12  c 4 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,
 
T   dA  max  2 dA  max J
c c
• The results are known as the elastic torsion
formulas,
Tc T

J  12  c24  c14   max 
J
and  
J
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 max A0 cos 45  max A0 2

F  max A0 2
 45o    max
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
Torsional Failure Modes

• 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.

https://www.youtube.com/watch?v=1YTKedLQOa0
Example

Shaft BC is hollow with inner and

outer diameters of 90 mm and 120
mm, respectively. Shafts AB and
CD are solid of diameter d. For
the loading shown, determine
(a) the minimum and maximum
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.
 Example

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

 M x 0 6 kN m  TAB  M x 0 6 kN m  14 kN m  TBC

TAB 6 kN m TCD TBC 20 kN m
 Example
• Apply elastic torsion formulas to • Given allowable shearing stress and
find minimum and maximum stress applied torque, invert the elastic torsion
on shaft BC formula to find the required diameter

Tc Tc 6 kN m
c24  c14  0.0604  0.0454 
 max   4 65MPa 
J

2
 
2
J c
2
 c3
2

13.92 10 6 m 4 c 38.9 10 3 m

T c
 max  2  BC 2 
20 kN m 0.060 m  d 2c 77.8 mm
J 13.92 10 6 m 4
86.2 MPa
 min c1  min 45 mm
 
 max c2 86.2 MPa 60 mm  max 86.2 MPa
 min 64.7 MPa  min 64.7 MPa
Angle of Twist in Elastic Range

• Recall that the angle of twist and maximum

shearing strain are related,
𝑐Φ
𝛾 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,
Φ
• If the torsional loading or shaft cross-section
changes along the length, the angle of rotation is
found as the sum of segment rotations
𝑇 𝑖 𝐿𝑖
Φ=∑
𝑖 𝐽 𝑖 𝐺𝑖
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,

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

• Substitute into the original equilibrium equation,

Example

Two solid steel shafts are connected by gears.

Knowing that for each shaft G = 11.2 x 106 psi
and that the allowable shearing stress is 8 ksi,
determine (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.
 Example

• 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
 Example

• Find the T0 for the maximum allowable • Find the corresponding angle of twist for
torque on each shaft – choose the each shaft and the net angular rotation
smallest of end A
 Design of Transmission Shafts
Principal transmission Determine torque applied to shaft
shaft performance at specified power and speed,
specifications are:
­ Power P P P
P T  T 
­ Speed w  2 f
2 N
 2 f
Designer must select 60
shaft material & cross- T T
F B  A
section to meet rB rA
performance
specifications without rA
TA  TB
exceeding allowable rB
shearing stress.
rB
A  B
rA

Find shaft cross-section which will not exceed

the maximum allowable shearing stress,
Tc J  3 T
 max   c  solid shafts 
J c 2  max
J  4 4 T

c2 2c2
c2  c1  
 max
hollow shafts 
Example
A torsional system has been drived by a 5hp electrical motor with 1000rpm. Design the
output shaft shown.

Lmotor  A 400mm; LB  C 300mm; Loutput 300mm,  all 50 MPa, G 80GPa, E 200GPa
rA 50mm, rB 100mm, rC 60mm, rD 180mm

Shaft 2 rC
5hp
rB Output shaft
1000rpm

Shaft 1 rA rD Shaft 3

P 5hp *0.7457 kW / hp 3.7285kW

𝑃𝑜𝑤𝑒𝑟𝑢𝑛𝑖𝑡𝑠:
2 (rad / rev) *1000(rev / min)
 (rad / sec)  104.719 105rad / sec
60(sec/ min)
Torque created by motor :
P 3728.5
T  35.5 Nm at 105 rad / sec
 105
 Example
Shaft 2
rC
5hp
rB Output shaft
1000rpm

Shaft 1 rA rD Shaft 3

𝑇𝑜𝑟𝑞𝑢𝑒𝑓𝑟𝑜𝑚𝑚𝑜𝑡𝑜𝑟 𝑖𝑠35.5𝑁𝑚
Stress Concentrations
• The derivation of the torsion formula,
Tc
 max 
J

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
Plastic Deformation
• With the assumption of a linearly elastic material,
Tc
 max 
J
• If the yield strength is exceeded or the material has a
nonlinear shearing-stress-strain curve, this expression
does not hold.

• Shearing strain varies linearly regardless of material

properties. Application of shearing-stress-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   2 d  2  2 d
0 0
Elastoplastic Materials
• At the maximum elastic torque,
J LY
TY   Y  12 c3 Y Y 
c c

• As the torque is increased, a plastic region


(   Y ) develops around an elastic core(  Y
Y
L)Y
Y 

 Y3   Y3 
T  23 c3 Y  1  14  43 TY  1  14
 c3   c3 
 
 1 Y3 
T  3 TY  1  4 3 
4
  


• As Y  0 , the torque approaches a limiting

value,
TP  4 TY  plastic torque
3
Residual Stresses
• Plastic region develops in a shaft when
subjected to a large enough torque

• On a T-Φ curve, the shaft unloads along a

straight line to an angle greater than zero

• 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

• Residual stresses found from principle of

superposition
Example
Example

a) b)
Example

c) d)
Torsion of Noncircular Members

• Previous torsion formulas are valid for

axisymmetric or circular shafts

• For uniform rectangular cross-sections,

T TL
 max  
c1ab2 c2 ab3G

• At large values of a/b, the maximum

shear stress and angle of twist for other
open sections are the same as a
rectangular bar.