Notes in Fundamentals of Deformable Bodies

Module 3 Title: Torsion

Module Introduction/Rationale:

In this module, we will study the torsion of circular shafts which are considered efficient shape in
resisting torsional loads. Also on this module, torsion of tapered solid circular shaft and rectangular bars
will be discussed.

Module Outcomes:
CO2: Calculate stresses due to bending, shears, and torsion under plain and combined loading.

Lesson 1 Title: Torsion of Circular Shaft and Rectangular Bars

Lesson Outcomes:
At the end of this topic the learner should be able to:
1. solve the angle of twist and the maximum shear stress of a solid and hollow circular shaft
2. solve the angle of twist of a tapered solid circular shaft
3. solve the shear stress and angle of twist of a rectangular bars

TORSION OF CIRCULAR SHAFT

This section deals with stresses and strains of members with circular cross-section that are
subjected to loads that have a twisting effect. The loads that create a twist in the members are generally
referred to as Torsion or Torque loads. One good example is rotating shafts that transmit motion.

A member subjected to twisting moments (also referred to as torques or torsional loads) is called
a shaft. Rotating shafts are frequently used to transmit power in machines. A power transmission shaft in
an automobile with rear wheel drive transmits power from the engine to the driving wheels.

In deriving formulas, the following assumptions were used. These assumptions may be proved
mathematically, and some may be demonstrated experimentally. The first two apply only to shafts of
circular section.

1. Circular sections remain circular.

2. Plane sections remain plane and do not warp.
3. The projection upon a transverse section of straight radial lines in the section remains straight.
4. Shaft is loaded by twisting couples in planes that are perpendicular to the axis of the shaft.
5. Stresses do not exceed the proportional limit.

1
 Notes in Fundamentals of Deformable Bodies

(a) shear strain of a material element caused

by twisting of the shaft.

(b) the corresponding shear stress.

Maximum Shear Stress

T
 max 
J

Where: τ = shear stress (MPa)

T = torque (N-mm)
ρ = distance from the center (mm)
J = polar moment of inertia (mm4)

Angle of Twist

TL

JG

Where: θ = angle of twist (in radian)

T = torque (N-mm)
L = length of the shaft (mm)
J = polar moment of inertia (mm4)
G = modulus of rigidity (MPa)

2
 Notes in Fundamentals of Deformable Bodies

Polar Moments of Inertia of Circular Areas

Maximum Shear Stress after using polar moment of Inertia

Power Transmitting Shaft

Ƥ=ωT but ω = 2 π ƒ
Ƥ =2 π ƒ T

Where: Ƥ = power (watts) 1 W = 1 N-m/sec

ω = angular velocity (rad/sec)
ƒ = frequency (hertz) 1 Hz = 1 rev/sec
T = torque (N-m)

Sign Conventions for torque T and angle of twist θ

3
 Notes in Fundamentals of Deformable Bodies

Analysis of Rectangular Bars

T T

b
L
a Deformation of a rectangular bar due to torsion

The two significant features of the deformation are:

1. The cross sections become distorted.
2. The shear strain (and thus the shear stress) is zero at the edges of the bar

Maximum Shear Stress

T
 max 
ab 2 C 1

Angle of Twist
TL

ab 3 GC 2

Note: a ≥ b

a
Coefficients C1 and C2 depend on the ratio of
b
Table 1 – Value of C1 and C2
a/b C1 C2
1.0 0.208 0.141
1.2 0.219 0.166
1.5 0.231 0.196
2.0 0.246 0.229
2.5 0.258 0.249
3.0 0.267 0.263
4.0 0.282 0.281
5.0 0.291 0.291
10.0 0.312 0.312
∞ 0.333 0.333

4
 Notes in Fundamentals of Deformable Bodies

Sample Problem:
1. A solid steel shaft in a rolling mill transmits 30 KW at 5 Hz. Determine the diameter of the shaft if the
shear stress is not to exceed 40 MPa and an angle of twist is limited to 40 in a length of 2.50 m. Use G =
83 GPa.

Solution:
Ƥ = 30 KW = 30x103 watts L = 2.50 m = 2500 mm
3
ƒ = 5 rev/sec G = 83 GPa = 83x10 MPa
τ = 40 MPa 0 
θ=4 x = 0.0698 rad. Use at least four decimal places
180
Ƥ =2 π ƒ T
3 TL
30x10 =2 π (5) T 
T = 954.93 N-m JG
3
T = 954.93x10 N-mm (954.93x10 3 )(2500)
16T 0.0698 =
τ= J(83x10 3 )
d 3 3 4
3
J = 412.08x10 mm
40 = 16 (954 .93 x 10 ) d 4
d 3 J=
3
d = 121,585.46 32
d = 49.54 mm 3 d 4
412.08x10 =
32
4 6
d = 4.197x10
d = 45.26 mm

safe diameter, d = 49.54 mm answer

2. Determine the diameter of the solid steel shaft that will not exceed a twist of 30 in a length of 6 meters
when subjected to a torque of 14 KN-m. What is the maximum shear stress developed? Use G = 83
GPa.

Solution:
6
T = 14 KN-m = 14x10 N-mm
0 
θ=3 x = 0.0524 rad. Use at least four decimal places
180
TL

JG
(1410 6 )(6000)
0.0524 =
J(83x10 3 )
6 4 16T
J = 19.31x10 mm τ=
d 4 d 3
J=
32 6
d 4 τ = 16 (14 x 10 )
 (118 . 43 ) 3
6
19.31x10 =
32
4 6 τ = 42.93 MPa answer
d = 196.69x10
d = 118.43 m answer

5
 Notes in Fundamentals of Deformable Bodies

3. A hollow steel shaft 3 meters long with an inside diameter of 80 mm and an outside diameter of 100
mm, carries the end torque of 15 KN-m. Determine (a) the maximum shear stress in the shaft, (b) the
angle of twist (in degrees) of the shaft, and (c) the power it transmits at 7 HZ. Use G = 83 GPa.

Solution:
6 3
T = 15x10 N-mm TL T = 15x10 N-m

JG
16TD  Ƥ=2πƒT
τ= J = (D 4  d 4 ) 3
(D 4  d 4 ) 32 Ƥ = 2 π (7) (15x10 )
3
 Ƥ = 659.73x10 watts
16(15x10 6 )(100) J = (100 4  80 4 ) = 5.80x10 mm
6 4
Ƥ = 659.73 KW answer
τ= 32
(100 4  80 4 )
(1510 6 )(3000)
θ= = 0.0935 rad.
τ = 129.39 MPa answer (5.80x10 6 )(83x10 3 )
 180 
θ = 0.0935 rad.  
  
O
θ = 5.36 answer

4. Two forces, each of magnitude P, are applied to the wrench. The diameter of the steel shaft AB is 15
mm. Determine the allowable value of P if the stress in the shaft is not to exceed 120 MPa and its angle
of twist is limited to 50. Use G = 80 GPa.

150 mm
150 mm
P P

500 mm

Solution: 0 
16T θ=5 x = 0.0873 rad.
τ= 180
d 3 d 4 (15) 4 4
16 T J= = = 4,970.10 mm
120 = 32 32
(15 ) 3 TL T(500)
T = 79,521.56 N-mm  0.0873 =
JG (4970.10)(80x10 3 )
4
ΣMB = 0 T = 69,421.10 mm
MB = P (150 mm) (2)
79,521.56 = P (300) ΣMB = 0
P = 265.07 N MB = P (150 mm) (2)
69,421.10 = P (300)
P = 231.40 N

Safe P = 231.40 N answer

6
 Notes in Fundamentals of Deformable Bodies

5. The steel shaft is formed by attaching a hollow shaft to a solid shaft. Determine the total angle of
rotation (in degrees) and the maximum shear stress for each segment. Use G = 83 GPa.

8 KN-m
3 KN-m
8 KN-m 3 KN-m
60 mm 50 mm 50 mm

B C B C
A A
2.50 m 2.10 m 2.50 m 2.10 m

refer on the sign conventions of Torque

Solution:

Segment BC
6 FBD of segment BC
TBC = + 3 KN-m = + 3x10 N-mm
d 4 (50) 4 3 4
JBC = = = 613.59x10 mm 3 KN-m (+) 3 KN-m
32 32
TL 3x10 6 (2100)
θBC = = = + 0.1237 rad.
JG 613.59x10 3 (83x10 3 )

16T 16(3x10 6 )
τBC = =
d 3 (50) 3
τBC = 122.23 MPa answer

Segment AB
6
TAB = – 5 KN-m = – 5x10 N-mm
FBD of segment AB
 
JAB = (D 4  d 4 ) = (60 4  50 4 ) = 658.75x103 mm4
32 32
TL  5x10 6 (2500)
θAB = = = – 0.2286 rad. 5 KN-m (–) 8 KN-m 3 KN-m
JG 658.75x10 3 (83x10 3 )

16TD 16(5x10 6 )(60)

τAB = =
(D 4  d 4 ) (60 4  50 4 )
τAB = 213.47 MPa answer

θ = θBC + θAB = + 0.1237 – 0.2286

180
θ = – 0.1049 rad

0
θ = – 6.01 (the shaft will twist on a clockwise direction) answer

7
 Notes in Fundamentals of Deformable Bodies

6. The tapered circular solid shaft is attached to a solid circular shaft and subjected to a given torque as
shown in the figure. Determine the total angle of twist (in degrees) if G = 83 GPa.

3 KN-m
4 KN-m
3 KN-m 4 KN-m
75 mm 60 mm
A C A C
B B

1.80 m 1.70 m 1.80 m 1.70 m

Solution:

Segment BC
6
TBC = + 4 KN-m = + 4x10 N-mm
FBD of segment BC
X
d = 60 + (75 – 60)
1700
4 KN-m (+) 4 KN-m
3
d = 60 + X
340
LT
θBC =

0 JG
dx

1700 4x10 6
θBC =
0  3 
4
3
dx
 60  X  (83x10 )
32  340 
θBC = + 0.0419 rad.

Segment AB FBD of segment AB

6
TAB = + 7 KN-m = + 7x10 N-mm
d 4 (75) 4 6 4
JAB = = = 3.11x10 mm
32 32 7 KN-m (+) 3 KN-m 4 KN-m
6
TL 7x10 (1800)
θAB = =
JG 3.11x10 6 (83x10 3 )
θAB = + 0.0488 rad.

θ = θBC + θAB = + 0.0419 + 0.0488

180
θ = + 0.0907 rad

0
θ = + 5.20 (the shaft will twist on a counter clockwise direction) answer

8
 Notes in Fundamentals of Deformable Bodies

7. Determine the torque that can be safety applied to the rectangular steel bar if the maximum shear
stress is limited to 120 MPa and the corresponding angle of twist using G = 80 GPa for steel.

Solution:
a = 20 mm
b= 6 mm
L = 800 mm

a 20mm
= = 3.333
b 6mm

refer on Table 1 for the value of C1 and C2

Solve for C1 (by interpolation) Solve for C2 (by interpolation)

3.0 – 0.267 3.0 – 0.263
3.333 – X 3.333 – X
4.0 – 0.282 4.0 – 0.281

3.0  3.333 0.267  X 3.0  3.333 0.263  X

 
3.0  4.0 0.267  0.282 3.0  4.0 0.263  0.281

0.333 0.267  X 0.333 0.263  X

 
 1.0  0.015  1.0  0.018

C1 = X = 0.272 C2 = X = 0.269

T TL
 max  
ab 2 C 1 ab 3 GC 2

T (23500.80)(800)
120  
(20)(6) 2 (0.272) (20)(6) 3 (80x10 3 )(0.269)
2
T = 120 (20) (6) (0.272) 180
T = 23,500.80 N-mm answer θ = 0.2022 rad. x

0
θ = 11.59 answer

9
 Notes in Fundamentals of Deformable Bodies

Problem Set No: 1 (Module 3 – Lesson 1)

1. Determine the diameter of the solid steel shaft that will not twist through more than 30 in a 5-meter
length when subjected to a torque of 18 KN-m. What is the maximum shear stress of the shaft? Use G=
83 GPa.

2. A solid steel shaft 4-m long is stressed to 70 MPa when twisted through 50. Using G = 83 GPa, compute
the shaft diameter and the power it transmits at 20 rev/sec.

3. Determine the length of the 2-mm diameter bronze wire which can be twisted through two complete
turns without exceeding a shear stress of 80 MPa. Use G = 35 GPa.

4. A steel marine propeller is to transmit 3.5 Megawatts at 4.0 rev/sec, without exceeding a shear stress
of 60 MPa or twisting through more than 10 in a length of 25 diameters. Compute the proper diameter
of the shaft if G = 83 GPa.

5. Determine the maximum torque that can be applied to a hollow circular shaft of 100-mm outside
diameter and 70-mm inside diameter without exceeding a shearing stress of 60 MPa or a twist of 0.50
deg/m. Use G = 83 GPa.

6. Determine the power (in MW) that the shaft could transmit if it is operated at 60 Hz. Allowable angle of
twist of the shaft is limited to 40. Use G = 83 GPa.

75 mm
A B

1500 mm

7. The steel shaft is formed by attaching a hollow shaft to a solid shaft. Determine the value of torque T
that can be applied to the ends of the shaft without exceeding a shear stress of 70 MPa or an angle of
twist of 2.500 in the 3.50-m length. Use G = 83 GPa for steel.

100 mm 70 mm 70 mm T
T
B C
A
2.00 m 1.50 m

8. The compound shaft consists of bronze and steel segments, both having 120-mm diameters. If the
torque T causes a maximum shear stress of 100 MPa in the bronze segment, determine the angle of
rotation of the free end. Use G = 83 GPa for steel and G = 35 GPa for bronze.

T
Bronze Steel

120 mm
A B C

4.50 m 3.50 m

10
 Notes in Fundamentals of Deformable Bodies

9. The stepped steel shaft carries the torque T. Determine the allowable magnitude of torque T if the
working shear stress is 12 MPa and the rotation of the free end is limited to 40. Use G = 83 GPa.

T
80 mm 60 mm

A B C

3.00 m 4.00 m

10. A solid compound shaft, made of three different materials, carries the two torques shown. Determine
the maximum shear stress in each material and the angle of rotation at the free end of the shaft in
degrees. The shear moduli are 28 GPa for aluminum, 83 GPa for steel, and 35 GPa for bronze.

4 KN-m
Aluminum Steel Bronze 1.5 KN-m
100 mm 75 mm

A B C D

3.00 m 2.00 m 1.50 m

11. Determine the value of torque T if the total angle of twist is 4.500.

3T
2T

100 mm 75 mm

B C
A
3.00 m 2.70 m
G=28 GPa G=35 GPa

12. The tapered circular steel shaft is attached to a hollow circular steel shaft. Compute the angle of
rotation (in degrees). Use G = 83 GPa.

2 KN-m
3 KN-m
60 mm 50 mm 30 mm

A B C

1.80 m 1.60 m

11
 Notes in Fundamentals of Deformable Bodies

13. Determine the diameter of the solid shaft AB if the total angle of twist is 4.500.

6 KN-m
4 KN-m

D 75 mm

B C
A
3.00 m 2.70 m
G=28 GPa G=35 GPa

14. Determine the value of torque T if the total angle of twist is 1.500. Use G = 83 GPa.

T
3 KN-m
75 mm 60 mm
A B C

1.80 m 1.70 m

15. Determine the outside diameter of shaft AB if the total angle of twist is – 2.440. Use G = 83 GPa.

5 KN-m
3 KN-m
D 75 mm 50 mm

B C
A
2.00 m 1.80 m

16. Steel shaft AB has a diameter of 80 mm while shaft BC has a diameter of 75 mm. Torques are applied
to the gears attached to it as shown in the figure. Determine the angle of rotation if G = 83 GPa.

6500 N-m
9000 N-m
2500 N-m

C
B 75 mm
A 80 mm
3.0 m
3.0 m

12
 Notes in Fundamentals of Deformable Bodies

17. Four pulleys are attached to the 50-mm diameter aluminium shaft. If torques are applied to the
pulleys as shown in the figure, determine the angle of rotation. Use G = 28 GPa for aluminium.

18. Determine the cross-section of the bar if allowable stress is 226.95 MPa and the angle of rotation is
7.550. Use G = 83 GPa, C1 = 0.282 and C2 = 0.281

4 KN-m

1.20 m

19. A 70mm-diameter rod BC is attached to 80mm x 100mm rectangular bar AB. Determine the total
angle of twist in degrees and the stress for each segment. Use G = 50 GPa.

40 KN-m
10 KN-m

A B C

950 mm 950 mm

20. A tapered circular solid shaft BC is attached to a square bar AB, and subjected to a given torque as
shown in the figure. Determine the total angle of twist in degrees. Use G = 83 GPa.
7 KN-m
A B
40 mm 3 KN-m

40 mm 20 mm
C
1200 mm 1000 mm

13