Strength of Materials

(Lecture # 4)

Ph.D. Mai Duc Dai

Faculty of Civil Engineering & Applied Mechanics

Ho Chi Minh City University of Technology and Education

Assumptions:
Small strain
Small displacement/deflection
Linear elastic behavior
Homogeneous isotropic materials
Static loads
 Interested in stresses and strains of Mz
circular shafts subjected to twisting M M
couples or torques z
z z
x
x z1 z1
x
y y y

Mz

Net of the internal shearing stresses is an internal

Mz 0
torque, equal and opposite to the applied torque,
Mz dF dA

4M Although the net torque due to the shearing stresses

is known, the distribution of the stresses is not.
A C
B
a 2a
Distribution of shearing stresses is statically
indeterminate must consider shaft deformations.
M

Mz Unlike the normal stress due to axial loads, the

distribution of shearing stresses due to torsional
loads can not be assumed uniform.
 Torque applied to shaft produces shearing From observation, the angle of twist of the shaft is
stresses on the faces perpendicular to the axis. proportional to the applied torque and to the shaft
length.
Conditions of equilibrium require the existence
of equal stresses on the faces of the two planes
containing the axis of the shaft.
When subjected to torsion, every cross-section of
a circular shaft remains plane and undistorted.
The existence of the axial shear components is
demonstrated by considering a shaft made up of
axial slats. Cross-sections for hollow and solid circular shafts
remain plain and undistorted because a circular
shaft is axisymmetric.
The slats slide with respect to each other when
equal and opposite torques are applied to the
ends of the shaft. Cross-sections of noncircular (non-axisymmetric)
shafts are distorted when subjected to torsion.

Multiplying the previous equation by the

Consider an interior section of the shaft. As a shear modulus,
G G
torsional load is applied, an element on the interior R
max

cylinder deforms into a rhombus. From G , so

R
1
Since the ends of the element remain planar, the J R4 R
max
2
shear strain is equal to angle of twist. The shearing stress varies linearly with the
radial position in the section.
It follows that Recall that the sum of the moments from the
internal stress distribution is equal to the torque
L or on the shaft at the section,
L
max 2 max
Mz dA dA J
Shear strain is proportional to twist angle and R R
r R
radius The results are known as the elastic torsion
R formulas,
and 1 Mz Mz
max
L R
max
J R4 r 4 max R and
2 J J
 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 A A0 2
max
2 2
J r dA J r dA
A A Element a is in pure shear.
J x2 y 2 dA x 2 dA y 2 dA dA 2 rdr
A A A
Element c is subjected to a tensile stress on
two faces and compressive stress on the other
J Jx Jy two.
Note that all stresses for elements a and c have
the same magnitude

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 Shafts in torsion
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.
 1
J R4
2
Mz 0,1D 4 G
M M
z R
z z
x
x z1 z1
x
y y y
Relation of shear stress & internal force

1
J R4 r 4 0,1 D 4 d 4
2
Mz Mz M zR
and max max
J W J R

Mz
r 2
R J dA

max

1 h

Wxo bh 2 J xo bh3 b

J r 2 dA J r 2 dA
A A

2 2 2 2 dA 2 rdr
J x y dA x dA y dA
A A A

J Jx Jy
 4M
The relation of angle of twist & applied torque
(torsional moment & shaft cross-section is constant A B C

along length) a 2a
M
Mz

MzL ML
JG JG MA 3ma
m
If the torsional loading or shaft cross -section 6M B C

MD changes along the length, the angle of rotation is a

MC found as the sum of segment rotations 3ma

ma
MB
M zi Li S M zi
i J i Gi i J i Gi

MA

M 12kN .m; a 0, 25m; G 1,5.103 kN / cm 2 ; 3,5kN / cm 2

Mz
max max
W 4M
max

A B
C
Mz d
max max
a 2a
W max

Mz 3M 3M M
max d 3
GJ max
0, 2d 3 0, 2.
Mz
3.12.100
3 17, 26cm
0, 2.3,5

M z2 2 SM z M .2a 3M .a M .a 12.0, 25.10 4

U dz AC 0, 0022rad
2G.J i 1 GJ G.0,1d 4 G.0,1d 4 1,5.10 3.0,1.17,3 4
L i
 d 12cm; a 0,3m; G 1,8.10 3 kN / cm 2 ; 3kN / cm 2 Mz
max max
W
max
M 7ma M ma
m 3ma 0, 2d 3 . 0, 2.123.3
2d m 11,52kN .m / m
0, 2d 3 3a 3.30
B d C
A a 2a

AB 4ma 3ma
max 3
0, 2 2d 2 SM z 0,5 ma 3ma 2a 4ma.a
ma AC 4
i 1 GJ G.0,1d 4 G.0,1 2 d
BC 3ma Mz i
max
0, 2d 3 15ma 2 15.11,5.302
0, 01rad
G.0, 4d 4 1,8.103.0, 4.124
4ma

Given the shaft dimensions and the applied

torque, we would like to find the torque reactions
m 2r r
at A and B. M2=2ma

From a free-body analysis of the shaft,

TA TB 90 lb ft
M1=6ma
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
1 2 0 TB TA
J1G J 2G L2 J1
Substitute into the original equilibrium equation,
L1J 2
TA TA 90 lb ft
L2 J1
 m 2r r
M2=2ma m 2r r
ME M2=2ma
ME

M1=6ma
M1=6ma

ME
2r 2r M2=2ma
r m r
ME

M1=6ma

ME Applied loads
AE AE

m 2r r
M2=2ma
ME
AE 0
M E .2a M E . 2a
1 4
J1G J 2G J1 r
2 M1=6ma
2ma.a 5 ma.a 5 ma.a 1
0 J2 2r
4
16r1
J1G 2 J 2G 2 J 2G 2

2M E 2M E 2ma
0 Mz
J1G 16 J1G J1G

2 16
2 ME 2ma ME ma
16 17
18 ma.a 16 ma.a 2 ma 2
CE ( rad )
17 J1G 17 J1G 17 J1G
 The derivation of the torsion formula,
Tc
max
J

assumed a circular shaft with uniform cross- d

d
section loaded through rigid end plates. P P
P
b P b
b P
The use of flange couplings, gears and avg
pulleys attached to shafts by keys in keyways, Fs
and cross-section discontinuities can cause
stress concentrations

Experimental or numerically determined

concentration factors are applied as P P
Tc
max K Fs Fs tích
Stress-concentration factors for fillets in J
circular shafts.

P
avg
Fs m
m
P
m m
P P
m
P
P P
m P
P
P
P P P
P P
avg
2 Fs
m m

P P P P
Fs Fs 2 Fs Fs
 P Fb P P
d
d

P P
Fs d2
2
P P P 4
b
t
Fb td 2P 2P 2.400.103
d d 29,13mm
d2 300

P/2
P P P P
160
127

P/2 P/2 P
12
Fs 2. d 2 / 4 d2 12,7
P 12 P P P
106 2
0, 08435 N / mm
.20 2
P 22
P .FS 9,6 . 4 . 120,576 kN
FS 4 P
P
b P b .Fb 12,4 . 1,2 . 2 119,04kN P/2 106 / 2
Fb b 0,2789N / mm2
td 9,5.20
P 119,04kN
 3
mA 0 96.4 N BE .8 0 N BE 80 kN N BD
5
B
YA NBE
Fy 0 N BC 96 0 N BC 96kN 3m
XA 4m E
A C NCE
B t 10mm
96kN
D
L75 75 8
N BC
B F
6m N AC NCE
L75 75 6 C
A 4m 4m 4m 4m H
C E G 96kN
96kN 200kN 96kN

Thanks for your attention