Torque (Twisting Moment)

Tx N
Mx Mz
Ty z
x z x
zx z
My zy

y N =  σ z dA M x =   z ydA y

Tx =  τ zx dA My = − න𝜎z xdA

Ty =  τ zy dA M z =  ( zy x −  zx y)dA

Mz induces shear stress on the section.

11/1/2019 Y.Doç.Dr.Hale Ergün 1
 Torsional failures
Ductile materials generally fail in shear, brittle materials are
weaker in tension.
When subjected to torsion a ductile specimen breaks along the
plane of maximum shear, i.e. a plane perpendicular to the shaft
axis (shear failure in torsion).
When subjected to torsion, a brittle material breaks along planes
perpendicular to the direction in which tension is maximum, i.e.
along surfaces 45 to the shaft axis (tensile failure in torsion).
Circular section twisting: Rectangular section twisting:
Radial lines remain straight. Lines in cross section plane warp in longitudinal
Longitudinal lines become twisted. direction.
Circle cross sections remain circular in plane. Cross section does not remain in section plane.

Circular sections can be studied by making some Theory of Elasticity is needed to study non
assumptions. circular cross sectioned beams.
Torsion of Circular section:

𝑀𝑧
𝑀𝑧

Bernoulli-Navier Hypothesis:
➢ Cross sections perpendicular to the axis of the beam, remain in plane after deformation. They rotate like a rigid plate about
the beam axis.
➢The rotation of a cross section: angle of twist z, is a linear function of z- axis. So, the rate of change of angle of twist is
constant for a loading.

Ω𝑧 𝑧 = Ω𝑧 𝑧 = 0 + 𝑤 𝑧

𝑑Ω𝑧 𝑧
=𝑤 ∶ 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡: 𝑎𝑛𝑔𝑙𝑒 𝑜𝑓 𝑡𝑤𝑖𝑠𝑡 𝑝𝑒𝑟 𝑢𝑛𝑖𝑡 𝑙𝑒𝑛𝑔𝑡ℎ
𝑑𝑧
[𝑟𝑎𝑑𝑖𝑎𝑛𝑠/𝑙𝑒𝑛𝑔𝑡ℎ

11/1/2019 Y.Doç.Dr.Hale Ergün 4

Torsional Deformation of a Circular Shaft

𝑓𝑖𝑥𝑒𝑑 𝑒𝑛𝑑:
Ω𝑧 (𝑧) (𝑧 = 0) = 0
𝑥
𝑧

z(z): angle of twist is a linear function of z- axis

𝑓𝑟𝑒𝑒 𝑒𝑛𝑑:
𝑀𝑧 𝑚𝑎𝑥 =  𝑧 = 𝐿 = 𝑤𝐿
𝑧
Stress Profile:
𝑀𝑧 = ඵ 𝑥 𝜏𝑧𝑦 − 𝑦𝜏𝑧𝑥 𝑑𝐴

Shear stress is tangent to the circumference of the circle section.

𝑀𝑧 = ඵ 𝑟 𝜏 𝑑𝐴

𝑀𝑧

Y.Doç.Dr.Hale Ergün 6
Stress Profile:

𝑀𝑧
 before loading

after loading

After deformation, 𝑎𝑏𝑐𝑑𝑒𝑓 slice of cylinder deforms to 𝑎𝑏𝑐𝑑𝑒𝑓.

Notice that shear strain  varies linearly with radial distance 𝑟 and is maximum on the outer surface.
On any cylinder of radius 𝑟, the displaced distance b𝑏 may be written from the section surface and the
cylinder surface as follows.

dΩz
bb′ = γ dz = dΩz r → γ = r → γ = ωr shear strain
dz
Shear strain is substituted in the Hooke law  = G  as follows.

τ = Gωr
Here, G is shear modulus. Maximum shear stress is on the outer surface r = R.
τ max = G ω R
11/1/2019 Y.Doç.Dr.Hale Ergün 9
Torsion Formula:

Io =
(
π Rd − Ri
4 4
)
 = zx i + zy j πR 4
Io = 2
2
M z =  ( zy x −  zx y)dA =   r dA

M z =  (Gω r ) r dA = Gω  r 2 dA = G ω I o
Io
Mz
Unit angle of twist: ω=
G Io
 1 = − 2 = τ
Io: polar moment of inertia I = r dA

2
o
G: shear modulus
GIo: torsion rigidity G = E/2(1 + ν) If a beam is
under torsion,
Mz M its stress state is
τ = G ωr = r→ τ = z r pure shear. 10
11/1/2019 Io Io
Relative rotation of sections:
𝑑Ω𝑧 𝑧 Ω (𝑧) 𝑧 𝑧
=𝑤 → ‫׬‬Ω 𝑧(0) 𝑑Ω𝑧 = ‫׬‬0 𝑤 𝑑𝑧 → Ω𝑧 𝑧 = Ω𝑧 0 + ‫׬‬0 𝑤 𝑑𝑧
𝑑𝑧 𝑧

Ω𝑧 𝑧 = Ω𝑧 0 + 𝑤 𝑧
Mz
Ω𝑧 𝑧 = Ω𝑧 0 + 𝑧
GIo

Strain Energy:
1 1 𝑀𝑧 𝑀𝑧2
dV = 𝑀𝑧 𝑑Ω𝑧 = 𝑀𝑧 𝑑𝑧 = 𝑑𝑧
2 2 𝐺𝐼𝑜 2 𝐺𝐼𝑜
𝑀𝑧2
V=න 𝑑𝑧
2 𝐺𝐼𝑜
Example: the shaft shown is subjected to torsions as
shown. Calculate the maximum shear stress and state its
location along the beam axis.

෍ 𝑀𝑥 = 0 → 5 − 1.5 − 12 − 𝑀𝑤𝑎𝑙𝑙 = 0 → 𝑀𝑤𝑎𝑙𝑙 = −8.5𝑘𝑁𝑚

   
Io = r4 = (0.04m )4 = 4.02 10−6 m 4 Io = r4 = (0.06m )4 = 2.036 10−6 m 4
2 2 2 2

1.5kNm 12kNm
5kNm
Mwall

1 =
Mb
rmax =
(0)(0.04) = 0
Mb (kNm) Io 4.02 10 −6

2 =
Mb
rmax =
(5000)(0.04) = 49.8 106 Pa = 49.8MPa
5
3.5
Io 4.02 10 −6

3 =
Mb
rmax =
(3500)(0.06) = 10.31106 Pa = 10.31MPa
 (MPa) −8.5 Io 20.36 10 −6

49.8 4 =
Mb
rmax =
(− 8500)(0.06) = −25.05 106 Pa = 25.05MPa
25.05 Io 20.36 10 −6
10.31

x  max = 49.8MPa 12
Example: Calculate the shear stress values at point A and B shown in the
figure.

Mb
A
B

Mb

M x =0 → 5 − 1.5 − M b = 0 → M b = 3.5kNm

 
Io = r4 = (0.06m )4 = 2.036 10−5 m 4
2 2

M b rA 3500 Nm(0.04m )
rA= 40mm A = = −5
= 6.88  10 6
N / m 2
= 6.88MPa
Io 2.036 10 m 4

rB= 60mm
M b rB 3500 Nm(0.06m )
B = = −5
= 10.31 106 N / m 2 = 10.31MPa
Io 2.036 10 m 4

11/1/2019 Y.Doç.Dr.Hale Ergün 13

Example: The hollow circle section has inner radius 80mm and outer
radius 100mm. Calculate the shear stress tangent to the inner and outer
surfaces.

Mb

M y =0 → 80 N (0.3m ) + 80 N (0.2m ) − M b = 0
→ M b = 40 Nm

Io =

2
(0.05) − (0.04)  = 5.8 10
4 4 −6
m4

M b RD 40 Nm(0.05m )
D = = −6
= 0.345MPa
Io 5.8 10 m 4

M b RE 40 Nm(0.04m )
E = = −6
= 0.276 MPa
Io 5.8 10 m 4

11/1/2019 Y.Doç.Dr.Hale Ergün 14

Mb
Example: Two shafts are connected by bolts as shown in the Mb
figure. Radius of the shafts is r and the diameter of the bolts is d.
Calculate the maximum shear stress at the shafts. Calculate the
number of bolts required in order to have the average shear stress
which is equal to the maximum shear stress of the shaft.

T n: number of bolts
T
T: shear force that one bolt carries
T
Mb
T
Mb
T
Mb T
 Mz = 0 → Mb − n  T  R = 0 → T = n  R
T T

T M b /n R 4 Mb
(τ bulon ) ort = = =
A π d 2 /4 π d 2n R

Mb M 2 Mb
(τ çubuk ) max = r = 4b r =
Io π r /2 π r3

4 Mb 2 Mb 2 r3
(τ bulon ) ort = (τ çubuk ) max → = → n=
11/1/2019
π d 2
n R π r 3
Y.Doç.Dr.Hale Ergün
R d 2
15
 A D 8cm Exp: The shear strength of the ABCD shaft material is
10cm
B C em=8kN/cm2. Shaft is fixed to the wall at both ends.
Mo 2Mo
z
14cm Calculate the maximum value of the Mo twisting
0.6m 0.8m 0.8m moment that this system can carry safely.

M z = 0 → − MA + Mo + 2 Mo + MC = 0

Mo MD
→ MC = MA − 3 Mo (1)
MA 2Mo
ABC: I o = π R 4 /2 = π 54 /2 = 312.5π cm 4
Mz MA
MA −Mo CD: I o = π 7 4 /2 − π 4 4 /2 = 1072.5π cm 4
MA −3Mo
+ + + z Mz L
=
Mz 0.918Mo G Io
+  AB +  BC +  CD = 0 : geometric condition
− z
−0.082Mo − M A 60 ( M A − M o ) 80 ( M A − 3M o ) 80
−2.082Mo
→ + + =0
G 312.5  G 312.5  G 1072.5 
→ M A = 0.918 M o
From Eq.(1), → 𝑀𝐵 = −2.082 𝑀𝑜 , Mz diagram is plotted above inserting this value.
Let us check maximum shear stress values at AB and CD portions.
𝑀𝑧 0.918𝑀𝑜
AB: 𝜏𝑚𝑎𝑥 = 𝑅 ≤ 𝜏𝑒𝑚 → 5 ≤ 8 → 𝑀𝑜 ≤ 1711.1𝑘𝑁𝑐𝑚
𝐼𝑜 312.5𝜋

𝑀𝑧 2.082𝑀𝑜
𝐶𝐷: 𝜏𝑚𝑎𝑥 = 𝑅 ≤ 𝜏𝑒𝑚 → 7 ≤ 8 → 𝑀𝑜 ≤ 1849.5𝑘𝑁𝑐𝑚
𝐼𝑜 1072.5𝜋
𝑀𝑜 ≤ 1711.1𝑘𝑁𝑐𝑚
Example (Composite section): The shaft shown is made from a steel tube, which is bonded to a brass
core. If a torque of 𝑇 = 250 𝑙𝑏 𝑓𝑡 is applied at its end, plot the shear stress distribution along a radial line of
its cross sectional area. 𝐺𝑠𝑡 = 11.4103 𝑘𝑠𝑖, 𝐺𝑏𝑟 = 5.20103 ksi.

Torque resultant on the section: T = 𝑇𝑠𝑡 + 𝑇𝑏𝑟

Equilibrium:
Free body diagram of the shaft:
𝑖𝑛
−𝑇𝑠𝑡 − 𝑇𝑏𝑟 + 250 𝑙𝑏 𝑓𝑡 12 =0
𝑓𝑡
Compatibility:
Angle of twist of end A for both the steel and the
brass are the same because they are bonded
together.
Ω𝐴 = Ω𝑠𝑡 = Ω𝑏𝑟

TL
Load-displacement relationship: Ω =
G Io
Tst L Tbr L
𝜋 = 𝜋 → 𝑇𝑠𝑡 = 32.88 𝑇𝑏𝑟
11.4103 𝑘𝑖𝑝/𝑖𝑛2 2 ( 1𝑖𝑛
4 − 0.5 𝑖𝑛 4) 5.2103 𝑘𝑖𝑝/𝑖𝑛2 2 0.5 𝑖𝑛 4

With equilibrium equation:

𝑇𝑠𝑡 = 2911.0 𝑙𝑏 𝑖𝑛 = 242.6 𝑙𝑏 𝑓𝑡 𝑇𝑏𝑟 = 88.5𝑙𝑏 𝑖𝑛 = 7.38 𝑙𝑏 𝑓𝑡
 (88.5 𝑙𝑏 𝑖𝑛) (0.5 𝑖𝑛)
𝜏𝑏𝑟 𝑚𝑎𝑥 = 𝜋 = 451 𝑝𝑠𝑖
0.5 𝑖𝑛 4
2

(2911.0 𝑙𝑏 𝑖𝑛) (0.5 𝑖𝑛)

𝜏𝑠𝑡 𝑚𝑖𝑛 = 𝜋 = 989 𝑝𝑠𝑖
4
( 1 𝑖𝑛 − 0.5 𝑖𝑛 ) 4
2

(2911.0 𝑙𝑏 𝑖𝑛) (1 𝑖𝑛)

𝜏𝑠𝑡 𝑚𝑎𝑥 = 𝜋 = 1977 𝑝𝑠𝑖
4
( 1 𝑖𝑛 − 0.5 𝑖𝑛 ) 4
2

There is discontinuity of shear stress at the brass and steel interface,

since the materials have different moduli of rigidity. Steel is stiffer
than brass, thus carries more shear stress at the interface.
Although the shear stress is discontinuous here, the shear strain is
not. Rather, the shear strain is the same for both the brass and the
steel. This can be shown by Hooke’s law, 𝛾 = 𝜏/𝐺 at the interface.

𝜏 451 𝑝𝑠𝑖 988 𝑝𝑠𝑖

𝛾= = 6
= 6
= 0.086710−3 𝑟𝑎𝑑𝑖𝑎𝑛𝑠
𝐺 5.210 𝑝𝑠𝑖 11.410 𝑝𝑠𝑖
Solid section and hollow section comparison:

𝑅 𝑅1

𝑅𝑜

𝜋𝑅 4 𝜋 𝑅14 − 𝑅𝑜4
𝐼𝑜 = 𝐼𝑜 =
2 2
𝑀𝑧 2𝑀𝑧 𝑀𝑧 2𝑀𝑧 𝑅1
𝜏𝑚𝑎𝑥 = 𝑅= 𝜏𝑚𝑎𝑥 = 𝑅1 =
𝐼𝑜 𝜋𝑅 3 𝐼𝑜 𝜋 𝑅14 − 𝑅𝑜4

In order to have the same shear strength for both sections.

𝜏𝑚𝑎𝑥 = 𝜏𝑚𝑎𝑥
2𝑀𝑧 2𝑀𝑧 𝑅1
=
𝜋𝑅3 𝜋 𝑅14 − 𝑅𝑜4
4 4 3 4
𝑅 1 − 𝑅𝑜 𝑅 𝑅𝑜
𝑅3 = → =1−
𝑅1 𝑅1 𝑅1
If we compare the areas of cross sections. Let 𝜂 = 𝑅𝑜 /𝑅1

𝐴ℎ𝑜𝑙𝑙𝑜𝑤 𝑅12 − 𝑅𝑜2 𝑅12 − 𝑅𝑜2 1 − 𝜂2

= = =
𝐴𝑠𝑜𝑙𝑖𝑑 𝑅2 4
𝑅1 − 𝑅𝑜4 2/3 1 − 𝜂4 2/3
𝑅1
𝑅 1 𝐴ℎ𝑜𝑙𝑙𝑜𝑤 79.3 19
For 𝜂 = 𝑅𝑜 = 2 → = so 20% less material is used for same strength.
1 𝐴𝑠𝑜𝑙𝑖𝑑 100
Thin walled circular section:
If thickness is small,
the shear stress may be
𝑅2 𝑅2 assumed to be constant
𝑑𝐴 𝑅𝑜 𝑡 = 𝑅2 − 𝑅1 along the thickness.
𝑅1 𝑅1
𝑅1 +𝑅2
𝑅𝑜 = : average radius
2
𝑑𝐴 = 𝑡 𝑅𝑜 𝑑𝜃

2𝜋
𝑅𝑜
𝑀𝑧 = ඵ 𝜏 𝑅𝑜 𝑑𝐴 = න 𝜏 𝑅𝑜2 𝑡 𝑑𝜃 = 2𝜏 𝑡 𝜋𝑅𝑜2
0 𝐹𝑜 𝐹𝑜 = 𝜋𝑅𝑜2

𝑀𝑧
𝜏𝑎𝑣𝑒𝑟𝑎𝑔𝑒 =
2 𝐹𝑜 𝑡 𝑅2 + 𝑅1 = 2 𝑅𝑜
𝑅2 − 𝑅1 = 𝑡
𝜋 𝑅24 −𝑅14 𝜋 𝑅2 −𝑅1 𝑅2 +𝑅1 𝑅22 +𝑅12
𝐼𝑜 = = = 𝜋 𝑡 𝑅𝑜 𝑅22 + 𝑅12
2 2 𝑡
𝑡 2 𝑡 2 𝑡2 𝑅1 = 𝑅𝑜 −
𝐼𝑜 = 𝜋 𝑡𝑅𝑜 𝑅𝑜 − + 𝑅𝑜 + 3
= 2𝜋 𝑡 𝑅𝑜 1 + 2 2
2 2 4𝑅𝑜
𝑡
𝑅2 = 𝑅𝑜 +
𝐼𝑜  2𝜋 𝑡 𝑅𝑜3 2

𝑀𝑧 𝑀𝑧 𝑀𝑧 2𝜋𝑅𝑜
𝑤= = =
𝐺𝐼𝑜 𝐺 2𝜋 𝑡 𝑅𝑜3 4𝐺 𝑡 𝐹𝑜 2