Torsion

UNIT 10 TORSION
Structure
10.1 Introduction
Objectives
10.2 Torsion of Circular Shafts
10.2.1 Theory of Torsion
10.2.2 Torsional Displacements
10.2.3 Shearing Stress
10.3 Power Transmission by Shafts
10.4 Composite Shafts – Series Connection
10.5 Statically Indeterminate Torsion Members
10.6 Hollow Circular Shafts
10.7 Torsion of Non-circular Shafts
10.7.1 Elliptic Section
10.7.2 Equilateral Triangular Section
10.7.3 Rectangular Cross-section
10.7.4 Thin Walled Non-circular Section Shafts
10.8 Plastic Deformation in Torsion
10.9 Summary
10.10 Answers to SAQs

10.1 INTRODUCTION
The transmission shafts are subjected to torsion, which are used to transmit power from
one plane to another parallel plane. These shafts are generally provided in automobiles,
turbines, generator, etc. These may be solid or hollow. The torque is the product of the
force and the distance between the axis and the force. The torque is also called twisting
moment or turning moment.
This unit presents the treatment of members with circular, or tabular cross-sectional
areas. Non-circular sections are discussed briefly. In practice, members that transmit
torque, such as shafts of motors, torque tubes of powers equipment, etc. are
predominantly circular or tabular in cross-section.
Objectives
After studying this unit, you should be able to
• understand the theory of torsion,
• calculate the strength, angle of twist and shear strain in solid and hollow
circular shaft,
• calculate the power transmitted by the shaft,
• design the shaft using strength requirements and stiffness requirements,
• understand the behaviour of non-circular section subjected to torsion, and
• calculate the plastic torque for various sections.

10.2 TORSION OF CIRCULAR SHAFTS

Torque is defined as the moment applied about the axis of the shaft. Torsion is the act of
applying torque. Due to torsion, twisting of the shaft occurs. Hence, the shear stresses are
produced on the cross-section itself. 61
Stresses in Shafts and Shells A shaft of circular section is said to be in pure torsion when it is subjected to equal and
opposite end couples whose axes coincide with the axis of the shaft. In other words, if the
moment is applied in a vertical plane about the longitudinal axis of a beam or shaft, will
be subjected to a torque causing twist or torsion in the member. As the beam bends due to
bending moment, is the angular displacement between two cross-sections of the shaft.
Figure 10.1 shows a pulley of radius R subjected to a force W tangential to
circumference, then the
W

Figure 10.1

∴ Torque, T = Force × Radius

T=W×R
The effect of application of torque on the shaft would be to cause twisting of a section
with respect to adjacent section. This action will result in shearing stress over each
section. Figure 10.2 shows the shearing stress on the element in the direction of rotation
which will be accompanied by complementary shearing stress parallel to the axis of the
shaft.
T T

Figure 10.2

10.2.1 Theory of Torsion

For the purpose of nature of stress distribution and state of stress at any point in the shaft
a portion of the shaft along its length will be selected and equal and opposite torques will
be assumed to be acting at the two ends of the shaft. All considerations will be restricted
to circular section (or cylindrical) shafts only. Following assumptions are made for
developing theory of torsion, i.e. correlating the torque on a cylindrical shafts with the
stress and strain.
(a) The material of the shaft is homogeneous and isotropic.
(b) Normal cross-sections of the shaft, which were plane and circular before
twist, remain plane and circular after twist, i.e. no warping or distortion of
parallel planes normal to the axis of the member takes place.
(c) Homogeneous ensures uniform properties throughout. An isotropic material
will have same magnitude of elastic constants in all directions.
(d) The cross-section rotates as if rigid which means that each diameter of the
cross-section rotates through the same angle after loading. This angle is
called angle of twist.
(e) Material is elastic and follows Hooke’s law which means that stress is
proportional to strain, within the elastic limit.

62
10.2.2 Torsional Displacements Torsion

Figure 10.3(a) shows a circular shaft rigidly held at one end A. Radial plane within the
shaft is shown shaded. Figure 10.3(b) shows the same shaft after a torque T has been
applied at the free end. As a result the shaded plane of Figure 10.3(a) will twist as shown
in Figure 10.3(b). However, according to assumption made earlier any cross-section of
the shaft remains plane after torque T has been applied. So the two cross-sections at a
distance of Δ l in Figure 10.3(b) are plane. This assumption is verified by experiment. A
small portion of length Δ l is isolated in Figure 10.3(c). The torque at each end is T. The
plane OACD warps into plane OA′CD. Point A moves to A′, and point B on a circle of
radius r moves to B′, while remaining on the same circle. Δ θ is the angle moved by
radius OA (unloaded position) to OA′ (load position). Δ θ is the angle of twist. The line
AC on the surface of the shaft in unloaded condition, now occupies the position A′C after
loading. The angle between AC and A′C is γ at point C. γ is apparently the angle of
distortion of the shaft, hence, shearing strain in length Δ l. One can easily imagine that
the angle of distortion (γ) will be maximum on the surface and will reduce linearly from
C to D. It will eventually become zero at D, the centre of the cross-section
d
Arc AA′ = γ Δ l = Δ θ . . . (10.1)
2
d
where, Radius, OA = , and
2
d = shaft diameter.
Arc BB ′ = γ r Δ l = Δ θ . r . . . (10.2)
where γr is the angle of distortion or shearing strain at radius r.

(a)

Δl

θ
T

(b)
Δl

D Δθ

O
′ B′ T
A B
A

(c)
Figure 10.3
63
Stresses in Shafts and Shells Δθ
Hence, γr = r . . . . (10.3)
Δl
Δθ
But γr remains constant for any given value of r, hence, must also be a constant. It
Δl
θ
means that the ratio of angle of twist and length of shaft is a constant, i.e. is constant
l
and
Δθ θ
= . . . (10.4)
Δl l
θ
Hence, γr = r . . . . (10.5)
l
τr
Since Hooke’s law is followed γ r =
G
where τr is the shearing stress at any point on a circle of radius r as γr is the shearing
strain at the same point. G is the modulus of rigidity of the shaft material. Using this
value of γr in Eq. (10.5) and obtaining
τ r Gθ
= . . . (10.6)
r l
The right hand side of Eq. (10.6) is a constant for a given length of shaft under a given
torque T. This equation, thus, states that ratio of stress at a point to radial distance of that
point from the centre of the cross-section is constant. If the shearing stress at any point is
d
called τm, the radial distance of that point from the centre of the cross-section will be
2
and hence,
τr τm Gθ
= = . . . (10.7)
r d l
2
Gθ
or, τm = . . . (10.8)
l
Gθ
Apparently the distribution of shearing stress is given by the equation τr = r which
l
shows τr is uniformly distributed with radius r. The values of τr = 0 at r = 0, i.e. at centre
d
and the shearing stress will be maximum when r = , i.e. on the surface of the shaft.
2
Thus, τm is the highest value of stress caused by torque T. The distribution of shearing
stress over shaft cross-section is shown in Figure 10.4.
τm

τr

r
Stress Distribution

dr

Cross-section
Figure 10.4
64
10.2.3 Shearing Stress Torsion

A thin ring of depth dr at a radius r is chosen on the cross-section as shown in

Figure 10.4. At this radius shearing stress τr acts on the ring, whose area is
dA = 2π r . dr
Therefore, the shearing force on this ring,
Fs = τr dA
τm
or Fs = r . . 2π r dr
d
2
The torque due to this shearing force is
4π τ m 3
dT = Fs . r = . r dr
d
d d d
2
4π τm 2
4π τ m ⎡ r4 ⎤ 2
∴ T = ∫ dT =
d ∫ r 3 dr =
d
.⎢ ⎥
⎢⎣ 4 ⎥⎦ 0
0 0

τm π d 4
or, T = .
d 32
2
πd4
In the above equation, is the polar moment of inertia of circular section of
32
diameter, d and is denoted by J.
T τm
Hence, = . . . (10.9)
J d
2
Using Eq. (10.7), we can write
τ r T Gθ
= = . . . (10.10)
r J l
Above are the torsional relationships – three equations correlating :
T = Torque on circular cross-section shaft,
π 4
J = d = Polar moment of inertia of circle of diameter, d,
32
θ = Angle of twist in radians,
G = Modulus of rigidity,
L = Length of the shaft, and
τr = Shearing stress at a point on circular section at radius, r.
The polar moment of inertia is defined as
R R
J = ∫ 2π r . r 2 dr = ∫ r 2 dA
0 0

J represents the moment of inertia of the shaft section about the axis of the shaft. The
moment of inertia of a plane area, with respect to an axis perpendicular to the plane of the
figure is called polar moment of inertia with respect to the axis normal to the plane. In a
circular plane, the z-axis is always through the centre of the circle. Therefore, J is known
as polar moment of inertia, i.e. moment of inertia about z-axis. 65
Stresses in Shafts and Shells As per perpendicular axis theorem,
Izz = Ixx + Iyy

π 4
From a circular section, I xx = I yy = d
64
where d is the diameter of the circular shaft.

πd 4
Hence, J = I zz =
32
J
The term is known as torsional section modulus or polar modulus, denoted
d
2
M
by Zp. It is similar to section modulus, Z, which is equal to .
I
Thus, polar modulus for a solid shaft

πd 4 2 πd 3
Zp = . =
32 d 16
A hollow circular section is just like a circular section with only difference in the value
of J. J for a hollow section can be calculated as different of J values of sections of outer
diameter (d0) and inner diameter (di).

π
J hollow = (d04 − di4 ) . . . (10.11)
32
where d0 and di are respectively the outer and inner diameters.

M σ E
Eq. (10.11) can be compared with equation of bending = = .
I y R

τr σ T M Gθ
The expression corresponds to , corresponds to and corresponds
r y J I l
E
to . The expression GJ corresponds to expression EI.
R
The term GJ is called torsional rigidity and the term EI is called flexural rigidity.
It may be noted that :

T
(a) , i.e. torque required for unit twist, is called the torsional stiffness of the
θ
shaft.

T
(b) , i.e. torque divided by the angle of twist per unit length, is called the
θl
torsional rigidity.

Units of various quantities mentioned above are usual. T is normally measured in Nm, τr,
τm and G have units of N/m2 (Pa) or N/mm2, l is measured in m. θ has radians as units.
Example 10.1
A shaft is required to fail when the torque on the shaft is 20 kN-m. Find the
suitable diameter of the shaft of the modulus of rupture of torsion is 200 mN/m2.
66
Solution Torsion

T = 200 kN-m = 20 × 103 N-m

τmax = 200 MN/m2 = 200 × 106 N/m2
d=?
16T
τmax =
πd 3
16 × 20 × 103
⇒ 200 × 106 =
πd 3
∴ d = 7.99 × 10− 2 m = 80 mm
Example 10.2
Find the maximum torque that can be transmitted by the shaft of 400 mm diameter,
if the shear stress is not to exceed 50 N/mm2.
Solution
τmax = 50 N/mm2 = 50 × 106 N/m2, d = 400 mm = 0.4 m
16T
τmax =
πd 3
16 × T
⇒ 50 × 106 =
π (0.4)3

∴ T = 628.3 × 103 Nm = 628.5 Nm

Example 10.3
Calculate the maximum torque that can be safely transmitted by a shaft of 400 mm
diameter, if
(a) the maximum allowable shear stress is 40 N/mm2, and
(b) the maximum allowable angle of twist is 2o in a length of 10 m.
Take G = 80 kN/mm2.
Solution
d = 400 mm = 0.40 = m

τmax = 40 N/mm 2 = 40 × 106 N/m 2

π
θ = 2o = 2 × = 0.035 radians , l = 10 m
180
G = 80 N/mm2 = 80 × 109 N-m
16T
(a) τmax =
πd 3
Use τm = 40 × 106 N/m2,
16T
⇒ 40 × 106 =
π (0.4)3

∴ T = 503 × 103 N-m = 503 kN-m

G θ T 32T
(b) = =
l J πd 4
67
Stresses in Shafts and Shells 80 × 109 × 0.035 32T
⇒ =
10 π (0.4) 4

∴ T = 704 × 103 N-m = 704 kN-m

∴ Safe torque is smaller of the above two
∴ T = 503 kN-m
Example 10.4
A steel bar of 25 mm diameter was tested on a gauge length of 250 cm in tension
and in torsion. A tensile load of 50 kN produced an extension of 0.13 mm and a
torque of 200 N-m produced in twist, determines :
(a) the modulus of elasticity
(b) the modulus of rigidity
(c) the Poisson’s ratio
(d) the bulk modulus
Solution
d = 25 mm = 0.025 m
π 2
A= d = 4.9 × 10− 4 m 2
4
π 4
J = d = 3.8 × 10− 8 m 4
32
l = 25 cm = 0.25 m
P = 50 kN = 50 × 103 N
Δ l = 0.13 mm = 0.13 × 10– 3 m
T = 200 N-m
θ = 1o = 0.017 radians
Pl
Δl =
AE

50 × 103 × 0.15
0.13 × 10− 3 =
4.9 × 10− 4 × E

∴ E = 2 × 1011 N/m 2 = 2 × 105 N/mm 2

T Gθ
=
J l
200 G × 0.017
−8
=
3.8 × 10 0.25

G = 0.77 × 1011 N/m 2 = 0.8 × 105 N/mm 2

E = 2G (1 + μ)

⇒ 2 × 105 = 2 × 0.8 × 105 (1 + μ )

∴ μ = 0.25
E = 3K (1 − 2μ)

2 × 105 = 3 × K (1 − 2 × 0.25)

K = 1.33 × 105 N/mm 2

68
SAQ 1 Torsion

A solid shaft transmits a torque of 50 kN-m. Determine the diameter of the shaft if
(a) the shear stress not to exceed 100 N/mm2, and
(b) the angle of twist is limited to 1o in 1.5 m length of the shaft.
Take G = 0.8 × 105 N/mm2.

10.3 POWER TRANSMISSION BY SHAFTS

The main purpose of a shaft is to transmit power from the source to driver machines in
factories and workshops. Power is the time rate of doing work.
Consider a shaft of diameter, d, subjected to a torque, T, while the shaft is rotating at
N rpm or ω rad/S, subjected to end couples which cause turning effect.
∴ Work done in revolution = 2π T
Work per minute = 2π N T

2π N T
Power transmitted = = Tω . . . (10.12)
60
Normally, the torque is expressed in units of Nm and power in units of Watt (W) where 1
W is equal to 1 J of work per S.

10.4 COMPOSITE SHAFTS – SERIES CONNECTION

If two or more shafts of different materials, lengths and diameters are connected in such a
way that each carries the same torque, then a composite shaft connected in series is
produced. Figure 10.5 shows such a shaft in which shafts AB, BC and CD are connected
in series and their characteristics such as diameter, length and modulus of rigidity are
described in figure. The composite can also be regarded as stepped shaft.
d3, l3, G3

d2, l2, G2

d1, l1, G1
C

Figure 10.5

Since each of AB, BC and CD is subjected to same torque T, then from Eq. (10.10)
J1 G1 θ1 J 2 G2 θ2 J 3 G3 θ3
T = = =
l1 l2 l3 69
Stresses in Shafts and Shells where, θ1 = θ BA , θ2 = θCB , θ3 = θ DC
where θ BA means angle of twist of section A with respect to B.
Hence, θ DA = θ1 + θ2 + θ3
T l1 T l2 T l3
= + +
J1 G1 J 2 G2 J 3 G3
θ DA l l l
or = 1 + 2 + 3 ...
T J1 G1 J 2 G2 J 3 G3
(i)
T
In Section 10.2.3, we have defined the ratio as torsional stiffness which is understood
θ
as torque per unit twist. Torsional stiffness is also referred to as spring constant of the
T
shaft and denoted by k. It is obvious that is the spring constant of the composite
θ DA
shaft and for others
T J G T J G T J G
k1 = = 1 1 , k1 = = 2 2 , k3 = = 3 3
θ1 l1 θ2 l2 θ3 l3
Hence, Eq. (i) can be written as
1 1 1 1
= + + . . . (10.13)
k k1 k2 k3
Here, k is the spring constant or torsional stiffness of the composite shaft.

10.5 STATICALLY INDETERMINATE TORSION

MEMBERS
Parallel connected composite shaft comprises two or more shafts in a manner that the
torques on individual shafts are unequal fractions of a single or several applied torque.
Such a system is statically indeterminate because in addition to equilibrium, relationship
between the deformations or angles of twist will have to be used to find torques on
separate portions of the composite shaft.
In Figure 10.6, a composite shaft is shown which is made by connecting the portion AB
and BC. The two parts are fixed at A and C, respectively and join at B. The join at B is
perfect and rigid such that AB and BC cannot rotate at B with respect to each other. It
means that the rotation of section B with respect to A in part AB and rotation of section B
with respect to C in portion BC have to be equal call this rotation, θ. Referring to Figure
10.6, you may note that if a torque T is applied at B, resulting in two reactions TA and TC,
respectively in parts AB and BC.
T = TA + TC ...
(i)
Also note that
θ AB = θCB = θ
with characteristics of shafts as described in Figure 10.6.
TA l1 T l
= C 2 =θ
J1 G1 J 2 G2
J1 G1 J G
TA = θ, k1 = 1 1
l1 l1

70
 J 2 G2 J G Torsion
TC = θ, k2 = 2 2
l2 l2
From Eq. (i)
⎛J G J G ⎞
T =θ⎜ 1 1 + 1 2⎟
⎝ l1 l2 ⎠

T
∴ = k = k1 + k2 . . . (10.14)
θ

d2, l2, G2

C d1, l1, G1

Figure 10.6

Example 10.5
Calculate the diameter of a solid shaft transmitting 150 kW at 25 rpm, if the
maximum shear stress in the shaft is not to exceed 70 MPa. Compare this with the
shaft delivering same power at 25000 rpm.
Solution
Power transmitted, P = 150 kW = 150 × 103 W
Number of revolutions, N = 25 rpm
Since, 1 Pa = 1 N/m2 and 1 Mega Pascal = 106 N/m2 = 1 N/mm2
Then, maximum shear stress, τm = 70 MPa = 70 N/mm2
Let T be the torque transmitted in N m.
2πNT
P=
60
2π × 25
150 × 103 = ×T
60
T = 57.28 × 103 N m
T = 57.28 × 106 N mm
T τm
=
J d
2
57.28 × 106 70
=
πd 4 ⎛d ⎞
⎜ ⎟
32 ⎝2⎠
d = 160.9 mm
2πNT
If N = 25000 rpm, then P = 71
60
Stresses in Shafts and Shells 2π × 25000 × T
150 × 103 =
60
T = 57.28 N m = 57.28 ×103 N mm
T τm
=
J d
2

57.28 × 103 70
=
π 4 ⎛d ⎞
d ⎜ ⎟
32 ⎝2⎠
d = 16.09 mm
It is seen from this example that the size of the shaft is reduced very much if the
power is transmitted at high speed. That is the reason for the modern tendency to
use high speed machines, which results in considerable saving in the material cost.
Example 10.6

A steel shaft transmits 105 kW at 160 rpm. If the shaft is 100 mm diameter, find
the torque on the shaft and the maximum shear stress induced. Find also the twist
of the shaft in a length of 6 m.
Take G = 8 × 104 N/mm2.
Solution
P = 105 kW = 105 × 103 W
N = 160 rpm
d = 100 mm
l = 6 m = 6000 mm
G = 8 × 104 N/mm2
2πNT
We know, P=
60
2π × 160
105 × 10 3 = ×T
60
T = 6266 N m = 6.266 ×106 N mm
π 3
Note T = d τm
16
π
6.266 × 106 = τm (100)3
16
τm = 31.19 N/mm2
T Gθ Tl
= or θ =
J l GJ
π 4 π
J = d = × 108 = 9.82 × 106 mm 4
32 32
6.266 × 106 × 6 × 103
θ=
8 × 104 × 9.82 × 106

θ = 0.04786 radian
72
 180 Torsion
or θ = 0.04786 × deg. = 2.74 deg. or 2o 44.4′
π
Example 10.7
Find the diameter of the shaft required to transmit 60 kW at 150 r.p.m., if the
maximum torque is likely to exceed the mean torque by 25% for a maximum
permissible shear stress of 60 N/mm2. Find also the angle of twist for a length of
2.5 metres.
Take G = 8 × 104 N/mm2.
Solution
Here, P = 60 kW = 60 × 103 W
N = 150 rpm, Tmax = 1.25 Tmean, τm = 60 N/mm2
l = 2.5 m = 2.5 × 103 mm2
2πNT
We know, P=
60
2π × 150 × T
60 × 103 =
60
T = 3819.7 N m = 3.82 ×106 N mm, T is the mean torque
Tmax = 1.25 Tmean = 1.25 × 3.8197 × 106 = 4.746 ×106 N mm
π
Tmax = τm d 3
16
π
4.7746 × 106 = × 60 × d 3
16
4.7746 × 106 × 16
d3 =
π × 60

∴ d = 74 mm
T Gθ
=
J l
4.7746 × 106 8 × 104
= ×θ
π 2500
× (74) 4
32
θ = 0.0507 radians
θ = 2° 54′
Example 10.8
Show that for a given maximum shear stress the minimum diameter required for a
solid circular shaft to transmit P kW at N rpm can be expressed as
1
⎛ P ⎞3
d = Constant × ⎜ ⎟
⎝N⎠
What value of the maximum shear stress has been used if the constant equals
84.71, being in millimetre – N units?
Solution
2πNT
We know, P × 103 = watts 73
60
Stresses in Shafts and Shells 60 × 103 P
T= Nm
2πN
60 × 10 3 P
= × 1000 N mm
2πN
⎛ P ⎞
= 3 × 107 ⎜ ⎟ N mm
⎝ πN ⎠
π 3
T = d τm
16
16T
d3 =
π τm

16 P 48 × 107 P
d3 = × 3 × 107 × = .
π τm πN π2 τm N
1
⎛ P ⎞3
∴ d = K ×⎜ ⎟
⎝N⎠

0.05 368
where, K=3 × 103 =
τm 1
( τm ) 3

when K = 84.71, we obtain,

368
84.71 = 1
(τm ) 3
1
368
∴ (τm )3 = = 4.344
84.71

∴ τm = 82 N/mm 2
Example 10.9
The stepped steel shaft shown in Figure 10.7 is subjected to a torque (T) at the free
end and a torque (2T) in the opposite direction at the junction of the two sizes.
What is the total angle of twist at the free end, if maximum shear stress in the shaft
is limited to 70 N/mm2?
Assume the modulus of rigidity to the 0.84 × 105 N/mm2.

2T
T
A C
100 m
50 m

1.2 m 1.8 m

Figure 10.7

Solution
Torque at C = T (anticlockwise)
74
Torque at B = 2T (clockwise) Torsion

Maximum shear stress, τm = 70 N/mm2

G = 0.84 × 105 N/mm2
Let θ be the angle of twist at C.
Free Body Diagram
A reaction torque will be induced at section A. Let this torque be TA
clockwise. Then total torque must vanish for equilibrium, hence,
TA + TB − TC = 0

∴ TA = TC − TB = T − 2T = − T

which means torque at A is equal to T in magnitude but opposite the

assumed clockwise direction. TA is equal to T anticlockwise as shown in free
body diagram of Figure 10.8.
A T
B B T
T
C

T
Figure 10.8 : Free Body Diagram

The situation is that the equal torques T (but opposite in direction act on two
portions). The same magnitude of torque in BC will induce higher stress
than in AB because of diameters as shown in Figure 10.7. Hence, T must be
determined from the portion BC.
π π
T = τm d 3 = × 70 × (50)3 = 17.2 × 105 Nmm
16 16
π
J AB = × (100)4 = 982 × 105 mm 4
32
π
J BC = × (50)4 = 6.14 × 105 mm 4
32
The angle of twist is the difference of twist of C with respect to B and the
twist of B with respect to A. (Since two are in opposite directions).
T LBC
θ BC = (anticlockwise)
G J BC

T LAB
θ AB = (clockwise)
G J AB

T ⎡ LBC LAB ⎤
θ = θ AC = ⎢ − ⎥ (anticlockwise)
G ⎣ J BC J AB ⎦

17.2 × 105 ⎡ 1.8 × 103 1.2 × 103 ⎤

= ⎢ − ⎥
0.84 × 105 ⎢⎣ 6.14 × 105 98.2 × 105 ⎥⎦

= 20.5 [0.293 − 0.0122] × 10− 2

75
= 0.058 rad. = 3.3 deg.
Stresses in Shafts and Shells or θ = 3o 18′
Example 10.10
A solid shaft 6.5 m long is securely fixed at each end. A torque of 91 Nm is
applied to the shaft at a section 2.5 m from one end as shown in Figure 10.9. Find
the fixing torques set up at the ends of the shaft.
A C B

2.5 m 4m

Figure 10.9

If the shaft is 35 mm diameter, find the maximum shear stresses in two portions.
Find also the angle of twist for the section where the torque is applied.
Take G = 8.4 × 104 N/mm2.
Solution
Let θ = angle of twist of C. k, k1, k2 denote the stiffness of the whole shaft and
parts AC and CB, respectively.
l1 = 2.5 m
l2 = 4.0 m
G1 J1 G J
k1 = , k2 = 2 2
l1 l2

π
J1 = J 2 = × (35)4 = 1.47 × 105 mm 4
32
8.4 × 104 × 1.47 × 105
k1 = = 5 × 106 Nmm/rad
2.5 × 10 3

8.4 × 104 × 1.47 × 105

k2 = = 3.1 × 106 Nmm/rad
4 × 10 3

k = k1 + k2 = 8.1 × 106 Nmm/rad

T
For T = 91 × 103 Nmm/rad, θ =
k
⎛ 91 ⎞
∴ θ = ⎜ ⎟ 10− 3 = 11.23 × 10− 3 rad = 38′ 36′
⎝ 8.1 ⎠

T1 = k1 θ = 5 × 106 × 11.23 × 10− 3 = 56.2 Nm

T2 = k2 θ = 3.1 × 106 × 11.23 × 10 − 3 = 34.8 Nm

Check that T1 + T2 = 91 Nm
16 T1 16 × 56.2 × 10− 3
τ1 = = = 6.7 N/mm 2
πd 3
π (35) 3

76
 Torsion
16 T2 16 × 34.8 × 103
τ2 = = = 4.15 N/mm 2
πd3 π (35)3
Example 10.11
Torques are applied on the shaft as shown in Figure 10.10. Find out in which
portion of the shaft, maximum shear stress and angle of twist occur.

50 Nm 800 Nm 250 Nm 600 Nm 100 Nm

40 Nm 75 Nm
100 mm

1200 mm 600 600 1800

A B C D E

D 100 Nm E
A 50 Nm B

Zero Line
E
(0.78) (0.75) (1.78) (0.237)
[23.4] [4.3] [14.24] [5.688]

500 D

750
B C

Figure 10.10 : Torque Diagram

Solution
Torque diagram is drawn below the shaft. For the purpose a zero line is chosen and
clockwise torque is plotted above this line, i.e. upward and anticlockwise torque is
plotted downward.
At A raise 50 Nm up, A to B the constant torque and 800 Nm down. So at section B
the torque TB = 800 – 50 = 750 Nm
B From B to C constant torque and at C,
TC = 750 – 250 = 500 Nm From C to D torque is constant and at D,
TD = 600 – 500 = 100 Nm At E the torque is 100 –100 = 0. Thus, highest
torque acts on portion BC and TB = 750 Nm. For finding maximum stressed
B

T
portion check for 3 . These values are written on torque diagram below zero line.
d
By examining the highest stress will occur in portion CD.
16 TC 16 × 500 × 103
τm = = = 6.036 N/mm 2
πd 3
π (75) 3

Tl Tl
The largest angle of twist is decided by largest value of or 4 . These values
J d
T
are written below the values of on torque diagram.
d3
The largest twist occurs in portion AB.
TA l
θmax . =
JG

50 × 103 × 1200
=
⎛ π⎞
⎜ ⎟ (40) × 80 × 10
4 3
⎝ ⎠
32 77
Stresses in Shafts and Shells
= 2.984 × 10− 3 rad = 0.171 deg.
= 10′ 15.5′′ C .

10.6 HOLLOW CIRCULAR SHAFTS

It was stated in Section 10.2.3 that the hollow circular section shafts can be analysed in
the same way as solid shaft with only difference that the polar moment of inertia is
calculated from Eq. (10.11) for hollow circular cross-section. The stress at any radius r,
i.e. Tr is still governed by Eqs. (10.6), (10.7) and (10.10). The minimum shearing stress at
inner surface will not be zero but a minimum as shown in Figure 10.11. For finding
relation between T and τ we can consider the elementary ring like the one in Figure 10.4
and redrawn for hollow circular section of inner diameter, di, and outer diameter, d0 in
Figure 10.12. The procedure of finding force on the ring, and torque about the axis is
d d
essentially same except that the limit of integration will now be from i to o , instead
2 2
d
from 0 to .
2
τ r τm
=
r do
2

τmin τm
-R1
- R2 rO
r
ri

τmin
τm

Figure 10.11

dr

dR dO

Figure 10.12

do
Here τm is the stress at any point on the surface where radius is .
2
do

τm 2
∴ T =
do ∫
d
2π r 3 dr
i
2 2
78
 τm π 4 1 Torsion
= ( d o − di4 )
do 2 16
2
T τ
or = m . . . (10.15)
Jh do
2
π
where Jh = = (do4 − di4 )
32
The Eq. (10.10) are also applicable to hollow circular section if J is replaced by Jh.
10.6.1 Torsion of Thin Tubes of Circular Section
If the diameter of tube is large compared to its thickness (say D/t > 20), the shear stress
produced due to the applied moment may be reasonably assumed to be uniform
throughout the thickness. This makes the problem statically determine.
Consider a thin tube of length L, external diameter D, and thickness t, subjected to torque
T as shown in Figure 10.13. Note t is very small compared with D. It is seen that the
generator AB will distort to AB′ when radius OB is rotated to OB′, i.e. through
angle θ.
1 1
B T B
A θ R
θ
φ B O O
B
t
T

Figure 10.13

BB′
∴ Shear strain, φ =
l
Also, BB ′ = R θ

Rθ
∴ φ=
l
G Rθ
or Shear stress, τ = G φ =
l
Free body diagram for the system is shown in Figure 10.14.

Figure 10.14 : Free Body Diagram

Considering equilibrium of forces,

T = τ × (2π R t ) × R

T
τ=
2π R 2 t

G Rθ T
∴ τ= =
l 2π R 2 t
79
Stresses in Shafts and Shells If d0 is outer diameter, then
G do θ 2T
τ= = . . . (10.16)
2l π d o2 t

AT l
and θ= . . . (10.17)
π G do2 t

You can obtain same result by using Jh, Note that

π π
Jh = (do4 − di4 ) = (do2 + di2 ) (do + di ) (do − di )
32 32
Since thickness is small, i.e. do – di = 2t

(d o2 + di2 ) = 2d o2 , ( d o + di ) = 2d o

π 3
Jh = do t
4
which also satisfies the definition
Jh = Area of the section × Radius square
Example 10.12
A hollow and a solid shaft of same material have the same weight while the inner
diameter of the hollow shaft is half its outer diameter. What will be the torque
carried by the hollow shaft if the solid shaft can carry a torque T for same
maximum shearing stress in both the shafts.
Solution
do
For hollow shaft, di =
2

π ⎡ ⎛ 1 ⎞4 ⎤ 4
∴ Jh = ⎢1 − ⎜ ⎟ ⎥ d o
32 ⎢⎣ ⎝ 2 ⎠ ⎥⎦

0.9375 π do4
=
32
∴ Shearing stress on surface
32 Th do
τh m = .
0.9375 π do4 2

16 Th
= ...
0.9375 π do3
(i)
For same material and same weight of hollow and solid shafts

π 2 π ⎡ 4 d o2 ⎤
d = ⎢ do − ⎥
4 4 ⎢⎣ 4 ⎥⎦

i.e. d 2 = 0.75 d o2 or d = 0.866 d o ...

(ii)
If torque T on solid shaft induces maximum stress τh on surface, then

80
 16 T Torsion
τhm =
π d3

Using d from Eq. (ii)

16 Th
τhm = ...
0.65 π d o3
(iii)
Equating τhm from Eqs. (i) and (iii)
16 Th 16 T
=
0.9375 π do3 0.65 π d o3

0.9375
or Th = T
0.65
= 1.442 T
Hollow shaft will carry 44.2% more torque if two shafts weigh equal and are
subjected to same surface stress.
Example 10.13
A hollow shaft of internal diameter 400 mm and external diameter 450 mm is
required to transmit power at 120 rpm. Determine the power it can transmit, if the
shear stress is not to exceed 50 N/mm2 and the maximum torque exceeds the mean
by 30%.
Solution
do = 450 mm, di = 400 mm, N = 120 rpm
τmax = 50 N/mm = 50 × 10 N/m
2 6 2

Tmax = τmax × Z P

π
J = (do4 − di4 )
32
π
= (4504 − 4004 ) = 1.51 × 109 mm 4
32
d o 450
R= = = 225 mm
2 2
J 1.51 × 109
ZP = = mm3 = 6.7 × 10− 3 m3
R 225

τmax = (50 × 106 ) (6.7 × 10− 3 ) = 335 × 103 N-m

τmax = 1.3 × T

⇒ 335 × 103 = 1.3 T

∴ T = 258 × 103 N-m

2π N T 2π × 120 × 258 × 103

∴ Power, P = =
60 60

= 3242 × 103 watts = 3242 kW

Example 10.14
81
Stresses in Shafts and Shells 1
A hollow shaft of inner diameter equal to × the outer diameter and a solid shaft
2
of diameter equal to the external diameter of the hollow shaft. Find ratio of the
torsional strengths. Both the shafts are made with same material.
Solution
Hollow Shaft
do
di =
2

π ⎛ 4 ⎛ di ⎞ ⎞
4
π 4
J = [ d o − di4 ] = ⎜ do _ ⎜ ⎟ ⎟
32 32 ⎜⎝ ⎝ 2 ⎠ ⎟⎠

π 15 4
= × do
32 16
do
R=
2
Solid Shaft
π 4
J = do
32
do
R=
2
J
T = τ.
R
JH
TH = τ .
RH
JS
TS = τ .
RS

π 15 4 ⎛ do ⎞
× do ⎜ 2 ⎟
× ⎝ ⎠
TH J RS
= H . = 32 16
TS RH JS ⎛ do ⎞ ⎛ π 4⎞
⎜ 2 ⎟ ⎜ do ⎟
⎝ ⎠ ⎝ 32 ⎠
15
=
16
Example 10.15
A hollow shaft of diameter ratio 0.4 is required to transit 600 kW at 120 rpm. The
maximum torque being 20% greater than the mean torque. The shear stress is
limited to 60 N/mm2 and the lowest of 0.01 radians per unit length. Calculate the
outside diameter of the shaft. Take G = 0.8 × 105 N/mm2.
Solution
di
= 0.4
do
di = 0.4 d o
π
J = ( do4 − di4 )
32

82
 π 4 Torsion
= [do − (0.4 d o )4 ] = 0.096 d o4
32
do
R=
2
J 0.096 d o4
ZP = = = 0.192 d o3
R ⎛ do ⎞
⎜ 2 ⎟
⎝ ⎠
2π N T
P = 600 kN, N = 120 rpm, P =
60
2π × 120 T
600 × 103 =
60
∴ T = 47.7 × 103 N-m

Tmax = 1.2 T = 1.2 × 47.7 × 103 = 57.3 × 103 N-m

τmax = 60 N/mm 2 = 60 × 106 N/m 2

Tmax = τmax × Z P

⇒ 57.3 × 103 = 60 × 106 × 0.19 d o3

∴ d o = 0.17 m
Tmax G θ
=
J l
57.3 × 103
= (0.8 × 105 × 106 ) × 0.01
0.096 do4
∴ do = 0.165 m
∴ do = 0.17 m = 170 mm
Example 10.16
A hollow shaft having an inside diameter 0.5 times the outer diameter is to replace
the solid shaft of the same material transmitting the same power at the same speed.
Calculate the percentage savings in the material.
Solution
di = 0.5 do
π
J = (do4 − di4 )
32
π 4
= [d o − (0.5 d o ]4
32
π
= × 0.94 do4
32
PH = PS
NH = NS
∴ T H = TS
( τmax ) H = ( τ max ) S
(Z P ) H = (Z P )S 83
Stresses in Shafts and Shells do
R=
2
J π
( Z P )Hollow = = × 0.47 d o3
R 32
π 3
( Z P )Solid = d
16
π π 3
∴ × 0.47 d o3 = d
32 16
D = 0.62 do
π 2 π π
AS = d = (0.62 d o2 ) = (0.38 do2 )
4 4 4
π 2 π π
AH = (d o − di2 ) = [(d o2 − 0.5 do ) 2 ] = × (0.75 d o2 )
4 4 4
% saving in material
= % reduction in area
AH − AS
= × 100
AH
0.75 − 0.38
= × 100 = 49.3%
0.75
Example 10.17
A hollow circular shaft of 6 m length and inner and outer diameter of 80 mm and
100 mm is subjected to a torque of 20 kN-m. If G = 80 GPa, calculate the
maximum shear stress and the angle of twist.
Solution
l = 6 m; do = 100 mm; di = 80 mm
T = 20 kN-m = 20 × 103 N-m

G = 80 GPa = 0.8 × 1011 N/m 2

π π
J = (do4 − di4 ) = (0.14 − 0.084 ) = 5.8 × 10− 6 m 4
32 32
R = 50 mm
J 5.8 × 10− 6
ZP = = = 1.16 × 10− 4 m3
R 0.05
T τmax G θ
= =
J R l
T 20 × 103
τmax = = = 17.2 × 107 N/m 2
Z P 1.16 × 10− 4

= 172 N/mm2
τmax l 172 × 106 6
θ= × = ×
R G 0.05 0.8 × 1011
= 0.258 radian = 14.78o.
Example 10.18
84
 Find the twist per metre length of a circular hollow shaft 120 mm outer diameter Torsion
and 90 mm inner diameter, respectively, if the shear stress is not to exceed
60 N/mm2. Take G = 0.8 × 105 N/mm2.
Solution
di = 90 mm and do = 120 mm
τm = 60 N/mm2, G = 0.8 × 105 N/mm2
Here we know,
π
T = , τm × (do4 − di4 )
16 do
π
= × 60 × (1204 − 904 ) = 13.92 × 106
16 × 120
π π
J = × (do4 − di4 ) = (1204 − 904 ) = 13.92 × 106 mm 4
32 32
T Gθ
=
J l
13.92 × 106 0.8 × 105 × θ
= =
13.92 × 106 l

θ
∴ = 1.25 × 10− 5 radian
l
For l = 103 mm, θ = 1.25 × 10 − 2 radian

Therefore, θ = 0.0125 rad/m length = 0.7 o per metre length.

Example 10.19
A solid aluminium shaft 1 m long and of 50 mm diameter is to be replaced by a
tubular steel shaft of the same length and same outside diameter so that either shaft
could carry the same torque and have the same angle of twist, over the total length.
What must be the inner diameter of the tubular steel shaft?
Modulus of rigidity of steel may be taken as 0.85 × 105 N/mm2 and that of
aluminium as 0.28 × 105 N/mm2.
Solution
Solid Aluminium Shaft
lA = 1000 mm
dA = 50 mm
GA = 0.28 × 105 N/mm2
Tabular Steel Shaft
Ls = 100 cm
Ds0 = 50 mm, dsi = ?
Gs = 0.85 × 105 N/mm2
Here, TA = Ts and θA = θs
π π 6.25 π × 106
JA = (d A )4 = × 504 = mm 4
32 32 32
π π
Js = (d s40 − d si4 ) = (504 − d si4 ) 85
32 32
Stresses in Shafts and Shells T Gθ Tl
We know, = or θ =
J l JG

TA l A
Thus, θA = radian
625 π
× 0.28 × 10 9
32
Ts ls
θs = radian
π
× 504 − d si4 × 0.85 × 105
32
Since θA = θs and also TA = Ts , l A = ls
TA l A Ts ls
=
625 π π
× 0.28 × 109 (504 − d si4 ) × 0.85 × 105
32 32

0.85 (504 − d si4 ) = 625 × 0.28 × 104 = 1.75 × 106

1.75
d si4 = 504 − × 106 = 106 (6.25 − 2.06) = 410 × 104
0.85
∴ d si = 45.243 mm
Example 10.20
Calculate the ratio of the torque transmitted by a hollow and a solid shaft of the
same material, length and weight.
Solution
di = internal diameter of hollow shaft
d0 = external diameter of hollow shaft
d = diameter of solid shaft
Same material means modulus of rigidity and density are same. The weight being
equal means the cross-sectional areas of solid and hollow shafts are same :

i.e. d 2 = d o2 − di2 = d o2 (1 − n 2 )
di
where n=
do

∴ d = do (1 − n 2 )

π
∴ Js = (1 − n2 )2 do4
32
π 4
Jh = d o (1 − n 4 )
32
16 Ts 16 Ts
τs = =
πd 3 3
π d 3 (1 − n 2 ) 2
16 Th
τh =
π do3 (1 − n 4 )

For same material τs = τh

86
 Ts Th Torsion
∴ =
3
(1 − n 4 ) 2
(1 − 2 2
n )

Th (1 + n 2 ) (1 − n 2 ) 1 + n2
= 3
=
Ts 1 − n2
(1 − n 2 ) 2
2
⎛d ⎞
1+ ⎜ i ⎟
or
Th
= ⎝ do ⎠
Ts 2
⎛d ⎞
(1 − ⎜ i ⎟
⎝ do ⎠
Tapering Shafts
Consider a shaft tapering from radius R1 at end to radius R2 at other end linearly as
shown in Figure 10.15. Let this shaft be subjected to a torque ‘T’.

R1
r R2

dx
A l B

Figure 10.15

Consider a section at a distance x from A.

The length of the strip is dx.
x → 0 to l
Radius at the section,
R1 − R2
r= x
l
= ( R1 − k x ) . . . (10.18)

⎛ R − R2 ⎞
where k =⎜ 1 ⎟
⎝ l ⎠
Let dθ is the angle of twist on a length dx.
T Gd θ
=
J dx
π π r4
J = (2π) 4 = `
32 2
T
dθ = . dx
GJ

T 2
= . 4 dx
G πr

2T − 4
= . r dx
πG 87
Stresses in Shafts and Shells 2T
= . ( R1 − k x) − 4 dx . . . (10.19)
πG
l
2T
θ= ∫ dθ =
πG ∫ ( R1 − k x) − 4 dx
0

l
2T ⎡ ( R1 − k x) − 3 ⎤ ⎛ − 1⎞
= ⎢ ⎥ ×⎜ ⎟
π G ⎣⎢ (− 3) ⎦⎥ 0 ⎝ k ⎠
l
2T ⎡ 1 ⎤
= ⎢ ⎥
3π G k ⎣⎢ ( R1 − k x) ⎦⎥
3
0

2T ⎡ 1 1 ⎤
= .⎢ − 3⎥
3π G k ⎣⎢ ( R1 − k l ) 3
R1 ⎥⎦

2T ⎡ 1 1 ⎤
= ⎢ 3 − 3⎥
⎛ R − R2 ⎞ ⎣⎢ R2 R1 ⎥⎦
3π G ⎜ 1 ⎟
⎝ l ⎠

2T l ( R3 − R23 )
= . 3 31
3π G R1 R2 . ( R1 − R2 )

2T l ⎛ R 2 + R1 R2 + R22 ⎞
∴ θ= .⎜ 1 ⎟⎟ . . . (10.20)
3π G ⎜ R13 R23
⎝ ⎠
Example 10.21
A uniformly varying shaft of length 2 m is subjected to a torque of 2 kN-m. The
diameter at the ends will be 60 mm and 120 mm. If G = 80 kN/mm2, find the angle
of twist. If the average diameter is used in the calculation of angle of twist, what is
the percentage error?
Solution
d1 = 60 mm; d2 = 120 mm
R1 = 30 mm; R2 = 60 mm
T = 2 kN-m = 2 × 103 N-m, l=2m
G = 80 kN/mm2 = 0.8 × 1011 N/m2

2T l ⎛ R 2 + R1 R2 + R22 ⎞
θ1 = .⎜ 1 ⎟⎟
3π G ⎜ R13 R23
⎝ ⎠

2 × (2 × 10)3 × 2 ⎛ 0.032 + 0.03 × 0.06 + 0.062 ⎞

= ⎜ ⎟⎟
3π × 0.8 × 1011 ⎝⎜ 0.033 × 0.063 ⎠
= 0.011 radians
If average diameter is used :
60 + 120
d= = 90 mm
2
π 4 π
J = d = (0.09) 4 = 6.44 × 10− 6 m 4
32 2
88
 Torsion
Tl (2 × 103 ) (2)
∴ θ2 = = = 0.008 radians
G J (0.8 × 1011 ) (6.44 × 10− 6 )

(θ1 − θ2 )
% error = × 100
θ1

(0.011 − 0.008)
= × 100 = 27.3%
0.011
Stepped Shaft (Shaft in Series)
A shaft may consist of a number of small shafts of different cross-sections in
series. This is known as stepped shaft (Figure 10.16).

A l1 B l2 C l3

Figure 10.16

In the analysis, first torque resisted by each portion is found. Due to torque, the
angle of twist in each portion is found and the shear stress in each portion is found.
Then we can draw the torque diagram, shear stress diagram and the angle of twist
diagram.
While analyzing, the most important points are :
(a) The toques developed at the ends of any portion are equal and
opposite.
(b) At common points, the angle of twist is the same.
Example 10.22
A stepped circular bar ABC 4 m long fixed at one end ‘A’ is subjected to a torque
of 10 kN-m. If the portion AB is solid shaft of 100 mm diameter and the portion
BC is a hollow with an external diameter 100 mm and internal diameter 80 mm.
Find the maximum shear stress and maximum angle of twist.
AB = 2 m; BC = 2 m; G = 80 kN/mm2.
Solution

G = 80 kN/mm 2 = 0.8 × 1011 N/mm 2

T

2m
B
A
C
Figure 10.17

Portion BC

l = 2 m, d1 = 100 mm, d2 = 80 mm, T = 180 kN-m = 10 × 103 N-m

π
J = (d14 − d 24 )
32
π
= (0.14 − 0.084 ) = 5.8 × 10− 6 m 4
32 89
Stresses in Shafts and Shells 100
R= = 50 mm = 0.05 m
2
T τmax G θ
= =
J R l
T (10 × 103 )
τmax = ×R= × (0.05)
J (5.8 × 10− 6 )

= 86.2 × 106 N/mm 2 = 86.2 N/mm 2

Tl (10 × 103 ) (2)

θ= = −
= 4.3 × 10− 2 radians
G J (0.8 × 10 ) (5.8 × 10 )
11 6

Portion AB
Solid T = 10 kN-m
d = 100 mm
π
J = (0.1)4 = 9.8 × 10− 6 m 4
32
d
R= = 50 mm = 0.05 m
2
T R (10 × 103 ) (2)
τmax = = −
(0.05) = 51 × 106 N/m 2 = 51 N/mm 2
dJ (9.8 × 10 ) 6

Tl (10 × 103 ) (2)

θ= = = 2.55 × 10− 2 radians
G J (0.8 × 1011 ) (9.8 × 10− 6 )

∴ Maximum shear stress = 86.2 N/mm2

θA = 0

θ B = 4.3 × 10− 2 radians

θC = 4.3 × 10− 2 + 2.55 × 10− 6 = 6.85 × 10 6 radians

Example 10.23
A stepped shaft ABCD, with A is fixed end and D is free end. AB = 1 m, BC = 2 m,
CD = 1 m. AB is a hollow shaft of 100 mm outer diameter and 80 mm internal
diameter. BC is solid shaft of 75 mm diameter CD is a solid shaft of 69 mm
diameter. The torque applied at end D is 2 kN-m clockwise at C is 3 kN-m
anticlockwise at B is 4 kN-m clockwise. Take G = 80 kN/mm2. Find the maximum
shear stress and the angle of twist at free end.
Solution

G = 80 kN/mm 2 = 0.8 × 1011 N/mm 2

A B C D

1m 2m 1m

Figure 10.18

Portion CD

T = + 2 kN-m = + 2 × 103 N-m , l=1m

90
 d = 60 mm = 0.06 m Torsion

π 4 π
J = d = (0.06) 4 = 1.3 × 10− 6 m 4
32 32
d 60
R= = = 30 = 0.03 m
2 2
T τmax G θ
= =
J R l

T (2 × 103 )
τmax = ×R= −
× 0.03 = 46.2 × 106 N/mm 2
J (1.3 × 10 )6

Tl (+ 2 × 103 ) × 1
θ= = = + 1.9 × 10− 2 radians
G J (1.3 × 10− 6 ) (0.8 × 1011 )

Portion BC
l = 2 m, T = + 2 – 3 = – 1 kN-m
d = 75 mm = 0.075 m
π 4 π
J = d = × 0.0754 = 1.3 × 10− 6 m 4
32 32
d
R= = 0.0375 m
2
T 1 × 103
τmax = ×R= −6
× 0.0375 = 12.1 N/mm2
J 3.1 × 10

Tl − (1 × 103 ) × 2
θ= = −
= − 0.8 × 10− 2 radians
G J (0.8 × 10 ) (3.1 × 10 )
11 6

Portion AB
l=1m
T = + 2 – 3 + 4 = + 3 kN-m
d1 = 100 mm = 0.1 m
d2 = 80 mm = 0.08 m
π
J = (0.14 − 0.084 ) = 5.8 × 10− 6 m 4
32
d1
R= = 50 mm = 0.05 m
2
T (3 × 103 ) (0.05)
τmax = ×R= = 259 × 106 N/m 2 = 25.9 N/mm 2
J (5.8 × 10− 6 )

Tl (+ 3 × 103 ) × (1)
θ= = = + 0.65 × 10− 2 radians
G J (0.8 × 1011 ) (5.8 × 10− 6 )

∴ Maximum shear stress = 46.2 N/mm2

θA = 0

θ B = 1.9 × 10− 2 radians

91
Stresses in Shafts and Shells
θC = + 1.9 × 10− 2 − 0.8 × 10− 2 = 1.1 × 10− 2 radians

θ D = 1.1 × 10− 2 + 0.65 × 10 − 2 = 1.75 × 10− 2 radians

∴Angle of twist at free end = 1.75 × 10 − 2 radians

Example 10.24
A copper tube of external diameter 60 mm and internal diameter 40 mm is closely
fitted to a steel rod of 40 mm diameter to form a composite shaft. If a torque of
6 kN-m is to be resisted by the shaft, find the maximum stress in each material and
the angle of twist in 2 m length.
Take G = 80 kN/mm for steel, and
G = 40 kN/mm2 for copper.
Solution
Copper Tube
G = 40 kN/mm 2 = 0.4 × 1011 N/m 2 , l=2m
d1 = 60 mm = 0.06 m
d2 = 40 mm = 0.04 m
π π
J = (d14 − d 24 ) = (0.064 − 0.044 ) = 1 × 10− 6 m 4
32 32
TC = torque resisted by copper tube
Tl (TC ) (2)
θ= = = 2 TC × 10− 5 radians . . . (1)
G J (0.4 × 1011 ) (1 × 10− 6 )

T TC
τmax = ×R= × (0.03) = 0.03 TC × 106 N/m 2
J (1 × 10− 6 )

= 0.03 TC N/mm 2 . . . (2)

Steel Copper

Figure 10.19

Steel Rod

G = 80 kN/mm 2 = 0.8 × 1011 N/m 2 , l=2m

d = 40 mm
π 4 π
J = d = × 0.044 = 2.5 × 10− 7 m 4
32 32
R = 20 mm = 0.02 m
Tl (TS ) (2)
θ= = −
= TS × 10− 4 radians . . . (3)
G J (0.8 × 10 ) (2.5 × 10 )
11 7

T TS
τmax = ×R= −
(0.02) = 0.008 TS × 107 N/m 2
J (2.5 × 10 )7
92
 Torsion
= 0.08 TS N/mm 2 . . . (4)

In composite shafts, θC = θS

⇒ 5 TC × 10− 5 = TS × 10− 4

∴ TC = 2 TS . . . (5)
TS + TC = T

⇒ TS = 2 TS = 6

∴ TS = 2 kN-m TC = 4 kN-m

∴ Angle of twist, θ = (2 × 103 ) × 10− 4 = 0.2 radians

Maximum Shear Stress

For copper shaft : τmax = 0.03 × 4 × 103 = 120 N/m 2

For steel shaft : τmax = 0.08 × 2 × 103 = 160 N/m 2

Fixed Shafts
Shafts are fixed at both the ends. The shafts may be connected in series or is
parallel. At the fixed ends, the torques are unknowns. The angle of twist between
the fixed ends is zero. At any common point, the angle of twist is the same.
Example 10.25
A solid steel shaft 6 m long is fixed at each end. A torque of 3 kN-m is applied to
the shaft at a section 2 m from one end. What are the fixing torques develop on the
ends of the bar? If the shaft diameter is 40 mm, what are the maximum stresses in
two positions? Also calculate the angle of twist where torque is applied.
Take E = 80 GPa.
Solution
E = 80 GPa = 0.8 × 1011 N/mm 2
T = 3 kN-m
d = 40 mm = 0.04 m
π 4 π
J = d = × (0.04)4 = 2.5 × 10− 7 m 4
32 32
40
R= = 20 mm = 0.02 m 4
2
J
ZP = = 1.26 × 10− 5 m3
R

A C B

2m 4m
3 kn - m

Figure 10.20

Portion AC
T1 = torque
T1 l1 2T1
θ1 = =
GJ GJ 93
Stresses in Shafts and Shells T1 T
τmax = R= 1
J ZP
Portion CB
T2 l2 4T2
θ2 = =
GJ GJ
T2 T
τmax = R= 2
J ZP
∴ T1 + T2 = 3 . . . (1)
T2 = (3 − T1 )
θ1 = θ 2

2T1 4T2
⇒ =
GJ GJ

T2 = 2T2 . . . (2)

(1) and (2),

2T2 + T2 = 3

⇒ T2 = 1 kN-m . . . (3)

T1 = 2T2 = 2 × 1 = 2 kN-m . . . (4)

Maximum Stresses
Portion AC

2 × 103
τmax = −5
= 159 × 106 N/m 2 = 159 N/mm 2
1.26 × 10

Portion CB

1 × 103
τmax = = 80 × 106 N/m 2 = 80 N/mm 2
1.26 × 10− 5

Angle of twist :
2T1
θ=
GJ

2 × (2 × 103 )
= −7
= 2 × 10−1 radian = 0.2 radians
(0.8 × 10 ) (2.5 × 10 )
11

Example 10.26
A shaft 10 m long and 100 mm diameter throughout its length is fixed at the ends
and is subjected to two opposite torques of 8 kN-m and 10 kN-m at a distance of
3 m and 8 m from one end. Find the fixing torques at the ends. What is the
maximum angle of twist and the maximum shear stress in the shaft? At what
section the angle of twist is zero on the shaft?
Take E = 80 GPa.
Solution
ΣT=0
94
⇒ TA − 8 + 10 + TD = 0 Torsion

∴ TA + TD = − 2 . . . (1)

G = 80 GPa = 0.8 × 1011 N/m 2

d = 100 mm = 0.1 m
π 4 π
J = d = × (0.1)4 = 9.8 × 10− 6 m 4
32 32
d 100
R= = = 0.05 m , Z P = 1.96 × 10− 4 m3
2 2
D
B C

3m 5m 2m
10 kn-m
Figure 10.21(a)

8 kN - m
A
3m B 5m C 2m D
TD
TA 10 kN - m
Figure 10.21(b) : Line Diagram

Portion AB
TA . l TA × 3
θ1 = = . . . (2)
GJ GJ
Portion BC
(TA − 8) × 5
θ2 = . . . (3)
GJ
Portion CD
(TA − 8 + 10) × 2 (TA + 2) × 2
θ3 = = . . . (4)
GJ GJ
Angle of twist at D co.r.t A = 0
TA × 3 (TA − 8) × 5 (TA + 2) × 2
+ + =0
GJ GJ GJ

∴ TA = 3.6 kN-m . . . (5)

From Eqs. (1) and (5),
3.6 + TD = − 2
TD = − 5.6 kN-m = 5.6 kN-m ( )
Angle of Twist
(3.6 × 103 ) × 3
θ1 = −6
= 1.4 × 10− 2 radians
(0.8 × 10 ) (9.8 × 10 )
11

(3.6 − 8) × 103 × 5
θ2 = = − 2.8 × 10− 2 radians
(0.8 × 1011 ) (9.8 × 10− 6 )
95
Stresses in Shafts and Shells (3.6 + 2) × 103 × 2
θ3 = −6
= 1.4 × 10− 2 radians
(0.8 × 10 ) (9.8 × 10 )
11

θ AB = θ1 = 1.4 × 10− 2 radians

θ AC = θ1 + θ2 = 1.4 × 10− 2 − 2.8 × 10− 2 = − 1.4 × 10− 2 radians

θ AD = θ AC + θ3 = − 1.4 × 10 − 2 + 1.4 × 10− 2 = 0

Shear Stress
T T
τmax = .R=
J ZP
Portion AB

3.6 × 103
τmax = = 18.4 × 106 N/m 2 = 18.4 N/mm 2
1.96 × 10− 4

Portion BC

(3.6 − 8) × 103
τmax = = − 22.4 × 106 N/m 2 = − 22.4 N/mm 2
1.96 × 10− 4

Portion CD

(3.6 + 2) × 103
τmax = −4
= 28.6 × 106 N/m 2 = 28.6 N/mm 2
1.96 × 10

Zero Angle of Twist

It occurs between B and C

θ1 = 1.4 × 10− 2 radians

θ1 + θ11 = 0 ⇒ θ11 = − θ1

(3.6 − 8) × 103 × x
θ11 = = − 1.4 × 10− 2
(0.8 × 10 ) (9.8 × 10 )
11 11

∴ x = 2.5 m from B.

Shear Keys
To connect the shaft with the hub or flywheel, shear keys are used. The torque in
the shaft transferred to flywheel by means of shear keys.

Key
b
key

R
Shaft

Hub or Fly Wheel

96
 Torsion

Figure 10.22(a) : Shear Keys

Let L = length of the key

b = width of the key
Area of key = L b . . . (10.21)
τ1 = Shear stress in the key
Force in the key τ1 = L b . . . (10.22)

Moment about centre = (τ L b) R

∴ T = ( τ1 L b R ) . . . (10.23)

Flange Coupling
The flange coupling is used to connect two shaft.

Bolt Circle
Bolt

R1
L L
R Shaft

Figure 10.22(b) : Flange Coupling

The torque from the shaft is transferred through shear keys. The couplings are
connected by a number of bolts as shown in Figure 10.22(b).
Let d = Diameter of bolt,
R1 = Radius of bolt circle,
N = Number of bolts, and
τ2 = Safe shear stress in bolt.
⎛π ⎞
SF is one bolt = ⎜ d 2 ⎟ τ2 . . . (10.24)
⎝4 ⎠
⎛π ⎞
M is one bolt = ⎜ d 2 ⎟ τ2 R1 . . . (10.25)
⎝4 ⎠

⎛π ⎞
∴ T = n ⎜ d 2 ⎟ T2 R1 . . . (10.26)
⎝4 ⎠
Example 10.27
A solid circular shaft is to transmit 200 kN at 200 rpm. If the maximum shear
stress is not to exceed 80 n/mm2 design the shaft.
Design the keys and find number of 16 mm diameter bolt required to connect
coupling with a bolt circle of 240 mm diameter.
Permissible stress in keys = 100 N/mm2
Permissible stress in bolts = 100 N/mm2 97
Stresses in Shafts and Shells Length of the key = 200 mm
Solution
P = 200 kN
N = 200 rpm
Shaft
d=?
2π N T
P=
60
2π × 200 × T
⇒ 200 × 103 =
60

∴ T = 9.5 × 103 N-m

T τmax 16 T
= ∴ τmax =
J R πd3

16 × (9.5 × 103 )
⇒ 80 × 106 =
πd3

∴ d = 0.085 m ≈ 85 mm
Shear Keys

T = 9.5 × 103 N-m

τ1 = 100 N/mm2
L = 200 mm = 0.2 m
T = τ1 L b R
⎛ 0.085 ⎞
⇒ 9.5 × 103 = (100 × 106 ) (0.2) b ⎜ ⎟
⎝ 2 ⎠
∴ b = 0.011 m ≈ 11 mm
Bolts
τ2 = 100 N/mm2
d = 16 mm
π 2
F2 = τ2 d
4
π
= 100 × × 162 = 20106.2 N
4
240
R1 = = 120 mm = 0.12 m
2
T = η . F2 . R1

⇒ 9.5 × 103 = η × 20106.2 × 0.12

∴ η = 3.9 ≈ 4

98
SAQ 2 Torsion

(a) Compare (i) torques, (ii) angles of twist, (iii) torsional rigidities and
(iv) polar section modulli for two shafts of same length, same mass and
same material. One of the shafts is solid and the other is hollow. Internal
diameter is 0.6 times the external diameter of the hollow shaft.
(b) A CI shaft is subjected to torque of 4 kN-m. For CI the allowable stresses in
comp., tension and shear are 100 N/mm2, 35 N/mm2 and 50 N/mm2, find the
diameter of the shaft. What is the angle of twist per unit length?
Take G = 40 GPa.
(c) Find the inner and outer diameter required for a hollow shaft to transmit
48 kW power at 240 rpm. The maximum allowable shear stress is
100 N/mm2. Take inner diameter is 0.5 times the outer diameter.
(d) Find the ratio of diameters of the two shafts made of same material to
transmit same power. If the speed of one shaft is 100 times that of another
shaft.
SAQ 3
(a) A shaft 4 m long tapers uniformly from a diameter of 40 mm to 80 mm. If
the angle of twist is limited to 1o for the shaft and the shear stress is limited
to 100 mN/m2, find the torque that can transmit.
Take G = 80 GPa.
(b) The stepped shaft shown in Figure 10.23 is subjected to a torque at B and D
of magnitude 2 kN-m and 4 kN-m. Find the rotations of free end.
Take G = 80 GPa.
2 KN-m
4 KN-m A
E C B
D
D = 40 mm
D = 80 mm
2m 2m

Figure 10.23

(c) A steel shaft of 40 mm diameter is tightly fitted to brass tube of inner

diameter 40 mm and outer diameter 60 mm to form a composite shaft. If the
permissible stresses in brass and steel are 50 MPa and 80 MPa respectively,
find the maximum torque that can transmit. Take for brass, G = 40 GPa, for
steel, G = 80 GPa.
(d) A shaft of length 2 m and diameter 80 mm is centrally bored for 1 m, the
bore diameter being 40 mm. If the two ends are fixed and is subjected to a
torque of 4 kN-m as shown in Figure 10.24, find the maximum stresses
developed in the two portions.
C

A B

1m 1m
4 kn- m

Figure 10.24

99
Stresses in Shafts and Shells
10.7 TORSION OF NON-CIRCULAR SHAFTS
In this method, we make assumptions to simplify the problem. These assumptions are
made in respect of stress components and displacements. These assumptions make
governing equations so simple that they can be solved without much difficulty. The
assumptions reduce the problem to solving only one differential equation whereas in a
general problem one may require to solve as many as size differential equations. The
solving of the problem depends upon assuming the expressions for displacements in three
coordinate direction, converting the displacement into strains and then using Hooke’s law
to find expressions for stress. Finally, the stresses are placed in differential equations for
equilibrium which are required to be solved. The assumption of a stress function such
that boundary conditions in terms of stress are satisfied is helpful in solving the equations
of equilibrium. The simplifying assumptions in semi-inverse method result in only one
differential equation, which is
∂ 2φ ∂ 2φ
+ = − 2G θ
∂x 2 dy 2

Here, θ is the angle of twist and φ is the stress function. We have not prepared ourselves
to talk of stress function φ as well as to consider the displacement and equilibrium
equation. The subject falls under the broader subject of Theory of elasticity. Therefore, at
this point of time we satisfy ourselves by accepting the results obtained from
semi-inverse method for some well defined non-circular sections.
10.7.1 Elliptic Section
The polar moment of inertia of elliptic section is
π
J = (b h3 + b3 h) . . . (10.27)
64
and area of section is
πb h
A= . . . (10.28)
4
where 2h is semi-minor axis and 2b is semi-major axis. The maximum shearing stress
occurs at the ends of semi-minor axis, i.e. at points on and in (see Figure 10.25).
16 T
τm = . . . (10.29)
π b2 h

m n

h h

Figure 10.25 : Ellipse

The angle of twist per unit length is
4π2 T J
θ= . . . (10.30)
A2 G

100
10.7.2 Equilateral Triangular Section Torsion

This section is shown in Figure 10.26. The height is h. The maximum shearing stress
occurs at three mid points of three sides, marked as m. The magnitude of maximum
shearing stress and angle of twist per unit length under a torque T are given below.
15 3 T 20 T
τm = 3
= . . . (10.31)
2h b3
y 2 h/3
h/3

m
O

Figure 10.26 : Equilaterial Triangle

Here, b is length of a side of the section. It can be seen that

3
h= b
2

15 3 T 26.7 3 T
θ= 4
=
Gh G b4

h4 b4
Also J = = .
15 3 26.7 3

10.7.3 Rectangular Cross-section

The indirect method used for elliptical cross-section and equilateral cross-section is not
valid for rectangular cross-section. Special methods (Boresi and Chong) are required to
obtain the torsion solution for rectangular cross-section. Some of the results are
summarised here.
The maximum shear stress, τm, and the angle of the twist, θ, per unit length are given by
T
τm =
k1 (2b) (2h) 2

T
θ=
k2 G (2b) (2h)3

The maximum shear stress occurs at the centre of the long side s, (see Figure 10.27).
y
h h

x
o
101
b
Stresses in Shafts and Shells

Figure 10.27 : Rectangle

b
Values of the parameters k1 and k2 are tabulated for several values of the ratio .
h

The factor k2 G (2b) (2h)3 = G J (torsional rigidity)

∴ J = k2 (2b) (2h)3

τm may be expressed in terms of θ.

τm = 2G θ h k3

k2
where, k3 =
k1

Table 10.1 : K1 and K2 for Rectangular Section

(h/b) 1.0 1.5 2.0 4.0 6.0 10.0 α

K1 0.21 0.23 0.25 0.28 0.30 0.31 0.33
K2 0.14 0.20 0.23 0.28 0.30 0.31 0.33

Other Cross-section
There are many torsion members whose cross-sections are so complex that exact
analytical solutions are difficult to obtain. However, approximate solutions may be
obtained by Prandtl’s membrance analogy.
10.7.4 Thin Walled Non-circular Section Shafts
In the preceding section we saw that the determination of stresses in non-circular
members generally requires the use of advanced mathematical methods. In the case of
thin walled hollow non-circular shafts, however, a good approximation of the distribution
of stresses in the shaft may be obtained by a single computation.
Consider a hollow cylindrical member of non-circular subjected to a torsional loading
shown in Figure 10.28.
T

Δx

t
B
A

FB
B

T
Δx

tB
A

102 FA tA
 Figure 10.28 Torsion

While the thickness t of the wall may very within a transverse section, we shall assume
that it remains small compared to the other dimensions of the member. Let us consider a
small portion AB bounded by two transverse planes Δx apart, and by two longitudinal
planes. Since the portion AB is in equilibrium, the sum of the forces exerted on it in the
longitudinal x direction as well as that in transverse direction must be zero. The forces
exerted on the small element along the length are shearing forces FA and FB. B

∴ ∑ Fx = 0 i.e. FA − FB = 0 ...
(i)
FA may be expressed as the product of the longitudinal shearing stress τA on the small
face at A and of the area tA. Δx of that face.
FA = τ A (t A Δ x ) ...
(ii)
Similarly, FB = τ B (t B Δ x ) ...
(iii)
On substituting Eqs. (ii) and (iii) in Eq. (i), we get
τ A (t A Δ x ) − τ B ( t B Δ x ) = 0

or, τ A t A = τB t A . . . (10.32)

Eq. (10.32) expresses that the product τ t of the longitudinal shearing stress and the wall
thickness is constant throughout the member. Denoting this product by q.
q = τ t = constant
The quantity ‘q’ is referred to as shear flow in the wall of the hollow shaft.
We shall now derive a relation between the torque T applied to a hollow member and the
shear flow q in its wall. We consider a small element of the wall section of length ds
shown in Figure 10.29(a). The area of the elements dA = ds t and the magnitude of the
shearing force dF exerted on the element is
dF = τ dA = τ t ds = q ds
The moment dM0 of this force about an arbitrary point o within the cavity of the member
may be obtained by multiplying dF by the perpendicular distance p from o to the line of
action of dF (Figure 10.29(b)).

P
ds P
O
t

dS O

dF da t

dF

fS
a

(a) (b) (c)

Figure 10.29

We have dM 0 = p dF = p ( q ds ) = q ( p ds ) 103
Stresses in Shafts and Shells But the product is equal to twice the area dA of the shaded triangle. Thus, we have
dM 0 = q 2dA

Integrating ∫ dM 0 = ∫ q (2 dA)

Here, ∫ dM 0 represents the sum of the moments of all the elementary shearing forces
exerted in the wall section, and since this sum is equal to the torque T applied to the
hollow member,

T = ∫ dM 0 = ∫ q (2 dA)

T = 2 qA
where, A is the area bounded by the centre line of the wall cross-section.
The shearing stress τ at any point of the wall may be expressed in terms of the torque T if
we substitute for q.
T
τ= . . . (10.33)
2 tA
where, t is the wall thickness at the point considered and A, the area bounded by the
centre line (Figure 10.29(c)). For elastic deformation the distribution of stresses across
the wall may be assumed uniform, and the above equation will yield the actual value of
the shearing stress at a given point of the wall.
The angle of twist of a thin-walled hollows haft may be obtained by using the method of
energy. Strain energy per unit volume
1 τ2
n=
2 G
Total strain energy of small element of length l and width ds
τ2
dU = dV
2G
τ2
∴ U = ∫ 2G
dV
vol

where dV = t l ds and τ from Eq. (10.33)

T2 l
⎛ ds ⎞
∴ U = ∫ .⎜ ⎟
8A G ⎝ t ⎠
2

⎛ ds ⎞
Since t is variable ⎜ ⎟ is to be integrated. It is better to represent above integral as
⎝ t ⎠
n Δ si
∑
i =1 ti

T2l n Δ si
∴ U = 2
∑
8A G 1 ti

dU
θ=
dT
Tl n Δ si
∴ θ= 2
∑ . . . (10.34)
4A G 1 ti
104
 ds Torsion
If is integral, i.e. if t can be expressed as function of S, then
t
Tl ds
G ∫
θ= 2
. . . (10.35)
4A t

The Prandtl Elastic-Membrane (Soap-Film) Analogy

The equation that defines the small displacement of a plane elastic membrane
subject to lateral pressures is identical in mathematical form to the differential
equation which determines the stress in a twisted bar. Hence, the displacement
function of the membrane is mathematically equivalent to the stress function,
provided that the boundary shape of the membrane is identical to the boundary
shape of the cross-section of the torsion member. We consider the physical and
mathematical procedures that lead to a complete analogy proposed by Prandtl,
between the membrane problem and torsion problem.
Consider an opening in the (x, y) plane that has the same shape as the
cross-section of the torsion bar to be investigated. Cover the opening with a
homogeneous elastic membrane, such as a soap film, and apply pressure (See
Figure 10.30).

A B
dy PLAN VIEW
dx
D C
O

S ∂α
α+ .dx
S ∂x

α P SIDE VIEW
x
O

Figure 10.30

At the boundary the deflection of the membrane is zero. Denote the tensile force
per unit length of the boundary line of the membrane by S and let p be the lateral
pressure on membrane while θ is the angle of twist per unit length of the bar
subjected to torque T. For differential equations for the deflection of membrane
and equation for determination of stress in torsion bar to be identical :
p
= 2G θ . . . (10.36)
S
If Eq. (10.36) holds good the relationship between the surface of the membrane
and distribution of shearing stresses in the section of twisted bar can be stated as
under :
(a) The tangent to a contour line at any point of the deflected
membrane gives the direction of the shearing stress at the
corresponding point in the cross-section of the twisted bar. 105
Stresses in Shafts and Shells (b) The maximum slope of the membrane at any point is equal to the
magnitude of the shearing stress at the corresponding point in the
twisted bar.
(c) The torque on the twisted bar is equal to two times the volume
included between the membrane and plane of its outline.
Let Figure 10.31 represent a membrane stretched over a circular hole. Uniform stretching
force S and lateral pressure p act upon the membrane. A concentric part of membrane,
whose radius is r is shown between A and B. The tensile force S, which resists the force
due to pressure, p, acts along tangents from A and B. The angle between the tangent and
dw
the base line CD is where w is the deflection of membrane at A and B and at every
dr
dw
point on the circle of radius r. is a small angle
dr
dw
∴ 2π r S = π r2 p
dr
dw p r
or = . . . (10.37)
dr 2S

r a

A B
P
C w D

A B

Figure 10.31

p
Substitute for from Eq. (10.36)
S
dw
=Gθr . . . (10.38)
dr
You should recognise that right hand side of above equation gives the shearing stress in
the cross-section of a circular bar at a radius r for unit length. Thus, the slope of
membrane at any point gives the shearing stress at the corresponding point in the section
of the shaft.
The volume included in the membrane above the plane of the boundary is calculated as
a

∫ 2π r w dr
0

in which w is substituted from Eq. (10.38) which is obtained as

106
 a a Torsion

∫ dw = ∫ G θ r dr
r r

Gθ 2
= (a − r 2 )
2
a
∴ Enclosed volume = π G θ ∫ (a 2 r − r 3 ) dr
0

πGθ
= [2a 2 r 2 − r 4 ]0a
4
πGθ 4
= a
4
d
Using a=
2
Gθ πd4 Gθ
Volume, V = . = J
2 32 2
Hence, 2V = G θ J . . . (10.39)
The right hand side is the torque per unit length.
Thus, twice the volume enclosed between deflected membrane and plane of the boundary
is equal to the torque while the maximum slope of membrane at any point gives the
stress. For application to practical situations we have to visualise the deflected shape. The
surface contours will tend to run parallel to the boundaries but will not pass through the
corners showing that slope at corners is zero, so are the stresses. In more complicates
section experiments method using soap film is used to measure slope and volume.
Example 10.28
In Figure 10.32, the mean dimensions of the two cells are 100 mm × 50 mm and 50
mm square.
t1 = 3 mm, t2 = 6 mm, t3 = 3 mm

t1 I t3 II t2

Figure 10.32

Calculate the shear stress in each section, and the angle of twist per metre length
for a torque of 3000 Nm. G = 80,000 N/mm2.
Solution

A1 = (100 × 50) = 5000 mm 2

A2 = 50 × 50 = 2500 mm 2

Z1 = (2 × 100) + 50 = 250 mm

Z 2 = (2 × 50) + 50 = 150 mm
107
Stresses in Shafts and Shells Z 3 = 50 mm

τ1 t1 = τ2 t2 + τ3 t3

⇒ τ1 × 3 = τ2 × 6 + τ3 × 3

3 τ1 = 6 τ2 + 3 τ3 . . . (1)

T = 2 ( τ1 t1 A1 + τ 2 t2 A2 )

⇒ 3000 × 103 = 2 [ τ1 × 3 × 3000 + τ 2 × 6 × 2500]

⇒ τ1 + τ2 = 50 . . . (2)

(τ1 Z1 + τ3 Z3 ) (τ2 Z 2 − τ3 Z3 )
=
A1 A2

(τ1 × 250 + τ3 × 50) (τ2 × 150 − τ3 × 50)

=
5000 2500
⇒ 5 τ1 + τ3 = 6 τ 2 − 2 τ3

⇒ 5 τ1 = 6 τ 2 − 3 τ3 . . . (3)

(3) – (1) ⇒ 2 τ1 = − 6 τ3

τ1 = − 3 τ3 . . . (4)

From (1),
3 ( − 3τ3 ) = 6 τ 2 + 3 τ3

τ 2 = − 2 τ3 . . . (5)

From (2),
− 3 τ3 − 2 τ 3 = 5 0

τ3 = − 10 N/mm 2

τ1 = − 3 ( − 10) = 30 N/mm 2

τ2 = − 2 (− 10) = 20 N/mm 2

(τ1 Z1 + τ3 Z3 ) l
∴ θ= , Here l = 1000 mm
2G A1

[30 × 250 + (− 10) × 50]

= × 1000
2 × 80 × 103 × 5000

= 8.75 × 10− 3 radians

Example 10.29
An I-section 150 × 80 mm has flanges 6 mm thick and web 4 mm thick. Find the
maximum torque that can be safely applied if the shear stress is limited to
30 N/mm2 and twist per metre length to 6o. G = 80 GPa.
Solution

∑ h t 2 = 2 × 80 × 62 + 150 × 42 = 8160 mm 3
108
 1 1 Torsion
T = τmax . (∑ h t 2 ) = 30 × × 8160 = 81,600 N-mm
3 3

∑ h t 3 = 2 × 80 × 63 + 150 × 43 = 44,160 mm 4

3T l
θ=
G (∑ h t 3 )

π 3T × 1000
⇒ 6× =
180 80 × 103 × 44160

∴ T = 123318 N-mm

∴ T = 44,160 N-mm (least value).

SAQ 4
(a) The dimensions of an angle section are 100 mm × 80 mm × 5 mm. Calculate
the maximum shear stress and twist per metre length if a torque of 10 N-m is
applied. G = 80 GPa.
(b) An extruded section in aluminium alloy is in the form of a semi-circle of
50 mm mean diameter and 2 mm thick. If the twist is limited to 5o in a
length of 1 m, calculate the torque that can be applied and the maximum
shear stress. G = 310 GPa.
(c) Calculate the maximum torque that can be applied on a rectangular section
12 mm × 100 mm if the maximum shear stress is not to exceed 40 N/mm2.

10.8 PLASTIC DEFORMATION IN TORSION

We have seen here to calculate the stress at any point on the cross-section of a bar
subjected to torque. The maximum stress occurs everywhere on circumference of a
circular cross-section. Any material begins to deform plastically if the stress becomes
equal to yield strength. In case of a cylindrical shaft the torque that will induce plastic
d
deformation at r = (i.e. on surface) is given by
2
π d 3 τγ
Tγ = . . . (10.40)
16
where τγ = Yield strength.
In this situation, yielding is occurring only on the surface but the whole material of the
shaft is still elastic. You must be conversant with stress-strain diagram of material.
Without much discussion on this diagram, let us assume that material of the shaft has a
stress-strain diagram as shown in Figure 10.33.

τ a
τγ

109
O γ
Stresses in Shafts and Shells

Figure 10.33

The material is elastic-plastic which means that once the yielding occurs, further
deformation continues at constant stress τγ which is shear yield strength of material. This
behaviour is very closely demonstrated by low carbon steel for it expands upto
10 times the deformation at yield point (point a in Figure 10.33). Further twisting of the
shaft will not cause increase in stress but the plastic deformation will spread from outer
surface to inside with increasing torque. Ultimately the whole section may be plastically
deformed. Figure 10.34 shows a circular selection of diameter d, deformed plastically
d
upto a radius rγ. Apparently rγ < .
2
The torque acting on the shaft
T = T1 + T2

where, T1 = Torque for elastic deformation from r = 0 to r = rγ, and

d
T2 = Torque for plastic deformation from r = rγ to r = .
2
τγ

rr r

Figure 10.34
Both T1 and T2 can be calculated by considering stress on elementary ring of depth dr at
radius r as in Section 10.2.
d
rγ 2
T = 2π ∫ τ r 2 dr + 2π ∫ τ γ r 2 dr
0 rγ

τ is the stress acting on the elementary ring in elastically deformed zone, i.e. 0 ≤ r ≤ rγ
d
and τγ is the stress acting in plastically deformed zone, i.e. rγ ≤ r ≤ .
2
At r = rγ , τ = τ γ
i.e. in elastic region.
τγ
τ= r
rγ

⎡ rγ
d ⎤
⎢ τγ 2 ⎥
∴ T = 2π ⎢
⎢ rγ
∫ r 3 dr + ∫ τ γ r 2 dr ⎥
⎥
0 rγ
⎢⎣ ⎥⎦

110
 ⎡ ⎛d ⎞
3 ⎤ Torsion
⎢ r4 ⎜ ⎟ r3 ⎥
= 2π τ γ ⎢ +⎝ ⎠
γ 2 γ ⎥
⎢ 4rγ 3 3⎥
⎢ ⎥
⎢⎣ ⎥⎦
⎡ ⎛ 3⎞ ⎤
3

2π ⎢ ⎜r ⎟ ⎥
⎛d⎞ ⎢1 − 1 ⎜ γ ⎟ ⎥
= τγ ⎜ ⎟
3 ⎝2⎠ ⎢ 4⎜d ⎟ ⎥
⎢ ⎝ 2 ⎠ ⎥⎦
⎣
Using Eq. (10.40), or
⎡ ⎛ ⎞ ⎤
3

4 ⎢ 1 ⎜ rγ ⎟ ⎥
T = TY ⎢1 − ⎜ ⎟ ⎥ . . . (10.41)
3 ⎢ 4⎜d⎟ ⎥
⎢ ⎝ 2 ⎠ ⎥⎦
⎣
Here, Tγ is the highest elastic torque carried by the cylindrical shaft. When entire section
is deformed plastically rγ = 0, then plastic torque
4
Tp = TY . . . (10.42)
3
In case of plastic deformation the straight radius of the section remains straight as in
elastic deformation which means that shearing strain
rθ
γ=
l
lγ
or r=
θ
At the onset of yielding the angle of twist is θγ and shearing strain γ = γY
d l γY
∴ = . . . (10.43)
2 θY
If plastic deformation has developed to rY only
lγ
rY = Y . . . (10.44)
θ
Taking ratio of Eqs. (10.43) and (10.44)
rY θY
= . . . (10.45)
d θ
2
r
Substituting for Y in Eq. (10.41), we get
d
2
4 ⎡ 1 ⎛θ ⎞ ⎤
3
T = TY ⎢1 − ⎜ Y ⎟ ⎥ . . . (10.46)
3 ⎣⎢ 4 ⎝ θ ⎠ ⎥⎦

Note carefully that TY and θY are respectively the torque and twist at the onset of yielding.
T – θ diagram is obtained from torsion test and will appear like Figure 10.35.
(4/3) τγ

τγ

τ
111
Stresses in Shafts and Shells

Figure 10.35
It is much more complicated to analyse non-circular cross-sections for plastic
deformation. Theory of elasticity provides the solution with different types of materials
which can show different τ-γ relationships. We will avoid that analysis.
However, fully plastic torques for a few common cross-sections are listed in Table 10.2
and are compared with maximum elastic solutions for these cross-sections. Expressions
for the fully plastic torques for a number of common structural sections are listed in
Table 10.3.
In the calculations of the fully plastic torque for a hollow torsion member, the method of
analysis is similar to that for elastic torsion of the hollow torsion member, since the stress
function φ (x, y) is flat-topped (has zero slope) over the hollow region of the torsion
member. In order to simplify the analysis, only hollow torsion members of constant wall
thickness are considered. For such torsion members, the fully plastic torque, Tp is
obtained by subtraction from the plastic torque, Tps of a solid torsion member having the
boundary of the outer cross-section, the fully plastic torque, TpH of a solid torsion
member having a cross-section identical to the hollow region.
TY
Table 10.2 : θY, TY, Tp and for Some Common Cross-sections
Tp

Section Maximum Elastic Fully Plastic Tp

Torque (TY) and Unit Torque (TP) Ratio
Angle of Twist (θY)
TY

Square
3
TY = 1.664 τY a

1.475 τY 8
2a θY = τ a
3
1.605
2Ca 3 Y

2a

Rectangle 8 2
TY = τY ba
2a 3 20 3 1.69
τ τ a
θY = Y 3 Y
2Ca

2b 3
TY = 3.936 τY ba
2
4 τY ba 1.50
2.074 τY
θY =
2Ca

Equilateral Triangle
2 3
TY = τ ba
15 3 Y
a/3
2 τY 2 3 3
θY = τ a 1.67
Ca 27 Y

112
 Torsion
Circle
π 3
TY = τY ba
2
2π 3
τ τ a 1.33
a θY = Y 3 Y
Ca

Example 10.30
A rectangular section torsion member had dimension of 100mm by 200 mm and is
made of a steel for which the shear yield point is τy = 100 MPa. Determine Tp for
the cross-section and the ratio of Tp to Ty, where Ty is the maximum elastic torque.
Solution
Here, 2a = 100 mm and 2b = 200 mm
τY = 100 MPa, = 100 N/mm2
b 100
For = = 2, TY = 3.936 τY a3
a 50
Now, TY = 3.936 × 100 × (50)3 = 49200 Nm

20 20
Also, Tp = τY a3 = × 100 × (50)3 = 83333.33 Nm
3 3
Tp 83333.33
Thus, we get, = = 1.6938
TY 49200

Table 10.3 : Tp for Some Common Structural Sections

Section Code Section Diagram
(a) b b
t t

t a t

t t

(b)
b b
t1 t1

t2 a t2

t1 t1

(c)
t t

b
113

t t

a a
Stresses in Shafts and Shells

(d)
t1 < t2 t1 t1

t2 t2

a a

(e)
t1 > t2
t1 t1
b

t2 t2

a a

Fully plastic torque (Tp) for various section codes (Table 10.3) are as follows :
⎛a 7 ⎞
For (a) Tp = τY t 2 ⎜ + b − t ⎟
⎝ 2 6 ⎠

⎡ ⎛ t1 ⎞ t22 ⎛ t2 ⎞ 2⎤
For (b) T p = τY ⎢t12 ⎜ b − ⎟+ ⎜ a + ⎟ − t1 t2 ⎥
⎢⎣ ⎝ 3⎠ 2 ⎝ 3⎠ ⎥⎦

1 ⎛ 3 ⎞
For (c) Tp = τY t 2 ⎜a + b − t⎟
2 ⎝ 4 ⎠

1 ⎛ t3 ⎞
For (d) Tp = τY ⎜ at22 + bt12 − 2 − t12 t2 ⎟
2 ⎜ 3 ⎟
⎝ ⎠

1 ⎛ t3 ⎞
For (e) Tp = τY ⎜ at22 + bt12 − 1 − t22 t1 ⎟
2 ⎜ 3 ⎟
⎝ ⎠
Example 10.31
A solid shaft 80 mm diameter is solid for a certain length from one end but hollow
for the remaining length with inner diameter of 40 mm. If a pure torsion is applied
such that yielding occur at the surface of the solid part of the shaft. Calculate :
(d) the depth of yielding in the hollow shaft, and
(e) the ratio of the angles of twist per unit length.
Solution
τ = Shear stress at yield point.
π × 803
Torsion in the solid shaft = τ ×
16
π × 803
T1 = τ × . . . (1)
16
For Hollow Shaft
114
 Torsion in the unyielded part Torsion

π
T2 = τ × ( D 4 − 404 ) . . . (2)
16 D

where D = diameter of the hollow section at which yielding begins.

Torsion in yielded part
40
T3 = τ ∫ (2π r 2 ) dr
⎛D⎞
⎜ ⎟
⎝2⎠

πτ
= (803 − D3 ) . . . (3)
12
T1 = T2 + T3

803 D 4 − 404 803 − D 3

⇒ = +
16 16 D 12

⇒ 12 × 803 D = ( D 4 − 404 ) 12 + 16 D (803 − D 3 )

⇒ 6144 × 103 D = 12 D 4 − 3072 × 10 4 + 8192 × 103 D − 16 D 4

⇒ 4 D 4 − 2048 × 103 D + 3072 × 104 = 0

⇒ D 4 − 512 × 103 D + 768 × 10 4 = 0 . . . (4)

By trial and error, D = 74.8 mm
T τ Gθ
= =
J R l
τl
⇒ θ= . . . (5)
GR

2τ l
θS = . . . (6)
G × 80

2τ l
θH = . . . (7)
G×D

θ H 80 80
= = = 1.07
θS D 74.5

SAQ 5
A mild steel shaft 1 m long is subjected to a toque of 60 kN-m. If the yield point
shear stress is 120 N/mm2, find the diameter of the shaft so that the outer fibres are
just plastic.
If the torque is now increased to 70 kN-m, find the diameter upto which the shaft
remains in the elastic range. What is the torque carried by the elastic and the
plastic portions separately?
Also calculate the torque at which the shaft will be fully plastic.
G = 80 GPa.

115
Stresses in Shafts and Shells

10.9 SUMMARY
• Torsional Formula
T τmax G θ
= =
J R l
• Polar Modulus J
π 4
For solid shaft = d
32
π
For hollow shaft = (do4 − di4 )
32
• Power
2π N T
P=
60
• Shafts in Series
T is the same
θ = θ1 + θ2 + θ3 + . . .
• Shafts in Parallel
θ is the same
T = T1 + T2 + T3 + . . .
• Tapering Shafts
2T l ⎛ R12 + R1 R2 + R22 ⎞
θ= ⎜⎜ ⎟⎟
3π G ⎝ R13 R23 ⎠
• Fixed Shaft
At the common point, θ is the same.
Net θ is zero.
• Torsion in Shear Key
T = τ1 L b R
• Torsion in Flange Coupling
⎛π ⎞
T = n ⎜ d 2 ⎟ τ2 R1
⎝4 ⎠
• Plastic Torsion of Solid Circular Shaft
π 3
TP = τ y . d
12

10.10 ANSWERS TO SAQs

SAQ 1
T τmax 16T
= ⇒ τmax =
J R π d3
116
 Torsion
16 × 50 × 103
⇒ 100 × 106 =
π d3
∴ d = 0.1 4 m
T Gθ
=
J l
π
0.8 × 105 × 106 × 1 ×
50 × 10 3
180
⇒ =
π 4 1.5
d
32
∴ d = 0.15 m
∴ Adopt d = 0.15 m
SAQ 2
(a) Hollow Shaft
di = 0.6 do
π
A4 = [ d o − di ]
4
π
= [d o − (0.6 d o ) 2 ]
4
π
= (0.64 d o )
4
Solid Shaft
π 2
AS = d
4
Same mass, same material and same length means
AH = AS

π π
(0.64 d o ) = d 2
4 4
∴ d = 0.8 d o
Hollow Shaft
π
JH = [ d o − di ]
32
π
= [d o − (0.6 d o )4 ]
32
π
= (0.8704 do )
32
π
(0.8704 do )
ZH = 32
⎛ do ⎞
⎜ 2 ⎟
⎝ ⎠
π
= (0.8704 do )
16
Solid Shaft 117
Stresses in Shafts and Shells π 4
JS = d
32
π
= (0.8 do )4
32
π
= (0.4096 do )
32
π
ZS = (0.4096 do )
16
T τmax J
= ⇒ T = τmax . = τmax Z P
J R R
TH 0.8704
(a) = = 2.125
TS 0.4096

τmax G θ τ K
(b) = ⇒ θ = max =
R l R R
θH R D 0.8 do
= S = S = = 0.8
θS RH DH do
(c) Torsional rigidity : G J
GH J H
= 2.125
GS J S

(Z P )H
(d) = 2.125
(Z P )S
(b) T = 4 kN-m

τmax = 35 N/mm 2

G = 40 GPa = 0.4 × 1011 N/m2

πd3
T = τmax ×
16
πd3
⇒ 4 × 103 = 35 × 106 ×
16
∴ d = 0.083 m ≈ 85 mm
T τmax G θ
= =
J R l
θ τmax 1
∴ = ×
l R G
35 × 106 1
= = = 0.021 rad/unit length
⎛ 0.085 ⎞ (0.4 × 1011 )
⎜ ⎟
⎝ 2 ⎠
(c) di = ?
do = ?
P = 48 kW = 48 × 103 w
N = 240 rpm
118
 Torsion
τmax = 100 N/mm 2 = 108 N/m 2
di = 0.5 do
π π π
J = (d o − di ) = [do − (0.5 do )4 ] = (0.9375 do )
32 32 32
do
R=
2
π
ZP = (0.9375 d 3 )
16
2π N T 2π × 240 × T
P= ⇒ 48 × 103 =
60 60
∴ T = 1.9 × 103 N-m

T = τmax . Z P

π
⇒ 1.9 × 103 = 108 × (0.9375 d o )
16
∴ d o = 0.047 ; 0.05 m
do = 50 mm
50
di = = 25 mm
2
(d) Same power, P is same.
Same material, τ max is same.
N1 = 100 N2
2π N T
P= = K.NT
60
P1 = K N1 T1
P2 = K N2 T2
P1 = P2
⇒ K N1 T1 = K N2 T2
⇒ N1 T1 = N2 T2
⇒ 100 N2 T1 = N2 T2
∴ T2 = 100 T1
T = τmax . Z

π 3
Z= d
16
π 3
T = τmax d
16
π
T1 = τmax . d1
16
π
T2 = τmax . d2
16
119
Stresses in Shafts and Shells 3
T2 d 23 100 T1 ⎛ d 2 ⎞
= 3 ⇒ =⎜ ⎟
T1 d1 T1 ⎝ d1 ⎠
d2
∴ = 4.64
d1

SAQ 3
(a) Tapering Shaft
l=4m
d1 = 40 mm
R1 = 20 mm = 0.02 m
d2 = 80 mm
R2 = 40 mm = 0.04 m
θ = 1o = 0.0175 rad.

τmax = 100 N/mm 2 = 108 N/m 2

G = 80 GPa = 0.8 × 1011 N/m2

Based on Shear Stress
π 3
T = τmax d
16
π
= 108 × (0.02)3 = 157 N-m
16
Based on Angle of Twist
2T l ⎛ R 2 + R1 R2 + R22 ⎞
θ= ⎜⎜ 1 ⎟⎟
3π G ⎝ R13 R23 ⎠

2×T × 4 ⎛ 0.022 + 0.02 × 0.04 + 0.042 ⎞

⇒ 0.0175 = ⎜⎜ ⎟⎟
3π × 0.8 × 1011 ⎝ 0.023 × 0.043 ⎠
∴ T = 302 N-m
∴ T = 157 N-m (least value).
(b) Portion AC
G = 80 GPa = 0.8 × 1011 N/m2
T = 2 kN-m = 2 × 103 N-m
d = 40 mm = 0.04 m
l=2m
π
J = (0.04) 4 = 2.5 × 10− 7 m 4
32
Tl (2 × 103 ) (2)
θ1 = = = 2 × 10− 4 = 0.2 radians
G J (0.8 × 1011 ) (2.5 × 10− 7 )

Portion CB
T = 4 kN-m = 4 × 103 N-m
120
 d = 80 mm = 0.08 m Torsion

l=2m
π
J = (0.08) 4 = 4 × 10− 6 m 4
32
Tl (4 × 103 ) (2)
θ2 = = = 0.025 radians
G J (0.8 × 1011 ) (4 × 10− 6 )

Rotation at free end = θ1 + θ2

= 0.2 + 0.025 = 0.225 rad
(c) Steel
d = 40 mm
π 4
JS = d = 2.5 × 10− 7 m 4
32
Z S = 1.25 × 10− 5 m 3

τmax = 80 × 106 N/m 2

G = 80 GPa = 0.8 × 1011 N/m 2

Brass
d2 = 40 mm
d1 = 60 mm
π
JB = [d1 − d 2 ] = 1 × 10− 6 m 4
32

Z B = 3.4 × 10 − 5 m 3

τmax = 50 × 106 N/m 2

G = 0.4 × 1011 N/m 2

θ is same.
⎛ Tl ⎞ ⎛ Tl ⎞
⎜ ⎟ =⎜ ⎟
⎝ G J ⎠S ⎝ G J ⎠ B
TS lS TB lB
⇒ −7
=
(0.8 × 10 ) × 2.5 × 10
11
(0.4 × 1011 ) (1 × 10− 6 )

∴ TS = 0.5 TB B . . . (1)
T = τmax × Z P

Maximum TS = 80 × 106 × 1.25 × 10− 5 = 1000 N-m

Maximum TB = 50 × 106 × 3.4 × 10− 5 = 1700 N-m

If TS = 1000 N-m
TB = 2 × 1000 = 2000 N-m > Maximum TB B

∴ Not possible.
∴ TB = 1700 N-m
B

121
TS = 0.5 TB = 850 N-m
B
Stresses in Shafts and Shells ∴ T = TS + TB = 850 + 1700 = 2550 N-m

(d) Portion AC
T = T1
l=1m
d = 80 mm
π
J = (0.08) 4 m 4 = 4 × 10− 6 m 4
32

J 4 × 10− 6
Z = = = 1 × 10− 4 m3
R 0.04
Tl T1
θ1 = = . . . (1)
G J G × (4 × 10− 6 )

Portion CB
T = T2
l=1m
d1 = 80 mm
d2 = 40 mm
π 4
J = [d1 − d 24 ] = 3.8 × 10− 6 m 4
32

J 3.8 × 10− 6
Z= = = 9.4 × 10− 5 m3
R 0.04
Tl T2
θ2 = = . . . (2)
G J G × (3.8 × 10− 6 )

∴ θ1 = θ2
T1 T2
⇒ −6
=
G × (4 × 10 ) G × (3.8 × 10− 6 )

∴ T2 = 0.95 T1 . . . (3)
T1 + T2 = 4 ⇒ T1 + 0.95 T1 = 4

∴ T1 = 2.05 kN-m
T2 = 1.95 kN-m
Portion AC

T1 2.05 × 103
τmax = = −4
= 20.5 N/mm 2
Z 1 × 10

Portion CB

1.95 × 103
τmax = = 20.7 N/mm 2
9.4 × 10− 5

SAQ 3

(a) ∑ h t 2 = 80 × 52 + 100 × 52 = 4,500 mm3

122
 1 Torsion
T = τmax . = (∑ h t 2 )
3

⎛1 ⎞
⇒ 10 × 103 = τmax ⎜ × 4500 ⎟
⎝3 ⎠

∴ τmax = 6.67 N/mm 2

∑ h t 3 = 80 × 53 + 100 × 53 = 22,500 mm 4

3T l
θ=
G (∑ h t 3 )

3 × (10 × 103 ) × 1000

= = 0.0167 radians = 0.95o
(80 × 103 ) (22,500)

(b) ∑ h t 2 = π × 50 × 22 = 628.3 mm 3

∑ h t 3 = π × 50 × 23 = 1256.6 mm 4

3T l
θ=
G (∑ h t 3 )

5× π 3 × T × 1000
⇒ =
180 (30 × 103 ) (1256.6)

∴ T = 10.96.6 N-mm
1
T = τmax . (∑ h t 2 )
3

⎛1 ⎞
⇒ 1096.6 = τmax ⎜ × 628.3 ⎟
⎝3 ⎠

∴ τmax = 5.24 N/mm 2

⎛1 ⎞
(c) T = τmax ⎜ h t 2 ⎟
⎝3 ⎠

⎛1 ⎞
= 40 × ⎜ × 100 × 122 ⎟
⎝3 ⎠

= 192 × 103 N-mm

= 192 N-mm
SAQ 4
Just Plastic
π 3
T = τ× D
16
π 3
⇒ 60 × 106 = 120 × D
16
∴ D = 137 mm
Diameter upto which Shaft Remains Plastic (d) 123
Stresses in Shafts and Shells π 3
T1 in yielding part = = τ × D
16
π
T2 in yielding part = τ × ( D3 − d 3 )
12
T = T1 + T2
π 3 π
= τ. d + τ. ( D3 − d 3 )
16 12
π
= τ. [3d 3 + 4 D3 − 4d 3 ]
48
π
T = τ. [4 D3 − d 3 ]
48
π
⇒ 70 × 106 = 120 × [4 × 13.73 − d 3 ]
48
∴ d = 111 mm
Torques Carried by Elastic and Plastic Portions
Torque carried by elastic portion,
π
T1 = 120 × (111)3
16

= 32.2 × 106 N-mm

= 32.2 kN-m
∴ Torque carried by plastic portion,
T2 = T − T1 = 70 − 32.2 = 37.8 kN-m

Plastic Torque
π
TP = τ . ( D )3
12
π
= 120 × (137)3
12

= 80.8 × 106 N-mm

= 80.8 kN-m.

124