TORSION

Torsion
 
Considering a shaft AB subjected at A and B to equal and opposite
torques T and T’, we pass a section perpendicular to the axis of the
shaft through some arbitrary point C. The free-body diagram of the
portion BC of the shaft must include the shearing forces ,
perpendicular to the radius of the shaft, that portion AC exerts on
BC as the shaft is twisted (Fig. a). But the conditions of
equilibrium for BC require that the system of these forces be
equivalent to an internal torque T, equal and opposite to T’ (Fig. b).
Denoting by the perpendicular distance from the force to the axis
of the shaft, and expressing that the sum of the moments of the
shearing forces about the axis of the
shaft is equal in magnitude to the torque T, we write

 
∫ 𝜌𝑑𝐹=𝑇
 or, since , where is the shearing stress on the element of area ,

 
∫ 𝜌 ( 𝜏 𝑑𝐴) =𝑇
Torsion
  determine the distribution of shearing strains in a circular shaft of length L
To
and radius c that has been twisted through an angle (Fig. a). Detaching from the
shaft a cylinder of radius , we consider the small square element formed by two
adjacent circles and two adjacent straight lines traced on the surface of the
cylinder before any load is applied (Fig. b). As the shaft is subjected to a torsional
load, the element deforms into a rhombus (Fig. c). Since the circles defining two
of the sides of the element considered here remain unchanged, the shearing strain
must be equal to the angle between lines AB and A’B.
We observe from Fig. c that, for small values of , we can express the arc length
as . But, on the other hand, we have . It follows that , or

  = Eq. 1
Torsion
  follows from Eq. (1) that the shearing strain is maximum
It
on the surface of the shaft, where . We have

𝑐∅
𝛾  𝑚𝑎𝑥 = Eq. 2
𝐿

 
Eliminating from Eqs. (1) and (2), we can express the shearing
strain at a distance from the axis of the shaft as

𝜌
𝛾  = 𝛾 Eq. 3
𝑐 𝑚𝑎𝑥
STRESSES IN THE ELASTIC RANGE

Consider
  the case when the torque T is such that all shearing stresses in the shaft remain below the yield
strength . this means that the stresses in the shaft will remain below the proportional limit and below the
elastic limit as well. Thus, Hooke’s law will apply and there will be no permanent deformation.
Recalling Hooke’s law for shearing stress and strain

𝜏  =𝐺 𝛾 Eq. 4

where G is the modulus of rigidity or shear modulus of the material. Multiplying both members of Eq. (3)
by G, we write

  𝛾= 𝜌
𝐺 𝐺 𝛾 𝑚𝑎𝑥
𝑐

or, making use of Eq. (4),

 The equation obtained shows that, as long as the yield strength (or
𝜌 proportional limit) is not exceeded in any part of a circular shaft, the
𝜏  = 𝜏 Eq. 5
𝑐 𝑚𝑎𝑥 shearing stress in the shaft varies linearly with the distance from the axis of
the shaft.
STRESSES IN THE ELASTIC RANGE

We  now recall that the sum of the moments of the forces exerted on any cross section of the shaft must be
equal to the magnitude of the torque exerted on the shaft:
 
∫ 𝜌 ( 𝜏 𝑑𝐴 )=𝑇 Eq. A

 Substituting for from Eq. (5) into Eq. (A), we write

  𝜏 𝑚𝑎𝑥 2
𝑇 =∫ 𝜌𝜏 𝑑𝐴= ∫ 𝜌 𝑑𝐴
𝑐
  the integral in the last member represents the polar moment of inertia of the cross section with respect to
But
its center . We have therefore

  = 𝜏 𝑚𝑎𝑥 𝐽
𝑇
𝑐
 or, solving for ,

𝑇𝑐
𝜏  𝑚𝑎𝑥 = Eq. B
𝐽
STRESSES IN THE ELASTIC RANGE

Substituting
  for from Eq.(B) into Eq.(5), we express the shearing stress at any distance from the axis of
the shaft as

𝑇𝜌
𝜏  = Eq. C
𝐽

 
Equations (B) and (C) are known as the elastic torsion formulas. We recall from statics that the polar
moment of inertia of a circle of radius is . In the case of a hollow circular shaft of inner radius and outer
radius , the polar moment of inertia is

1 1 1
𝐽  = 𝜋 𝑐 2 − 𝜋 𝑐1 = 𝜋 ( 𝑐2 − 𝑐 1 )
4 4 4 4
2 2 2
ANGLE OF TWIST IN THE ELASTIC RANGE

The  relation will be derived between the angle of twist of a circular shaft and
the torque T exerted on the shaft. The entire shaft will be assumed to remain
elastic. Considering first the case of a shaft of length L and of uniform cross
section of radius c subjected to a torque T at its free end, that the angle of twist
and the maximum shearing strain are related as follows:

𝑐∅
𝛾  𝑚𝑎𝑥 = Eq. 1
𝐿
 
But, in the elastic range, the yield stress is not exceeded anywhere in the shaft, Hooke’s law applies, and
we have or, recalling Eq.(b),

 𝛾 = 𝜏 𝑚𝑎𝑥 = 𝑇𝑐 Eq. 2
𝑚𝑎𝑥
𝐺 𝐽𝐺
 
Equating the Eqs. (1) and (2), and solving for , we write

 
where is expressed in radians. The relation obtained shows that, within
𝑇𝐿
∅  = the elastic range, the angle of twist is proportional to the torque
𝐽𝐺 applied to the shaft.
POWER TRANSMISSION

The  principal specifications to be met in the design of a transmission shaft are the power to be transmitted and
the speed of rotation of the shaft.
To determine the torque exerted on the shaft, we recall from dynamics that the power associated with the
rotation of a rigid body subjected to a torque is

𝑃=𝑇
  𝜔 Eq. 1

 
where is the angular velocity of the body expressed in radians per second. But , where is the frequency of the
rotation, i.e., the number of revolutions per second. The unit of frequency is thus and is called a . Substituting
for into Eq. (1), we write

𝑃=2
  𝜋 𝑓𝑇 Eq. 2

 
Solving Eq. (2) for , we obtain the torque exerted on a shaft transmitting the power at a frequency of
rotation,

𝑃
𝑇  =
2𝜋 𝑓
POWER TRANSMISSION

Knowing
  and the allowable shear stress for the material, we can determine the size of the shaft’s cross
section using the torsion formula, provided the material behavior is linear elastic. Specifically, the design or
geometric parameter becomes

 𝐽 = 𝑇
𝑐 𝜏 𝑎𝑙𝑙𝑜𝑤 Eq. 3

  a solid shaft, and thus, upon substitution, a unique value for the shaft’s radius can be determined. If the
For
shaft is tubular, so that , design permits a wide range of possibilities for the solution. This is because an
arbitrary choice can be made for either or and the other radius can then be determined from Eq. 3.
EXAMPLE 1

1. A hollow cylindrical steel shaft is 1.5 m long and has inner and outer
diameters respectively equal to 40 mm and 60 mm. (a) What is the
largest torque that can be applied to the shaft if the shearing stress is not
to exceed 120 MPa? (b) What is the corresponding minimum value of
the shearing stress in the shaft?

Sol.
(a). Solving for the Largest Torque that ca be applied in the shaft.

1 1
𝐽  = 𝜋 ( 𝑐 2 − 𝑐1 )= 𝜋 ( 0.03 − 0.02 ) =1.021 𝑥 10 𝑚
4 4 4 4 −6 4
2 2

−6
  = 𝐽 𝜏 𝑚𝑎𝑥 = (1.021 𝑥 10 𝑚 4 )(120 𝑥 10 6 𝑃𝑎)
𝑇 =4.084 𝑘𝑁 . 𝑚 answer
𝑐 0.03𝑚
EXAMPLE 1

(b).  Solving for the minimum shear stress in the shaft.

Sol.
Where and are respectively proportional to and :

  answer
EXAMPLE 2

2. The
  horizontal shaft AD is attached to a fixed base at D and is
subjected to the torques shown. A 44-mm-diameter hole has been drilled
into portion CD of the shaft. Knowing that the entire shaft is made of
steel for which , determine the angle of twist at end A.
EXAMPLE 2

Sol.
Passing a section through the shaft between A and B and
using the free body shown, we find

 
( 250 𝑁 . 𝑚 ) − 𝑇 𝐴𝐵 =0

𝑇  𝐴𝐵 =250 𝑁 . 𝑚

Passing now a section between B and C, we have

 
( 250 𝑁 . 𝑚 )+ ( 2000 𝑁 . 𝑚 ) − 𝑇 𝐵𝐶 =0
𝑇
  𝐵𝐶 =2250 𝑁 .𝑚

Since no torque is applied at C,

𝑇
  𝐶𝐷 =𝑇 𝐵𝐶 =2250 𝑁 . 𝑚
EXAMPLE 2

Sol.
Solving for the Polar Moment of Inertia

 𝐽 1 1
𝐴𝐵 = 𝜋 𝑐4 = 𝜋¿
2 2

 𝐽 1 4 1
𝐵𝐶 = 𝜋 𝑐 = 𝜋 ¿
2 2

 𝐽 1 1
𝐶𝐷 =
2
𝜋 ( 𝑐4
2 − 𝑐4
1 )=
2
𝜋 ¿
EXAMPLE 2

Sol.
Solving for the Angle of Twist

  𝑇 𝑖 𝐿𝑖 1 𝑇 𝐴𝐵 𝐿 𝐴𝐵 𝑇 𝐵 𝑐 𝐿 𝐵 𝑐 𝑇 𝐶𝐷 𝐿𝐶𝐷
∅ 𝐴 =∑
𝑖 𝐽 𝑖 𝐺
=
𝐺 𝐽 (
𝐴𝐵
+
𝐽 𝐵𝑐
+
𝐽 𝐶𝐷 )
1 (250 𝑁 . 𝑚)(0.4 𝑚) (2250)(0.2) (2250)(0.6)
∅  𝐴 =
[
77 𝐺𝑃𝑎 0.0795 𝑥 10− 6 𝑚 4
+
1.272 𝑥 10
−6
+
0.904 𝑥 10 ]
−6
= 0.0403 𝑟𝑎𝑑

°
  360
∅ 𝐴 =( 0.0403 𝑟𝑎𝑑 ) ( 2 𝜋 𝑟𝑎𝑑 )
=2.31° answer
EXAMPLE 3

3. A  solid steel shaft AB shown in Figure is to be used to transmit 5 from the motor to which it is
attached. If the shaft rotates at and the steel has an allowable shear stress of , determine the required
diameter of the shaft to the nearest .
EXAMPLE 3

Sol. 
Expressing the in foot-pounds per second and in radians/second, we have

  550 𝑓𝑡 .𝑙𝑏 / 𝑠
𝑃=5 h𝑝 (1 h𝑝 )
=2750 𝑓𝑡 . 𝑙𝑏 / 𝑠

  175 𝑟𝑒𝑣 2 𝜋 𝑟𝑎𝑑 1𝑚𝑖𝑛

𝜔=
𝑚𝑖𝑛 (
1𝑟𝑒𝑣 )( 60 𝑠 )
=18.33 𝑟𝑎𝑑 / 𝑠

Thus,

  ;   𝑙𝑏 𝑟𝑎𝑑
2750 (
𝑓𝑡 . =𝑇 18.33
𝑠 𝑠 )
𝑇  =150.03 𝑓𝑡 . 𝑙𝑏
EXAMPLE 3

Sol.

4
 𝐽 = 𝜋 𝑐 = 𝑇
𝑐 2 𝑐 𝜏 𝑎𝑙𝑙𝑜𝑤

1
  𝑖𝑛

[ ]
3
1 2 (150.03 𝑓𝑡 . 𝑙𝑏)(12 )
2𝑇 𝑓𝑡
𝑐=
( 𝜋 𝜏 𝑎𝑙𝑙𝑜𝑤 ) 3
=
𝜋 (14 500
𝑙𝑏
2
)
=0.429 𝑖𝑛

𝑖𝑛

 Since , select a shaft having a diameter of

  = 7
𝑑 𝑖𝑛=0.875 𝑖𝑛 answer
8
END OF TOPIC..
ASSIGNMENT

1. A  shaft is made of a steel alloy having an allowable shear

stress of .If the diameter of the shaft is 1.5 in., determine the
maximum torque that can be transmitted. What would be the
maximum torque if a 1-in.-diameter hole is bored through the
shaft? Sketch the shear-stress distribution along a radial line in
each case.

2. The solid shaft is fixed to the support at C and

subjected to the torsional loadings shown. Determine the shear
stress at points A and B and sketch the shear stress on volume
elements located at these points.
ASSIGNMENT

3. The
  solid shaft is made of material that has an
allowable shear stress of . Determine the required diameter of the
shaft to the nearest mm.

4. Two wrenches are used to tighten the pipe. If P = 300 N

is applied to each wrench, determine the maximum
torsional shear stress developed within regions AB and
BC. The pipe has an outer diameter of 25 mm and inner
diameter of 20 mm. Sketch the shear stress distribution for
both cases.
ASSIGNMENT

5. The
  solid shaft is subjected to the distributed and
concentrated torsional loadings shown. Determine the required
diameter of the shaft to the nearest mm if the allowable shear
stress for the material is .

6. The solid steel shaft AC has a diameter of 25 mm and is

supported by smooth bearings at D and E. It is coupled to a
motor at C, which delivers 3 kW of power to the shaft while it
is turning at 50 rev/s. If gears A and B remove 1 kW and 2 kW,
respectively, determine the maximum shear stress developed in
the shaft within regions AB and BC. The shaft is free to turn in
its support bearings D and E.
ASSIGNMENT

7. The
  25-mm-diameter shaft on the motor is made
of a material having an allowable shear stress of . If the motor is
operating at its maximum power of 5 kW, determine the
minimum allowable rotation of the shaft.

  The motor A develops a power of 300 W and turns

8.
its connected pulley at 90 rev/min. Determine the required
diameters of the steel shafts on the pulleys at A and B if the
allowable shear stress is
ASSIGNMENT

9. The
  engine of the helicopter is delivering 600 hp to the rotor shaft AB
when the blade is rotating at 1200 rev/min. Determine to the nearest the
diameter of the shaft AB if the allowable shear stress is and the
vibrations limit the angle of twist of the shaft to 0.05 rad. The shaft is 2
ft. long and made from L2 steel.

10. The shafts are made of A-36 steel and each has a
diameter of 80 mm. Determine the angle of twist of gear
D.