Chapter Objectives (Section 5.1 ~ 5.

5)
 Power Transmission
 Determine the angle of twist
 Analyze statically indeterminate torque-loaded
members

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 The MODULE (MECE 221) deals with Geometry, Materials, Boundary
Conditions, and the Methods to use to establish Stress or Deformation

in the above [Four-Areas] context, Torsion Loading deals with:

Geometry/Structure Material Boundary constraints Methods to use

or supports.
 TORSION FORMULA

Either of these two equations is often referred to as the TORSION FORMULA

the maximum shear stress in the shaft, which occurs at

the outer surface

the resultant internal torque acting at the cross section. Its value is
determined from the method of sections and the equation of moment
equilibrium applied about the shaft’s longitudinal axis

the polar moment of inertia of the cross-sectional area

the outer radius of the shaft

The TORSION FORMULA is used only if the shaft is circular and the material
is homogeneous and behaves in a linear elastic manner, since its derivation is
based on Hooke’s law.
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 POWER TRANSMISSION: SHAFT DESIGN
Torsion is also very important for the determination of Power developed by
rotating machines. This is found from the Power Transmission Formula
P=Tω
P: power developed or transmitted, measured in watts, W.
1W = 1 N * m/s
T: torque developed or transmitted by the machine, measured in
newton-meters (N.m)

ω: angular velocity of the machine in radians per second.

If the frequency of a shaft’s rotation, f , which measures the number of
revolutions or cycles the shaft makes per second, is given, the Power
Transmission Formula changes to the one below

P=2╥fT
From the above equation, T = P/2╥f, we can determine the size of the shaft’s cross
section using the torsion formula if allowable shear stress, τallow, is known as
follows:

J  co4  ci4 
2
POWER TRANSMISSION: SHAFT DESIGN
 4 4
╥
P=2 fT J
2
co  ci 
P=Tω
POWER TRANSMISSION: SHAFT DESIGN

P=2╥fT

 4 4
J
2
co  ci 

P=Tω
POWER TRANSMISSION: SHAFT DESIGN
P=2╥fT
P=Tω

 4 4
J
2
co  ci 
 ANGLE OF TWIST: SHAFT DESIGN
 The design of shafts also depends on restricting
the amount of rotation or twist that may occur
when the shaft is subjected to a torque. The
angle of twist ϕ (phi) of one end of a shaft
with respect to its other end from the small
element illustrated below to give:
See my hand
written
working in
 And noting that shear the next
stress from the Torsion slide for
details
Equation is given by:

 We get:

TL
 For constant torque and cross-sectional area: 
JG
 ANGLE OF TWIST: SHAFT DESIGN

 We get:

TL
 For constant torque and cross-sectional area: 
JG
 ANGLE OF TWIST: SHAFT DESIGN
TL

JG
The above equation is often used to determine the shear modulus of elasticity, G, of
a material. To do so, a specimen of known length and diameter is placed in a torsion
testing machine like the one shown in Fig. 5–16 . The applied torque T and angle of
twist ϕ are then measured along the length L . Using Eq. 5–15 , G = TL/Jϕ.

Usually, to obtain a more reliable value of G , several of these tests are performed
and the average value is used.
 ANGLE OF TWIST: SHAFT DESIGN
TL

JG
Multiple Torques:
If the shaft is subjected to several different torques, or the cross-sectional area or
shear modulus changes abruptly from one region of the shaft to the next, the above
equation can be applied to each segment of the shaft where these quantities are all
constant. The angle of twist of one end of the shaft with respect to the other is then
found from the vector addition of the angles of twist of each segment. For this case,
 ANGLE OF TWIST: SHAFT DESIGN
Sign Convention: TL
In order to apply this equation, we must develop a sign convention for both the 
internal torque and the angle of twist of one end of the shaft with respect to the
JG
other end. To do this, we will use the right-hand rule, whereby both the torque
and angle will be positive, provided the thumb is directed outward from the shaft
when the fingers curl to give the tendency for rotation, Fig. 5–17.
 ANGLE OF TWIST: SHAFT DESIGN
Sign Convention: TL
To illustrate the use of this sign convention, 
consider the shaft in illustrated figure, where
JG
the angle of twist of end A with respect to
end D is to be determined. Three segments
of the shaft must be considered, since the
internal torque will change at B and at C.
Using the method of sections, the internal
torques are found for each segment as
illustrated. By the right-hand rule, with
positive torques directed away from the
sectioned end of the shaft, we have TAB =
+80 N.m, TBC = -70 N.m, and TCD = -10 N.m.
Applying Eq. 5–16 , we have.
 ANGLE OF TWIST: SHAFT DESIGN
Problem:
The gears attached to the fixed-end steel shaft are subjected to
the torques shown in Fig. 5–19 a . If the shear modulus of
elasticity is 80 GPa and the shaft has a diameter of 14 mm,
determine the displacement of the tooth P on gear A . The shaft
turns freely within the bearing at B .
Solution
Internal Torque using method of sections:
The torques in segments AC , CD, and DE are different yet
constant throughout each segment. FBDs of appropriate
segments of the shaft along with the calculated internal torques
are shown in Fig. 5–19 b . Using the right-hand rule and the
established sign convention that positive torque is directed away
from the sectioned end of the shaft, we have
TAC = +150 Nm, TCD = -130 Nm, TDE = -170 Nm
Angle of Twist:
First the polar moment of inertia from

Applying Angle of Twist Equation we get:

TL

JG
 ANGLE OF TWIST: SHAFT DESIGN
The two solid steel shafts are coupled together using
meshed gears. Determine the angle of twist of end A
of shaft AB when the torque 45 Nm is applied. Take
G to be 80 GPa. Shaft AB is free to rotate within
bearings E and F, whereas shaft DC is fixed at D.
Each shaft has a diameter of 20 mm.
• From free body diagram,
F  45 / 0.15  300 N
TD x  3000.075  22.5 Nm
• Angle of twist at C is
TL
C  DC 
 22.51.5  0.0269 rad
JG 4

 20.001 80109


• Since the gears at the end of the shaft are in

mesh,

B 0.15  0.02690.075  0.0134 rad

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 ANGLE OF TWIST: SHAFT DESIGN

Solutions
• Since the angle of twist of end A with respect to end B of shaft AB
caused by the torque 45 Nm,

A/ B 
TAB LAB

 452
 0.0716 rad
JG  20.010 80 10
4 9
  
• The rotation of end A is therefore

 A  B   A / B  0.0134  0.0716  0.0850 rad (Ans)

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Angle of Twist Calculation for Meshed Gears: Procedure
 STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS
• Procedure for analysis:
– use both equilibrium and compatibility equations
Equilibrium
• Draw a free-body diagram of the shaft in order to identify all the torques
that act on it. Then write the equations of moment equilibrium about the
axis of the shaft.
Compatibility
• To write the compatibility equation, investigate the way the shaft will
twist when subjected to the external loads, and give consideration as to
how the supports constrain the shaft when it is twisted.
• Express the compatibility condition in terms of the rotational
displacements caused by the reactive torques, and then use a torque-
displacement relation, such as Φ = TL/JG, to relate the unknown torques
to the unknown displacements.
• Solve the equilibrium and compatibility equations for the unknown
reactive torques. If any of the magnitudes have a negative numerical
value, it indicates that this torque acts in the opposite sense of direction
to that indicated on the free-body diagram.
EXAMPLE 3
The solid steel shaft shown in Fig. 5–23a has a diameter of 20 mm. If it is
subjected to the two torques, determine the reactions at the fixed supports
A and B.
EXAMPLE 3 (cont)
Solutions
• Only one available equation of equilibrium with 2
unknowns  M x  0

 Tb  800  500  TA  0 (1)

• Since the ends of the shaft are fixed, the angle of twist
of one end of the shaft with respect to the other must
be zero.
A/ B  0
• Using the sign convention established,
 TB 0.2  800  TB 1.5 300  TB 0.3
  0
JG JG JG
TB  645 N  m (Ans)

• Using Eq. 1,
TA  345 N  m

The negative sign indicates that acts in the opposite

direction of that shown in Fig. 5–23b.
CONCEPT QUIZ

1) When the bar is subjected to the torque T, the

length L

a) remains unchanged

b) Shortens

c) Elongates

d) None of the above

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Chapter Objectives (Section 5.6 ~
5.10)
 Deal with solid non-circular shafts and thin-walled
tubes
 Deal with stress concentration
 Appreciate inelastic torsion
 Deal with residual stress

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In-class Activities
• Reading Quiz
• Applications
• Solid non-circular shafts
• Thin-walled tubes
• Stress concentration
• Inelastic torsion
• Residual stress
• Concept Quiz

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APPLICATIONS

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SOLID NON-CIRCULAR SHAFTS

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SOLID NON-CIRCULAR SHAFTS (cont)

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EXAMPLE 1
The 6061-T6 aluminum shaft shown in Fig. 5–27 has a
cross-sectional area in the shape of an equilateral triangle.
Determine the largest torque T that can be applied to the end
of the shaft if the allowable shear stress is tallow = 56 MPa.
and the angle of twist at its end is restricted to Φallow = 0.02
rad. How much torque can be applied to a shaft of circular
cross section made from the same amount of material?
EXAMPLE 1 (cont)
Solutions
• By inspection, the resultant internal torque at any cross section along the
shaft’s axis is also T.
20T 20T
 allow  3
; 56  3
 T  1779.2 Nm
a 40
46T
 allow  4 ; 0.02 
 
46T 1.2  103
 T  24.12 Nm (Ans)
a Gal   
40 4 26 103

• By comparison, the torque is limited due to the angle of twist.

 How much torque can be
EXAMPLE 1 (cont) applied to a shaft of circular
Solutions cross section made from the
• For circular cross section, we have same amount of material?
1
Acircle  Atriangle ; c 2  4040 sin 60  c  14.85 mm
2

• The limitations of stress and angle of twist then require

Tc T 14.85
 allow  ; 56   T  288.06 Nm
J  / 214.854
allow 
TL
; 0.02 
T 1.2  103   T  33.10 Nm (Ans)
JGal  / 214.85 26 10
4
  
3

• Again, the angle of twist limits the applied torque.

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THIN WALL TUBES HAVING CLOSED SECTIONS

• Average shear stress

T
 avg 
2tAm

• Shear flow
T
q
2 Am

• Angle of twist
TL ds
 2 
4 AmG t

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 EXAMPLE 2
The tube is made of C86100 bronze and has a rectangular
cross section as shown in Fig. 5–30a. If it is subjected to the
two torques, determine the average shear stress in the tube
at points A and B. Also, what is the angle of twist of end C?
The tube is fixed at E.

T T TL ds
4 Am2 G  t
 avg  q 
2tAm 2 Am
 EXAMPLE 2 (cont)
Solutions
• As shown in Fig. 5–30d, the mean area is

Am  0.0350.057   0.002 m 2

• Applying Eq. 5–18 for point A,

T 35
A    1.75 MPa (Ans)
 
2tAm 2 0.005 0.002 
• And for point B,

T 35
B    2.92 MPa (Ans)
2tAm 20.0030.002

T T TL ds
4 Am2 G  t
 avg  q 
2tAm 2 Am
 EXAMPLE 2 (cont)
Solutions
• From the free-body diagrams in Fig. 5–30b and
5–30c, the internal torques in regions DE and CD
are 35 Nm and 60 Nm respectively.

• Angle of twist is
TL ds 600.5   57   35 
4 Am2 G  t
  2   2 
  9 
40.002 38 10   5   3 
2

351.5   57   35 
 2   2 
   9 
40.002 38 10   5   3 
2

 6.2910  rad (Ans)

3

T T TL ds
4 Am2 G  t
 avg  q 
2tAm 2 Am
STRESS CONCENTRATION

• Stress concentration factor K:

Tc
• Maximum stress stress:  max K
J
EXAMPLE 3
The stepped shaft shown in Fig. 5–33a is supported by
bearings at A and B. Determine the maximum stress in the
shaft due to the applied torques. The shoulder fillet at the
junction of each shaft has a radius of r = 6 mm.

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EXAMPLE 3 (cont)
Solutions
• By inspection, moment equilibrium about the axis of the shaft is satisfied.

• The stress-concentration factor can be determined by the graph using

the geometry,
D 240 r 6
  2;   0.15
d 220 d 220

• Thus, K = 1.3 and maximum shear stress is

Tc  300.020  
 max  K  1.3 4
 3.10 MPa (Ans)
J   20.020  

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RESIDUAL STRESS

• Residual stress due to stress reversal after stressed

beyond elastic range:

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EXAMPLE 5
A tube in Fig. 5–41a has a length of 1.5 mm and the material
has an elastic- plastic diagram, also shown in Fig. 5–41a.
Determine the plastic torque. What is the residual shear-
stress distribution if is removed just after the tube becomes
fully plastic?

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EXAMPLE 5 (cont)
Solutions
• The stress distribution will appear as shown in Fig. 5–41b.

• Applying Eq. 5–23, we have

c0
2
Tp  2   Y  2 d 
3

 Y c03  ci3 
ci

2

3
  
 84 103 0.053  0.0253  19.24 kNm (Ans)

• The angle of twist that occurs can be determined from Eq. 5–25, which
for the entire tube becomes
L 0.0021.5
p   Y   0.120
ci 0.025

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EXAMPLE 5 (cont)
Solutions
• In Fig. 5–41c the maximum shear stress or the modulus of rupture is
found from the torsion formula

r 
T p co

19.240.05
J  / 20.054  0.0254 
 
 104.52 103 kN/m 2
 104.52 MPa

• Also, at the inner wall of the tube the shear stress is

 25 
 i  104.52   52.26 MPa (Ans)
 50 

• The resultant residual shear-stress

distribution is shown in Fig. 5–41d.
READING QUIZ

2) Which statement below is incorrect?

The angle of twist for a thin-walled tube having closed section is

a) proportional to the length of circumference

b) inversely proportional to the average thickness

c) inversely proportional to the square of the enclosed area

d) proportional to the shear modulus G

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