p Torsion of shaft & thin wall structure

p Plate bending
Torsion of body

Motor Fan illustrated Vol. 130

 Torsion of shaft
Shearing strain on the surface
（relative rotation angle df ）
bbʼ
d df
g 0 = bb '/ ab =
2 dx
Shearing stress on the surface
d df
t 0 = Gg 0 = G
2 dx dx
df: angle of twist Shearing strain
df
: angle of twist per unit length
dx
 Angle of twist per unit length
Replacing angle of twist
df rdf
per unit length by j
dx
then, on the surface,
r0 df d
g0 = = j = r0j
dx 2
dx
d
t 0 = G j = Gr0j Shearing strain
2
 Inside the shaft
Inside the shaft,
g = rj
t = Grj
Strain and stress increase lineary
by radius and become the maximum
on the surface.
How to consider torsional moment?
Torsional moment T = t dA ´ r
Cross section of circle　dA = 2p r ´ dr

t
 Torsional moment
P P
p Equilibrium of moment
p moment＝force × distance
p Area × stress＝force Cross section
and force couple

Force of infinitesimal circle

2πrdr ´ t
distance r
Torsional moment
r ´ (2πrdr ´ t )
This is the function of radius r.
Torsional moment 2
Torsional moment of infinitesimal
circle r ´ (2πrdr ´ t )

Total torsional moment　

r0
T = å ri ´ (2πri dr ´ t i )
ri = 0
d /2
= å ri ´ (2πri dr ´ Grij )
ri = 0
d /2
= ò r ´ (2πrdr ´ Grj )
pd 4 0

J= shaft d /2

32 = 2p Gj ò
0
r 3 dr

pd4
p = Gj = Gj J
J=
32
( d 4
0 -d i
4
) Hollow
32
J : polar moment of inert ia of area
o.d. i.d.
Angle of twist per unit length and moment

T = Gj J 　（surface）
T
j= 　（surface）
GJ
Resulting angle of twist
Tl
q = lj =
GJ
Because t = Grj ,
stress at the arbitrary radius
τ = Tr / J 　（inside）
Td
τ max = 　
（surface）
2J
 1. Automobile body

Body nomenclature

10
(Translation is by the quoted person) Motor Fan illustrated Vol. 168
 3. Structural elements

Torsion of thin-wall member

p Elementary treatment of twisting of bars
!"
𝜃=
#$
!%
𝜏= $

𝑇: Applied torque
𝜃: Resulting angle of twist
𝐽: Polar moment of inertia
𝐺: Shear modulus
𝐿: Length of the bar
𝑟: Radius of the bar
𝜏: Maximum shear stress
(at the surface of the bar)
 3. Structural elements

Torsion of thin-wall member

p Torsion of members with closed section
n a thin-walled closed section with arbitrary cross-section shape

𝑇= % 𝑟𝑞𝑑𝑆 = 𝑞 % 𝑟𝑑𝑆 = 2𝑞 % 𝑑𝐴
&'()*'!'( &'()*'!'( &'()*'!'(
+
𝑑𝐴 = , 𝑟𝑑𝑆
! !
𝑇 = 2𝑞𝐴 𝑞= ,-
𝜏= ,-.
 3. Structural elements

Torsion of thin-wall member

p Torsion of members with closed section
n Angular deflection and shear stress
!"
𝜃= #$!""

!
𝜏 = ,-.

𝜃: Angle of rotation
𝐿: Beam length
𝜏: Shear stress
𝐴: Area enclosed by the section
𝑡: Thickness
𝐽!"" : Thin-wall torsion constant
 3. Structural elements

Torsion of thin-wall member

p Torsion of members with closed section
n Torsion constant for a thin-walled closed section with
constant thickness:
4𝐴,𝑡
𝐽'// =
𝑆
𝑆: Section perimeter
n Torsion constant for a thin-walled closed section with
varying thickness:
4𝐴,
𝐽'// = 𝑠
∑0 0
𝑡0
where the section is divided into i segments
each of uniform thickness, 𝑡# , and length 𝑠#
 3. Structural elements

Torsion of thin-wall member

p Torsion of members with open section of
constant thickness
1 1
𝐽'// = 𝑡 𝑆
3
𝑇𝑡
𝜏=
𝐽'//
𝐽!"" : Torsion constant for an open section
𝑆: Developed section length
p Torsion of members with open section of non-uniform
thickness
1
𝐽'// = 3 𝑡01 𝑠0
3
0
where the section is divided into i segments
each of uniform thickness, 𝑡# , and length 𝑠#
 Quiz 1
5 Nm 4 Nm 6 Nm 15 Nm

8 mm

A B C D
70 mm 50 mm 80 mm

As shown in the figure, torsional moments were applied to

the shaft with a diameter of 8 mm and a length of 200 mm
at four locations. Find the maximum shear stress generated
in each cross section between AB, BC, and CD.

（τmax AB=49.7 MPa, τmax BC=89.5 MPa, τmax CD=149 MPa）

Spot welding

Motor Fan illustrated Vol. 168

 3. Structural elements

Design of automotive beam sections

Several characteristics of beams require analytical tool
beyond classical theory.
Monocoque body

21
Motor Fan illustrated Vol. 168
Generalized strain－deflection relationship
n Thin plate : h<<x, y
bending dominant (out-plane rather than in-plane)
n Deflection at center surface & arbitrary points
u,v,w ux,uy,uz w： Deflection
ux = u ( x, y ) + za , u y = v ( x, y ) + z b , z
y
uz = w ( x, y ) + zg α,β,γ:function of x,y h
n Strain-deflection relation
¶u ¶a ¶v ¶u æ ¶b ¶a ö x
ex = + z g xy = + + z ç + ÷ ex =
¶u x
,e y =
¶u y ¶u
,e z = z
¶x ¶x ¶x ¶y è ¶x ¶y ø ¶x ¶y ¶z
¶u ¶b ¶w ¶g ¶u ¶u ¶u ¶u
ey = + z g yz = +z +b g xy = x + y , g yz = y + z ,
¶y ¶y ¶y ¶y ¶y ¶x ¶z ¶y
ez = g ¶w ¶g ¶u ¶u
g zx = z + x
g zx = +z +a ¶x ¶z
¶x ¶x 22
 Kirchhoff-Love theory
Corresponding to Beam’s Bernoulli-Euler theory
(i) No shearing deformation g zx = g yz = 0
(ii) Strain in thickness negligible ez = 0 before
¶w ¶w
a = - , b = - ,g = 0
¶x ¶y
n Generalized strain after

¶2w ¶2w ¶2w ¶u ¶v ¶v ¶u

k x = 2 , k y = 2 , k xy = e x = , e y = , g xy = +
¶x ¶y ¶x¶y ¶x ¶y ¶x ¶y
curvature twist Strain at the center surface

e x = e x - zk x
¶w ¶w
ux = u - z , uy = v - z , uz = w e y = e y - zk y
¶x ¶y
g xy = g xy - 2 zk xy
23
 Equilibrium equation for generalized stress １
n Shearing force by bending ¶s x ¶t xy ¶t zx
+ + + Fx = 0
Elastic g zx = g zy = 0 ® t zx = t zy = 0 ¶x ¶y ¶z
Bending plate t zx ¹ 0,t zy ¹ 0 ¶t xy ¶s y ¶t yx
+ + + Fy = 0
h ¶x ¶y ¶z
→ t zx = t zy = 0 on z = ±
2 ¶t zx ¶t yz ¶s z
n Equilibrium of stress + + + Fz = 0
¶x ¶y ¶z
¶N x ¶N xy Integrate in thickness
+ + fx = 0
¶x ¶y h2 h2 h2
Nx = ò s x dz, N y = ò s y dz, N xy = ò t xy dz
¶N xy ¶N y -h 2 -h 2 -h 2
+ + fy = 0 h2 h2
Qx = ò t zx dz, Qy = ò
h2
¶x ¶y t yz dz, q = s z -h 2
-h 2 -h 2
¶Qx ¶Qy h2 h2 h2
+ + q + fz = 0 fx = ò Fx dz, f y = ò Fy dz , f z = ò Fz dz
¶x ¶y -h 2 -h 2 -h 2

Nx,Ny,Nxy：resultant force， Qx,Qy：resultant shear，

fx,fy,fz：resultant external force 25
 Equilibrium equations for generalized stress ２
¶t zx h2 h2
Equilibrium of moment ò- h 2 z dz = z t zx -h 2 - ò t zx dz = -Qx
h2
n
¶z -h 2

¶M x ¶M xy ¶s x ¶t xy ¶t zx
+ - Qx + mx = 0 + + + Fx = 0
¶x ¶y Integrate in
¶x ¶y ¶z
¶M xy ¶M y thickness by ¶t xy ¶s y ¶t yx
+ - Qy + my = 0 products with z + + + Fy = 0
¶x ¶y ¶x ¶y ¶z
h2 h2 h2
Mx = ò zs x dz, M y = ò zs y dz , M xy = ò zt xy dz
-h 2 -h 2 -h 2
h2 h2
mx = ò zFx dz, my = ò zFy dz
-h 2 -h 2

Mx,My,Mxy：stress moment (Mx,My：bending，Mxy：torsion)

mx，my：resultant external moment on the center surface

¶ Mx
2
¶ 2 M xy ¶2M y
¶mx ¶my
Delete Qx,Qy +2 + =- - - q - fz
¶x 2
¶x¶y ¶y 2
¶x ¶y
26
 Constitutive equation of plate
n Relation between generalized stress and
strain E E
s = xe +ne , s =
1 -n 2 ( x y )
e +ne ,t = Gg y
1 -n 2 ( y x ) xy xy

Eh Eh
2 ( x
Nx = e +ne y ) , N y = 2 ( y
e + ne x ) , N xy = Ghg xy
1 -n 1 -n
M x = - D (k x +nk y ) , M y = - D (k y +nk x )
1 3
M xy = - h Gk xy = - D (1 -n ) k xy
6
Eh3
bending rigidity D=
12 (1 -n 2 )

If ν=0.3, 1-ν2=0.91. Replacing D instead of EI

results in about 10% smaller deflection.
27
1. Obtain bending moment to bend a plate with lengths a & b
into the curvature radius of R (cylindrical bending).
2. If only one bending moment is applied, what is the bending
shape of the plate?
y
R From figure,
b k x = 1 R , k y = 0, k xy = 0
Mx My D nD
M x = - Dk x = - , M y = - Dnk x = -
Mx R R
M xy = 0
a x Eh Eh
My Nx =
1 -n 2
( e x + ne y ) , N y =
1 -n 2
(e y +ne x ) , N xy = Ghg xy
M x = - D (k x +nk y ) , M y = - D (k y +nk x )
1
M xy = - h3Gk xy = - D (1 -n ) k xy
n If My=0, then k y = -nk x 6

Mx

28
Fundamental equation for pure bending
Corresponding to Navier equation in elastic problem
equilibrium equation in deflection

4th order differential equation for deflection w

(assuming body force 0) q
Ñ1 w =
4

D
2
Cartesian coordinates system： æ¶2
¶ ö 2
Ñ = (Ñ
1
4
1
2 2
) =ç 2 + 2 ÷
è ¶x ¶y ø
2
Polar coordinate system： æ¶ 2
1¶ 1 ¶ ö
2 2
Ñ =ç 2 +
4
+ 2 2 ÷
1
è ¶r r ¶r r ¶q ø

30
 Boundary condition
Plate’s perimeter s，Outward normal direction n
n Fixed edge：
deflection w & gradient of deflection in n direction 0
¶w
w = 0, =0
¶n
n Simply supported edge：
deflection w = 0, external bending moment 0
w = 0, M n = 0

n Free edge：
bending & torsional moment 0,
resultant shearing force 0
¶M ns
M n = 0, M ns = 0, Qn = 0 ® M n = 0, Qn + =0
¶s 31
Express boundary conditions of square plates as a function of
deflection w, when x = Const. is the fixed, simply supported,
and free boundaries.
n Fixed： ¶w
w = 0, =0
¶x
¶2w ¶2w
n Simply Supported： w = 0, M x = 0 Û w = 0, 2 +n 2 = 0
¶x ¶y
¶ 2
w=0 where y = Const. ¶ 2 w ¶y 2 = 0 \ w = 0, w = 0
¶x 2
¶M xy
n Free： M x = 0, Qx + =0Û
¶y
¶2w ¶2w ¶ æ ¶2w ¶2w ö ¶ é ¶2w ù
+n 2 = 0, ç 2 + 2 ÷ + ê(1 -n ) ú =0
¶x 2
¶y ¶x è ¶x ¶y ø ¶y ë ¶x¶y û
¶2w ¶2w ¶3w ¶3w
+n 2 = 0, 3 + ( 2 -n ) =0
¶x 2
¶y ¶x ¶x¶y 2
Express boundary conditions of square plates as a function of
deflection w, when x = Const. is the fixed, simply supported,
and free boundaries.
n Fixed： ¶w
w = 0, =0
¶x
¶2w ¶2w
n Simply Supported： w = 0, M x = 0 Û w = 0, 2 +n 2 = 0
¶x ¶y
¶ 2
w=0 where y = Const. ¶ 2 w ¶y 2 = 0 \ w = 0, w = 0
¶x 2
¶M xy
n Free： M x = 0, Qx + =0Û
¶y
¶2w ¶2w ¶ æ ¶2w ¶2w ö ¶ é ¶2w ù
+n 2 = 0, ç 2 + 2 ÷ + ê(1 -n ) ú =0
¶x 2
¶y ¶x è ¶x ¶y ø ¶y ë ¶x¶y û
¶2w ¶2w ¶3w ¶3w
+n 2 = 0, 3 + ( 2 -n ) =0
¶x 2
¶y ¶x ¶x¶y 2
 HW[3]
Consider fixed square plate with length a in x direction and
infinite length in y, and obtain the maximum deflection
under uniform distributed load q.
n Since there is no variation in y, all partial differentiation terms
in y are zero.
¶ 4 w q ¶3w q ¶2w q 2
= \ 3 = x + C1 , 2 = x + C1 x + C2 ,
¶x 4
D ¶x D ¶x 2D
¶w q 3 C1 2 q 4 C1 3 C2 2
= x + x + C2 x + C3 , w = x + x + x + C3 x + C4
¶x 6 D 2 24 D 6 2
n Boundary conditions: at x=0 & x = a, w=0, dw/dx=0

n The deflection w becomes the maximum when x=a/2.

[1]+[2]+[3]
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