MECHANICS OF MATERIALS

TORSION
 INTRODUCTION
• In many engineering applications, members
are required to carry torsional loads.
• In this chapter, we consider the torsion of
circular shafts.
• Because a circular cross-section is an efficient
shape for torsional loads, circular shafts are
commonly used to transmit power in rotating
machinery.
TORSION OF CIRCULAR SHAFTS
a. SIMPLIFYING ASSUMPTIONS
The figure (b) shows the deformation of a
circular shaft that is subjected to a twisting
couple (torque) T.

To visualize the deformation, we scribe the

straight line AB on the surface of the shaft
before the torque is applied.

After loading, this line deforms into helix AB’ as

the free end of the shaft rotates through angle
θ.

During the deformation, the cross-sections are

not distorted in any manner—they remain
plane, and the radius does not change. The
length L of the shaft remains constant
Based on this observations, we make the following assumptions:

1. Circular cross-sections remain plane (do not warp) and perpendicular to the axis
of the shaft.

2. Cross sections do not deform.(There is no strain in the plane of the cross section)

3. The distances between cross-sections do not change ( the axial normal strain is
zero)
 b. COMPATIBILITY

To analyze the deformation in the interior of the shaft , we consider the

portion of the shaft in the figure.

We first isolate a segment of the shaft of infinitesimal length dx and then peel
off its outer layer , leaving us with the cylindrical core of radius ρ.
Because the cross-sections are separated by an infinitesimal distance, the difference
in their rotations , denoted by the angle dθ, is also infinitesimal.

We now imagine that the straight line CD has been drawn on the cylindrical surface.
As the cross-sections undergo the relative rotation dθ, CD deforms into the helix CD’.

By observing the distortion we recognize that the helix angle γ is the shear strain of
the element.
d
From the geometry: = 
dx
The shear stress varies linearly with the radial
distance ρ from the axis of the shaft.

From Hooke’s law: d

 = G = G 
dx
Therefore the maximum shear stress occurs at
the surface of the shaft.

And θ is expressed in radians

d
angle of twist per unit length
dx
Equilibrium
 c. TORSION FORMULAS
Torque-twist relationship: TL
=
GJ
T
Shear stress acting at the distance ρ from the center of the shaft; =
J

Tr
Maximum shear stress:
 max =
J
r 4 d 4
Polar Moment of inertia for Solid shaft: J = =
2 32

Polar Moment of inertia for hollow shaft:  

J= (R − r ) =
4 4
(D4 − d 4 )
2 32
Notes on the computation of angle
of twist.
• It is common practice to let the units of G
determine the units of the other terms.
• The unit of angle of twist is in radians,
regardless of which system of units is used in
the computation.
• Sign convention for torque T and angle of
twist.
 d. POWER TRANSMISSION
In many practical applications, shafts are used to transmit power. The power (P)

transmitted by a torque T rotating at the angular speed ω is given by, P = T

where ω is measured in radians per unit time. If the shaft is rotating with a

Frequency of (f) revolutions per unit time, then  = 2f

Therefore P
T=
2f

P( watts) P ( hp)
T ( N − m) = T (lb − in) =
2f ( Hz) f (rev / min)
 e. STATICALLY INDETERMINATE
PROBLEMS
The procedure for solving statically indeterminate torsion problems is similar to
the steps for axially loaded bars:

1. Draw the required FBD and write the equations of EQUILIBRIUM.

2. Derive the COMPATIBILTY equations from the restrictions imposed on the

angles of twist.

3. Use TORQUE-TWIST RELATIONSHIPS to express the angles of twist in

the compatibility equations in terms of torques.

4. Solve the equations of equilibrium and compatibility for the torques.

 Problem 1
The figure shows a 2-in-diameter solid steel cylinder that is built into the
support at C and subjected to the torques T and T (1) Determine the
A B

maximum shear stresses in segments AB and BC of the cylinder; and (2)

compute the angle of rotation of end A. Use G = 12 000 000 psi for steel.
 Problem 2
The shaft in the figure consists of a 3-in-diameter aluminum segment that is
rigidly joined to a 2-in-diameter steel segment . The ends of the shaft are
attached to rigid supports. Calculate the maximum shear stress developed in
each segment when the torque T = 10 kip-in is applied. Use G = 4 000 000 psi
for aluminum and G = 12 000 000 psi for steel.
 Problem 3
The four rigid gears, loaded as shown, are attached to a 2-in-diameter steel
shaft . Compute the angle of rotation of gear A relative to gear D. Use G = 12
000 000 psi for the shaft.
 Problem 4
A solid steel shaft in a rolling mill transmits 20 kW of power at 2 Hz. Determine
the smallest safe diameter of the shaft if the shear stress is not to exceed 40
Mpa and the angle of twist is limited to 6 degrees in a length of 3 meters. Use
G = 83 Gpa.
 TORSION OF THIN-WALLED TUBES
Although torsion of non-circular shafts requires advanced method of analysis,
fairly simple approximate formulas are available for thin-walled tubes. Such
members are common in construction where lightweight is of paramount
importance.

FORMULAS:

TL ds
q = t
4GAo2 S t
=

T
q= TLS
2 Ao = 2
(cons tan t t )
4GAo t
 PROBLEM 1
A steel tube with the cross-section shown carries a torque T. The tube is 6 ft
long and has a constant wall thickness of 3/8 in. (1) Compute the torsional
stiffness k= T/θ of the tube. (2) If the tube is twisted through 0.5°, determine the
shear stress in the wall of the tube. Use G= 12 000 000 psi, and neglect stress
concentration at the corners.
 PROBLEM 2
An aluminum tube, 1.2 meter long, has the semicircular dross-section shown in
the figure. If stress concentrations at the corners are neglected, determine (1)
the torque that causes a maximum shear stress of 40 Mpa, and (2) the
corresponding angle of twist of the tube. Use G = 28 Gpa for aluminum.
TORSION OF RECTANGULAR BARS
The analysis of circular shaft was based
upon the assumption that plane cross
sections remain plane and are undistorted.

If the cross-section of the shaft is not

circular, experiments show that the cross
sections distort and do not remain plane

The distortion of a rectangular bar caused

by the torque T as shown in the figure the
deformations are:
1. The cross sections become distorted.
2. The shear strain is zero at the edges of
the bar and the largest at the middle of
the sides.
 FORMULAS
T
 max = 2
C1ab
TL
= 3
C2 ab G
 PROBLEM 1
The wooden bar consists of two segments, each of length L. One segment has
a square cross section of width d; the cross section of the other segment is a
circle of diameter d. The working stress for wood is 5 Mpa and the shear
modulus is 0.5 Gpa. Using L= 0.60 meters and d = 50 mm, determine (1) the
largest torque T that can safely applied and (2) the corresponding angle of twist
for the bar.
 THIN-WALLED PRESSURE VESSELS
A pressure vessel is a pressurized container, often cylindrical or spherical . The
pressure acting on the inner surface is resisted by tensile stresses in the walls
of the vessel.
 CYLINDRICAL VESSELS
Under cylindrical vessel the tensile stresses in the wall that resist the internal
pressure are the longitudinal stress and the circumferential stress also known as
hoop stress.
Longitudinal stress: cut the plane along cross-sectional plane.
Circumferential stress: cut the plane along diametral plane.

pr
c =
t

pr
t =
2t
Comparing the two equations, we see that the circumferential stress is twice as
large as the longitudinal stress

It follows that if the pressure in a cylinder is raised to the bursting point, the
vessel will split along a longitudinal line. Thus,

When a cylindrical tank is manufactured

From curved sheets that are riveted together
The strength of longitudinal joints should be
Twice the strength of girth joints.
SPHERICAL VESSEL

pr
=
2t
 PROBLEM 1
A cylindrical steel pressure vessel has hemispherical end-caps. The inner
radius of the vessel is 24 in and the wall thickness is constant at 0.25 in. When
the vessel is pressurized to 125 psi, determine the stresses and the change in
the radius of (1) the cylinder; and (2) the end-caps. Use E= 29 000 000 psi and
ν=0.28 for steel.
 PROBLEM 2
A spherical weather balloon is made of 0.2-mm-thick fabric that has a tensile
strength of 10 Mpa. The balloon is designed to reach an altitude where the
internal pressure is 1500 Pa above the atmospheric pressure. Find the largest
allowable diameter of the balloon, using 1.2 as the factor of safety.
 PROBLEM 3
The pipe carrying steam at 3.5 Mpa has an outer diameter of 450 mm and a
wall thickness of 10 mm. A gasket is inserted between the flange at one end of
the pipe, and a flat plate is used to cap end. (a) How many 40-mm-diameter
bolts must be used to hold the cap on if the allowable stress in the bolts is 80
Mpa, of which 55 Mpa is the initial stress? (b) What is the circumferential stress
developed in the pipe?
FA-6 TORSION
 PROBLEM 1
The steel shaft is formed by attaching a hollow shaft to a solid shaft . Determine
the maximum torque T that can be applied to the ends of the shaft without
exceeding a shear stress of 70 Mpa or an angle of twist of 2.5 degrees in the
3.5 meter length. Use G = 83 Gpa for steel.
 PROBLEM 2
Four pulleys are attached to the 50-mm-diameter aluminum shaft . If torques
are applied to the pulleys to the pulleys as shown in the figure, determine the
angle of rotation of pulley D relative to pulley A. Use G = 28 Gpa for aluminum.
 Problem 3
A hollow steel propeller shaft, 18 ft long with 14-in outer diameter and 10-in
inner diameter, transmits 5000 hp at 189 rev/min. Use G = 12 000 000 psi for
steel. Calculate (a) the maximum shear stress; and (b) the angle of twist of the
shaft.

Problem 4
A solid steel shaft transmits 20 hp while running at 120 rev/min. Find the
smallest safe diameter of the shaft if the shear stress is limited to 5000 psi
and the angle of twist of the shaft is not to exceed 9 degrees in a length of 10
ft. Use G = 12 000 000 psi for steel.
5. A spherical shell with 70-in outer diameter and 67-in inner diameter contains
helium at a pressure of 1200 psi. Compute the stress in the shell.
6. A spherical pressure vessel has a 1.5-ft inner radius and 3/16-in wall thickness. If
the working tensile stress of the material is 6000 psi, determine the maximum
allowable internal pressure.
7. The ends of the 3-in inner diameter bronze tube are attached to rigid walls.
Determine the longitudinal and circumferential stress when the tube is
pressurized to 400 psi. Use E= 12 000 000 psi and v= 1/3 for bronze. Neglect
localized bending at the ends of the tube.

8. The cylindrical pressure vessel with hemispherical end-caps is made of steel.

The vessel has a uniform thickness of 18 mm and an outer diameter of 400
mm. When the vessel is pressurized to 3.6 Mpa, determine the change in the
overall length of the vessel. Use E = 200 Gpa and v=0.30 for steel. Neglect
localized bending.