Mechanics of Materials

Eleventh Edition

Chapter 5
Torsion

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Learning Objectives (Section 5.1-5.5)
5.1 Determine the shear stresses in a circular shaft due to
torsion
5.2 Determine the angle of twist
5.3 Analyze statically indeterminate torque-loaded members

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In-Class Activities (1 of 2)
1. Reading Quiz
2. Applications
3. Torsion Formula
4. Angle of Twist
5. Statically indeterminate torque-loaded members
6. Concept Quiz

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Reading Quiz (1 of 4)
1. Given the angle of rotation is small and the materials
remain linear elastic, which statement below is incorrect
for the torsional behavior of a long straight circular shaft.
a. Section-shape remains unchanged
b. Straight member remains straight
c. Plane section remains plane
d. End of member may wrap

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Reading Quiz (2 of 4)
2. The unit for a shaft’s polar moment of inertia J is:

a. kPa
b. m4
c. m2
d. m3

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Applications (1 of 2)

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Torsion Formula (1 of 4)
• Assumptions:
– Linear and elastic deformation
– Plane section remains plane and undistorted
Figure 5.1

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Torsion Formula (2 of 4)
Figure 5.2 Figure 5.1b
Notice the deformation of the
rectangular element when
this rubber bar is subjected to
a torque.

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Torsion Formula (3 of 4)

• Linear distribution of stress:  =  max
c
• Torsion – shear relationship: Figure 5.5
 Shear stress varies linearly
T =   ( )dA =     max dA
A A c along radial line of the cross
section
 max
T =  dA
 2

c A

Tc
 max =
J
T
Similarity,  =
J

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Torsion Formula (4 of 4)
• Polar moment of inertia
C
 1
C C
– For solid shaft: J =   2dA =   2 ( 2 d  ) = 2   3d  = 2    4
A 0 0 4 0

J= c4
2

– For tubular shaft: J =
2
( c 4
o − ci4 ) Figure 5.7b

Figure 5.6 Figure 5.7a

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Example 1 (1 of 4)
The pipe shown in Figure 5.12a has an inner diameter of 80
m m and an outer diameter of 100 m m . If its end is tightened
illi eter illi eter

against the support at A using a torque wrench at B,

determine the shear stress developed in the material at the
inner and outer walls along the central portion of the pipe
when the 80-N forces are applied to the wrench.

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Example 1 (2 of 4)
Solutions
• The only unknown at the section is the internal torque T
 M y = 0;

80 ( 0.3 ) + 80 ( 0.2 − T ) = 0

T = 40 N  m

• The polar moment of inertia for the pipe’s cross-sectional

area is

( 0.05 ) − ( 0.04 )  = 5.796 (10 −6 ) m4
4 4
J=
2 

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Example 1 (3 of 4)
• For any point lying on the outside surface of the pipe,
 = c0 = 0.05 m

Tc0 40 ( 0.05 )
0 = = = 0.345 MPa (Ans)
J (
5.796 10 )
−6

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Example 1 (4 of 4)
• And for any point located on the inside surface,  = ci = 0.04 m

Tci 40 ( 0.04 )
i = = = 0.276 MPa (Ans)
J (
5.796 10 −6
)
• The resultant internal torque is equal but opposite.
Figure 5.12

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Angle of Twist (1 of 2)

dx
d = 

T (x)
d = dx
J ( x )G

• For constant torque and cross-sectional area:

TL
=
JG
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Angle of Twist (2 of 2)
• Sign convention for both torque and angle of twist
– positive if (right hand) thumb directs outward from the
shaft
Figure 5.15

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Example 2 (1 of 6)
The two solid steel shafts are coupled together using the
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 m m . illi eter

Figure 5.20

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Example 2 (2 of 6)
Solutions
• From free body diagram,
F = 45 / 0.15 = 300 N
(TD )x = 300 ( 0.075 ) = 22.5 Nm
• Angle of twist at C is

C =
TLDC
=
( +22.5 )(1.5 ) = + 0.0269 rad
( 2 )( 0.001) 80 (10 ) 
4 9
JG

• 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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Example 2 (3 of 6)
• 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 4
(
( 2 )( 0.010 ) 80 10 
9
)
• The rotation of end A is therefore

A = B + A / B = 0.0134 + 0.0716 = + 0.0850 rad (Ans)

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Statically Indeterminate Torque-
Loaded Members (1 of 2)
• 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.
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Statically Indeterminate Torque-
Loaded Members (2 of 2)
• Express the compatibility condition in terms of the
rotational displacements caused by the reactive torques,
and then use a torque-displacement relation, such as
 = 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.

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Example 3 (1 of 3)
The solid steel shaft shown in Figure 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.

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Example 3 (2 of 3)
Solutions
• It is seen that the problem is statically indeterminate since
there is only one available equation of equilibrium and
there are 2 unknowns
 Mx = 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
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Example 3 (3 of 3)
• 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 Equation 1,
TA = −345 N  m

• The negative sign indicates

that acts in the opposite
direction of that shown in
Figure 5.23b.

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Concept Quiz (1 of 2)
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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Learning Objectives (Section 5.6-5.10)
5.6 Deal with solid non-circular shafts and thin-walled tubes
5.7 Deal with stress concentration
5.8 Appreciate inelastic torsion
5.9 Deal with residual stress

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In-Class Activities (2 of 2)
1. Reading Quiz
2. Applications
3. Solid non-circular shafts

4. Thin-walled tubes
5. Stress concentration

6. Inelastic torsion

7. Residual stress

8. Concept Quiz

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Reading Quiz (3 of 4)
1. Which statement below is incorrect?
Inelastic torsion of a circular shaft leads to
a. non-linear distribution of shear stress
b. plane section remaining plane
c. change of sectional shape
d. wrapping at the end of member

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Reading Quiz (4 of 4)
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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Applications (2 of 2)

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Solid Non-Circular Shafts (1 of 3)

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Solid Non-Circular Shafts (2 of 3)
Figure 5.Table.1

Shape of cross section  max tau sub max

 Phi

4.81T 7.10 TL
a3
A diagram of a shaded square with sides of length a. The midpoint of each side is marked. An equation reads start fraction numerator: 4.81 T, denominator: a superscript 3 end fraction. An equation reads start fraction numerator: 7.10 T L, denominator: a superscript 4 baseline G, end fraction.

a 4G

A diagram of a shaded triangle with sides of length a. The midpoint of each side is marked.
20 T 46 TL
An equation reads start fraction numerator: 20 T, denominator: a superscript 3 end fraction. An equation reads start fraction numerator: 46 T L, denominator: a superscript 4 baseline G, end fraction.

a3 a 4G

2T (a 2
+ b 2 TL )
 ab 2  a3 b3G
A diagram of a shaded ellipse with a horizontal major axis. The ellipses topmost and bottommost points are marked. Distance b separates the ellipses center from both the topmost and bottommost points, and distance a separates the center from both the left and right vertices of the ellipse. An equation reads start fraction numerator: 2 T, denominator: pi, a, b squared, end fraction. An equation reads start fraction numerator: left parenthesis a squared baseline plus b squared right parenthesis T L, denominator: pi, a cubed, b cubed, G, end fraction.

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Solid Non-Circular Shafts (3 of 3)

Figure 5.26

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Example 1 (1 of 3)
The 6061-T6 aluminum shaft shown in Figure 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 allow = 0.02 rad. How much torque can be
applied to a shaft of circular cross section made from the same
amount of material?
Figure 5.27

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Example 1 (2 of 3)
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

 allow
46T
= 4 ; 0.02 =
(
46T (1.2 ) 103 )  T = 24.12 Nm (Ans)
a Gal (
40 26 103 
4
)
Figure 5.27
• By comparison, the torque is
limited due to the angle of twist.

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Example 1 (3 of 3)
Solutions

• For circular cross section, we have

1
Acircle = Atriangle ;  c2 = ( 40 )( 40 sin60 )  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
( / 2 )(14.85 )
4
J

allow =
TL
; 0.02 =
(
T (1.2 ) 103 )  T = 33.10 Nm (Ans)
JGal (
( / 2 )(14.85 ) 26 103 
4
)
• 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
f = Ñt
4 Am2 G ò
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Example 2 (4 of 6)
The tube is made of C86100 bronze and has a rectangular
cross section as shown in Figure 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.
Figure 5.30

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Example 2 (5 of 6)
Solutions
• As shown in Figure 5.30d, the
mean area is
Am = ( 0.035 )( 0.057 ) = 0.002 m2

• Applying Equation 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 )

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Example 2 (6 of 6)
Solutions
• From the free-body diagrams in Figure
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) é æ57 ö æ35 öù

òÑ ê2 çç ÷ ÷ 2 çç ÷ ú
çè 3 ø÷
f = = ÷+ ÷ú
2
4 AmG t 2
é 9 ùê
4 (0.002) ê38 (10 )úë è 5 ø ç
ë û û
35 (1.5) é æ57 ö æ35 ö÷ù
+ ê2 çç ÷÷+ 2 çç ÷ú
é 9 ùê ç
4 (0.002) ê38 (10 )úë è 5 ø
2 ÷ èç 3 ø÷ú
ë û û
= 6.29 (10- 3 ) rad (Ans)

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Stress Concentration
• Stress concentration factor K:
Figure 5.32

Tc
• Maximum shear stress:  max = K
J Click here to home
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Example 3 (1 of 2)
The stepped shaft shown in Figure 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 m m . illi eter

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Example 3 (2 of 2)
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   = 3.10 MPa (Ans)
 ( 2 )( 0.020 ) 
4
J

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Inelastic Torsion (1 of 2)
• Elastic Plastic Torque: Figure 5.35

c
T = 2   2d 
0

 2Y
  2 c
   2
= 2   Y  d  + 2  
 Y  Y  d 
0 
Y  Y  Y 
Y
2
c
= Y   d  + 2   d 
3 2

Y 0
Y
Y

 2
=  Y Y 4 +  Y ( c 3 − Y 3 )
2 Y 3

= Y ( 4c 3 − Y 3 )
6

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Inelastic Torsion (2 of 2)
• Plastic Torque:

2
c
T = 2   Y  2d  = Y c 3
0
3

• Ultimate Torque:
2
T = 2   d 
A

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Example 4 (1 of 3)
A solid circular shaft has a radius of 20 m m and length of 1.5
illi eter

m. The material has an elastic–plastic diagram as shown in

Figure 5.40a. Determine the torque needed to twist the shaft
 = 0.6 rad.

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Example 4 (2 of 3)
Solutions
• The maximum shear strain occurs at the surface of the
shaft,
L  max (1.5 )
 = ; 0.6 =   max = 0.008 rad
 ( 0.02 )
• The radius of the elastic core can be obtained by
Y 0.02
=  Y = 0.004 m = 4 mm
0.0016 0.008

• Based on the shear–strain distribution, we have

 Y  75 (106 ) 
T =
6
( )
4c 3 − Y3 =
6
 4 ( 0.02 )3 − 0.0043  = 1.25 kNm (Ans)
 

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Example 4 (3 of 3)

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Residual Stress
• Residual stress due to stress reversal after stressed
beyond elastic range:
Figure 5.36

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Example 5 (1 of 3)
A tube in Figure 5.41a has a length of 1.5 m m and the illi eter

material has an elastic- plastic diagram, also shown in

Figure 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 (2 of 3)
Solutions
• The stress distribution will appear as
shown in Figure 5.41b.
• Applying Equation 5–23, we have
2
c0

Tp = 2   Y  2d  =
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

Equation 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 (3 of 3)
• In Figure 5.41c the maximum shear stress or the modulus of
rupture is found from the torsion formula

r =
Tp co
=
(19.24 )( 0.05 )
J ( / 2 ) ( 0.054 − 0.0254 )
(
= 104.52 103 kN/m2 )
= 104.52 MPa
• Also, at the inner wall of the
Figure 5.41
tube the shear stress is
 25 
 i = 104.52   = 52.26 MPa (Ans)
 50 

• The resultant residual shear-

stress distribution is shown in
Figure 5.41d.
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Concept Quiz (2 of 2)
1. The keyway shown below is used to connect gears or
pulleys to a shaft.
The maximum shear stress will occur at
a. the centre
b. the circumference
c. the point (dot) indicated
d. None of the above

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