MECHANICS OF MATERIALS (I)

TORSION

Dr. Jung-San Chen

Department of Engineering Science
National Cheng Kung University
TORSIONAL LOADS ON CIRCULAR SHAFTS
Interested in stresses and strains of circular shafts

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subjected to twisting couples or torques (right-hand rule)
Turbine exerts torque T on the shaft

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TORSIONAL LOADS ON CIRCULAR SHAFTS
Shaft transmits the torque to the generator

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Generator creates an equal and opposite torque T

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TORSIONAL TEST

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NET TORQUE DUE TO INTERNAL STRESSES

Net of the internal shearing stresses is an internal

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torque, equal and opposite to the applied torque,

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NET TORQUE DUE TO INTERNAL STRESSES
Distribution of shearing stresses is statically

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indeterminate must consider shaft deformations

T = dF = ( dA)

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AXIAL SHEAR COMPONENTS
Torque applied to shaft produces shearing stresses on

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the faces perpendicular to the axis.

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 SHAFT DEFORMATIONS
From observation, the angle of twist of the shaft is

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proportional to the applied torque and to the shaft length.

T
L

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SHAFT DEFORMATIONS
When subjected to torsion, every cross-section of a

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circular shaft remains plane and undistorted.

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 It follows that

L or

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= =
L
: radius
Shear strain is proportional to
radius

c
max = and = max
L c

=c
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 Shear strain in a circular bar
max

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( ) ( ) = max .. linear
c

o max = =c
c
min = =0

Shear strain in a circular tube

min
c1
c1 o min = max
c2
c2
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 STRESSES IN ELASTIC RANGE
Multiplying the previous equation by the shear modulus,

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G = G max Recall : = max
c c

From Hookes Law, = G , so max

( )

( ) = max .. linear o
c
r

The shearing stress varies linearly with the radial position

in the section.
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STRESSES IN ELASTIC RANGE
Recall that the sum of the moments from the internal

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stress distribution is equal to the torque on the shaft at
the section,
max 2
= dM (= dA) max= dA dA
c c
dA
max 2 max
=T =
dM =
dA J
c c
c
The results are known as the elastic torsion formulas,

Tc T
max = and = J : polar moment of inertia
J J J.S. Chen
POLAR MOMENT OF INERTIA

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c c2
=J =
dA 2
(2 )d
2
=J =
dA 2
2 (2 )d
A 0 A c1

= c4 / 2 = (c24 c14 ) / 2
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NORMAL STRESSES
Elements with faces parallel and perpendicular to

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the shaft axis are subjected to shear stresses only.
Normal stresses, shearing stresses or a combination
of both may be found for other orientations.

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ANALYSIS OF STRESSES ON INCLINED PLANES
A0 sec

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A0 sec
a b
A0
c d 90

A0 tan
(a) (b) (c)

(a) Element in pure shear

(b) Stresses acting on a triangular stress element
(c) Forces acting on the triangular stress element

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ANALYSIS OF STRESSES ON INCLINED PLANES
Force equilibrium:

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=
A0 sec A0 sin + A0 tan cos =
A0 sec A0 cos A0 tan sin
or or
= 2 sin cos = (cos 2 sin 2 )

[Note]: trigonometric identities

=
sin 2 2sin cos , cos
= 2 cos 2 sin 2

Then the equations for and become

= sin 2

= cos 2

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ANALYSIS OF STRESSES ON INCLINED PLANES

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 NORMAL STRESSES =45
= sin 2 =

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= =
cos 2 0

Element a is in pure
shear.

Element c is subjected to a tensile stress on two faces

and compressive stress on the other two.

Note that all stresses for elements a and c have the same
magnitude
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FAILURE MODES
Ductile materials generally fail in shear.

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Brittle materials are weaker in tension than
shear.
When subjected to torsion, a ductile specimen breaks
along a plane of maximum shear, i.e., a plane
perpendicular to the shaft axis.

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 FAILURE MODES
When subjected to torsion, a brittle specimen breaks

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along planes perpendicular to the direction in which
tension is a maximum, i.e., along surfaces at 45o to the
shaft axis.

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ANGLE OF TWIST IN ELASTIC RANGE
Recall that the relation between

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the angle of twist and maximum
c
shearing strain is max =
L
In the elastic range, the shearing
strain and shear are related by
Hookes Law,
max Tc
max = =
G JG
Equating the expressions for shearing strain and solving
for the angle of twist, = TL
JG
kT = GJ L : torsional stiffness fT = L GJ : torsional flexibility
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NON-UNIFORM TORSION

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If the torsional loading or shaft cross-section changes
along the length, the angle of rotation is found as the sum
of segment rotations
Ti Li
= Ti : internal torque
i J i Gi
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 NON-UNIFORM TORSION
Sign convention for the internal torque:

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An internal torque is positive when its vector away from
the cut section and negative when its vector points toward
the section
(+) (+) (-) (-)
TBE cBE TBE LBE
( max ) BE = BE =
J BE J BE GBE
T c TED LED
( max ) ED = ED ED ED =
J ED J ED GED
TDC cDC TDC LDC
( max ) DC = DC =
J DC J DC GDC
T c TCA LCA
( max )CA = CA CA CA =
J CA J CAGCA
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NON-UNIFORM TORSION
The maximum stress in the entire bar:

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max = Maximum (( max ) BE , ( max ) ED , ( max ) DC , ( max )CA )

The total angle of twist:

= BE + ED + DC + CA
If there exists n segments:
max = Maximum (( max )1 , ( max ) 2 , ....., ( max ) n )
n n
Ti Li
=
= i
i i J i Gi

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SHAFT WITH A VARYING CROSS SECTION
T is a constant

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Tdx L L Tdx

d=
J ( x)G
= 0

d= 0 J ( x)G
max occurs at the smallest cross section
T is not a constant
T ( x)dx L L T ( x)dx

d=
J ( x)G
=
0

d=
0 J ( x)G
T ( x )c ( x )
max ( x) =
J ( x)
If T ( x) , c( x) , J ( x) are found, we can determine
max = Maximum (( max )( x))
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RELATIVE ANGLE OF TWIST

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STATIC INDETERMINACY
Statically Determinate Problems:

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The internal forces can be obtained from the
equilibrium equations
Statically Indeterminate Problems:
The internal forces can not be obtained from
the equilibrium equations. It has to consider
the deformation geometry (boundary
condition).
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EXAMPLE
The bar ACB is fixed at both ends and
dA dB loaded by a torque T0 at point C. Segments

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C AC and CB of the bar have diameters dA
and dB , lengths LA and LB, polar moment of
inertia JAC and JCB. Obtain formulas for the
A T0 B reactive torques TA and TB
LA LB
Note: Please use superposition method

LB J AC
TA = T0
B AC
L J + L A CB
J
LA J CB
TB = T0
LB J AC + LA J CB
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STATICALLY INDETERMINATE TORSIONAL
MEMBERS

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Tube (2) T = + Tube (2)
Bar (1) Bar (1) T1 T2
Tube (2) 1 Tube (2)
2
Rigid disk
Equation of equilibrium:T1 + T2=T
Equation of compatibility: = 1 =
2
T1 L T2 L
=
Torque-displacement relations: 1 = , 2
G1 J1 G2 J 2
G1 J1 G2 J 2
T1 = T , T2 T
G1 J1 + G2 J 2 G1 J1 + G2 J 2
TL
=
G1 J1 + G2 J 2 J.S. Chen
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RELATIVE ANGLE OF TWIST

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J.S. Chen