MEC211 STRENGTH OF MATERIALS

CHAPTER 3: TORSION OF SOLID AND HOLLOW

CIRCULAR SECTION
Edited by L.R. on March 2018
CONTENT
3.0 Torsion of solid and hollow circular section (6h)
3.1 Torsional Deformation of a circular shaft
3.2 Torsion formula, Angle of Twist, Statically
Indeterminate Shafts
3.3 Power Transmission Shafts

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 LEARNING OUTCOME

The end of the chapter, the students should be able to:

✓ Calculate shear stress, shear strain, angle of twist and

power in the shafts subjected to torsional loads.
✓ Solve statically determinate and indeterminate torsional
load problems for reactions and deformation
✓ Solve power transmission shafts

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 3.0 INTRODUCTION
Circular shaft
Circular Shaft – are commonly used to transmit power in rotating
power machinery.

4
 3.0 INTRODUCTION
Circular shaft - Application

5
 3.0 INTRODUCTION
Shaft Failure
Torsional Failure

6
 3.0 INTRODUCTION
Solid and Hollow circular shaft

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 3.0 INTRODUCTION
TORQUE
Torque is a measure of how much a force acting on an object causes that object to rotate.

8
 3.0 INTRODUCTION
REVIEW: MOMENT

Couple moment
9
 3.0 INTRODUCTION
The polar moment of inertia, J also known as second polar moment of area,
is a quantity used to describe resistance to torsional deformation (deflection).

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 3.0 INTRODUCTION
Which object will finish first? All are equal mass and radius.

• The higher the moment

of inertia of an object,
the greater its resistance
to a change in rotational
motion.
• Moment of inertia is
determined by the
amount of mass and its
distance from the axis of
rotation.

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 3.0 INTRODUCTION
The polar moment of inertia, J also known as second polar moment of area,
is a quantity used to describe resistance to torsional deformation (deflection).

Moment of Inertia Polar Moment of Inertia

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3.1 The Torsional Deformation

Net of the internal shearing stresses is an

internal torque, equal and opposite to the
applied torque,

𝑇 = න 𝜌 𝑑𝐹 = න 𝜌 (𝜏 𝑑𝐴 )

𝑤ℎ𝑒𝑟𝑒 𝜏 = 𝑠ℎ𝑒𝑎𝑟 𝑠𝑡𝑟𝑒𝑠𝑠

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 3.1 The Torsional Deformation
➢ Unlike the normal stress due to axial loads, the
distribution of shearing stresses due to torsional
loads can not be assumed uniform.
➢ From observation, the angle of twist of the shaft is
proportional to the applied torque and to the shaft
length.

➢ Cross-sections for hollow and solid circular shafts

remain plain and undistorted because a circular
shaft is axisymmetric.

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3.2 The Torsion Formula (shear stress)
➢ Consider an interior section of the shaft. As a torsional load
is applied, an element on the interior cylinder deforms into a
rhombus.
➢ Since the ends of the element remain planar, the shear
strain is equal to angle of twist.
𝐵𝑦 𝑎𝑝𝑝𝑙𝑦𝑖𝑛𝑔 𝑐𝑜𝑛𝑐𝑒𝑝𝑡 𝑜𝑓 𝑠 = 𝑟𝜃;
𝜌 [1]
𝐿𝛾 = 𝜌∅ 𝛾= ∅
𝐿
𝑤ℎ𝑒𝑟𝑒 𝐿 = 𝑙𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑡ℎ𝑒 𝑠ℎ𝑎𝑓𝑡, 𝛾 = sheart strain,
ρ = 𝑟𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑠ℎ𝑎𝑓𝑡, ∅ = 𝑎𝑛𝑔𝑙𝑒 𝑜𝑓 𝑡𝑤𝑖𝑠𝑡

➢ From the above equation, we can see that shear strain is

proportional with angle of twist. As the maximum shear
stress appear at the outer radius, equation [1] become
𝑐 𝜌
𝛾𝑚𝑎𝑥 = ∅ 𝛾 = 𝛾𝑚𝑎𝑥 [2]
𝐿 𝑐 15
 3.2 The Torsion Formula (shear stress)
• Multiplying the equation [2] by the shear modulus, G; Torsional shear stress;
𝜌 𝜏𝑚𝑎𝑥
𝐺𝛾 = 𝛾𝑚𝑎𝑥 𝐺 [3] 𝑇= (𝐽)
𝑐 𝑐
• By applying Hooke’s Law; 𝜏 = 𝐺𝛾 , equation [3] becomes
𝜌
𝜏 = 𝜏𝑚𝑎𝑥 𝑇𝑐 𝑇𝜌
𝑐 𝜏𝑚𝑎𝑥 = or 𝜏 =
• Recall, 𝑇 = ‫) 𝐴𝑑 𝜏( 𝜌 ׬ = 𝐹𝑑 𝜌 ׬‬
𝐽 𝐽
𝜌 𝜏𝑚𝑎𝑥 Where
𝑇 = න 𝜌 (𝜏 𝑑𝐴 ) = න 𝜌 𝜏𝑚𝑎𝑥 𝑑𝐴 = න 𝜌2 𝑑𝐴 T = internal torque, N.m
𝑐 𝑐
c = outer radius, m
Polar moment of inertia, J
ρ = intermediate radius / inner radius, m
J = polar moment of inertia, m4

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 3.2 The Torsion Formula (shear stress)
Torsional shear stress diagram → maximum shear stress appear at the outer radius

Solid shaft: Hollow shaft:

Polar moment Polar moment

of inertia: of inertia:
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 3.2 The Angle of Twist
• Recall that the angle of twist and maximum shearing strain are
related,
𝑐 [4]
𝛾𝑚𝑎𝑥 = ∅
𝐿
• In the elastic range, the shearing strain and shear are related by
Hooke’s Law;
𝜏𝑚𝑎𝑥 𝑇𝑐
𝛾𝑚𝑎𝑥 = = [5]
𝐺 𝐽𝐺
• Relate equation [4] and [5];

Angle of twist; 𝑇𝐿 Unit: radian

∅=
𝐽𝐺 Where
T = internal torque (N.m.),
L = length of the section of the shaft (m);
J = polar moment of inertia (m4),
G = shear modulus (GPa)
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 3.2 The Angle of Twist

If the torsional loading or shaft cross-section changes along the length,

the angle of rotation is found as the sum of segment rotations;

Angle of twist: 𝑇𝑖 𝐿𝑖
∅=෍
𝐽𝑖 𝐺𝑖
𝑖

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3.2 The Angle of Twist
To obtain the total angle of twist; the specimen must be cut to several section if there is
➢ variation in length, L;
➢ variation in polar moment of inertia, J - radius;
➢ variation in material, G;
➢ different in external torsion, T

Direction to cut:
• If free-free – cut from left to right
(depends on the question)
• If free-fixed – cut from free to fixed

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3.2 The Angle of Twist
Example;
2 3
1
2

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 3.2 The Angle of Twist
Sign Convention (for internal torque)
We will use the right-hand rule,
whereby both the internal torque
and angle will be positive ,
provided the thumb is directed
outward from the
shaft/surface when the fingers curl
to give the tendency for rotation.

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3.2 The Angle of Twist
1

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 EXAMPLE 1 (shear stress)
The pipe shown has an inner diameter of 80 mm and an outer diameter of 100 mm. If its
end is tightened 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.

Answer: 𝜏𝑜 = 0.345 𝑀𝑃𝑎, 𝜏𝑖 = 0.276 𝑀𝑃𝑎

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 EXAMPLE 2 (shear stress)
The torques shown are exerted on pulleys A and B. Knowing that both shafts
are solid, determine the maximum shearing stress (a) in shaft AB, (b) in shaft
BC.

Answer: 𝜏𝐴𝐵 = 56.6 𝑀𝑃𝑎, 𝜏𝐵𝐶 = 36.6 𝑀𝑃𝑎

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 EXAMPLE 3 (shear stress)
Determine the maximum shear stress developed in the 40-mm-diameter
shaft.

Answer: 𝜏𝑚𝑎𝑥 = 47.7 𝑀𝑃𝑎,

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EXAMPLE 4 (shear stress)
The 150-mm-diameter shaft is supported by a smooth journal bearing at E and a
smooth thrust bearing at F. Determine the maximum shear stress developed in
each segment of the shaft.

Answer: 𝜏𝐴𝐵 = 22.6 𝑀𝑃𝑎, 𝜏𝐵𝐶 = 67.9 𝑀𝑃𝑎,

𝜏𝐶𝐷 = 45.3 𝑀𝑃𝑎
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EXAMPLE 5 (angle of twist)
The 20-mm-diameter A-36 steel shaft is subjected to the torques
shown. Determine the angle of twist of the end B.

Answer: ∅ = −1.0002 𝑟𝑎𝑑

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 EXAMPLE 6 (angle of twist)

The A-36 steel axle is made from tubes AB and

CD and a solid section BC. It is supported on
smooth bearings that allow it to rotate freely. If
the gears, fixed to its ends, are subjected to 85-
N m torques, determine the angle of twist of
gear A relative to gear D. The tubes have an
outer diameter of 30 mm and an inner
diameter of 20 mm. The solid section has a
diameter of 40 mm.

Answer: ∅ = 0.01534 𝑟𝑎𝑑

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 EXAMPLE 7 (angle of twist)

The shaft is made of A992 steel. It has

a diameter of 25 mm and is supported
by bearings at A and D, which allow
free rotation. Determine the angle of
twist of gear B with respect to D.

Answer: ∅ = 1.34°

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 EXERCISE
a) The A-36 steel shaft is supported on smooth
bearings that allow it to rotate freely. If the
gears are subjected to the torques shown,
determine the maximum shear stress
developed in the segments AB and BC. The
shaft has a diameter of 40 mm.
Answer: 𝜏𝐴𝐵,𝑚𝑎𝑥 = 23.9 𝑀𝑃𝑎, 𝜏𝐵𝐶,𝑚𝑎𝑥 = 15.9 𝑀𝑃𝑎

a) The A-36 steel shaft is supported on smooth

bearings that allow it to rotate freely. If the
gears are subjected to the torques shown,
determine the required diameter of the shaft to
the nearest mm if 𝜏𝑎𝑙𝑙𝑜𝑤𝑎𝑏𝑙𝑒 = 60 MPa.

Answer: d = 30 mm

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 3.2 Statically Indeterminate Shafts
• It means that there are more unknowns (torsion/moment) than equations
of equilibrium to solve for the unknowns.

Example;

A shaft is applied by a torque T at C.

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 3.2 Statically Indeterminate Shafts
1st step: By drawing the FBD and apply equation of equilibrium,

[1]

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 3.2 Statically Indeterminate Shafts
2nd step: Apply compatibility equation
Assuming A is free and B is fixed, get the compatibility equation as;

∅𝐴/𝐵 = ∅𝐿 + ∅𝐶 = 0 [2]

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 3.2 Statically Indeterminate Shafts
3rd step: Apply angle of twist deformation equation;

−𝑇𝐿𝐵𝐶 [3]
∅𝐿 =
𝐽𝐺

−𝑇𝐴 𝐿𝐴𝐵 [4]

∅𝐶 =
𝐽𝐺

4th step: Solve the unknown by substituting Eq 3 and 4 into 2 and 1.

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 3.2 Statically Indeterminate Shafts
4th step: Solve reaction torque at support substituting equation 3 and 4 into 2;

−𝑇𝐿𝐵𝐶 [3]
∅𝐿 =
𝐽𝐺

−𝑇𝐴 𝐿𝐴𝐵 [4]

∅𝐶 =
𝐽𝐺

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 3.2 Statically Indeterminate Shafts
EXAMPLE 1
The solid steel shaft shown 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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 3.3 Power of Shaft
• Shafts and tubes having circular cross sections are often used to transmit power
developed by a machine. When used for this purpose, they are subjected to a
torque that depends on the power generated by the machine and the angular speed
of the shaft.
• Power is defined as the work performed per unit of time;
𝑾𝒐𝒓𝒌, 𝑾
𝑷𝒐𝒘𝒆𝒓, 𝑷 =
𝒕𝒊𝒎𝒆, 𝒕
where 𝑊𝑜𝑟𝑘, 𝑊 = 𝑇𝑜𝑟𝑞𝑢𝑒, 𝑇 × 𝐴𝑛𝑔𝑙𝑒 𝑜𝑓 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛, 𝜃

𝑾 𝑻𝒅𝜽
Thus, 𝑷= =
𝒅𝒕 𝒅𝒕

𝑷 = 𝑻𝝎 Unit: watt, (W)

T = torque (N.m.)
ω= angular velocity (rad/s) 38
 3.3 Power of Shaft
Power of shaft;
𝑷 = 𝑻𝝎 ω= angular velocity (rad/s)

or
𝑷 = 𝟐𝝅𝒇𝑻 f= frequency (rev/s)

or
𝝅𝒏𝑻
𝑷= n= rpm (rev per minute)
𝟑𝟎

Unit Conversion:

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3.3 Power of Shaft
EXAMPLE 1
The solid steel shaft AC has a diameter of 25 mm and is supported by smooth
bearings at D and E. It is coupled to a motor at C, which delivers 3 kW of power to the
shaft while it is turning at 50 rev/s. If gears A and B remove 1 kW and 2 kW,
respectively, determine the maximum shear stress developed in the shaft within
regions AB and BC. The shaft is free to turn in its support bearings D and E.

Answer: 𝜏𝐴𝐵 = 1.04 𝑀𝑃𝑎, 𝜏𝐵𝐶 = 3.11 𝑀𝑃𝑎

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3.3 Power of Shaft
EXAMPLE 2
The solid steel shaft DF has a diameter of 25 mm and is supported by smooth
bearings at D and E. It is coupled to a motor at F, which delivers 12 kW of power to
the shaft while it is turning at 50 rev/s. If gears A, B, and C remove 3 kW, 4 kW, and 5
kW respectively, determine the maximum shear stress developed in the shaft within
regions CF and BC. The shaft is free to turn in its support bearings D and E.

Answer: 𝜏𝐶𝐹 = 12.5 𝑀𝑃𝑎, 𝜏𝐵𝐶 = 7.26 𝑀𝑃𝑎

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