St.

Venant’s Torsion Theory

In elementary strength of materials, the theory of the torsion
of circular cross sections was studied. Circular cross sections
do not warp due to tension and the stress analysis is simple.
Non-circular cross sections, however, do warp in torsion. The
theoretical solution is due to St. Venant as follows:
Assumptions:
• No in-plane distortion of cross section
• The warping of the cross section is the same for all
sections (independent of z)
• Loading is pure torque, Mt, at each end

Displacements
θ1 = angle of twist per unit length (rad/in)
θ = θ1z = angle of twist at station z (radians)
y

Arc = ρθ1z
P(x,y)
ρ v P’
θ1z u
α
z

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Displacements (Cont.)
By similar triangles,

ρ ρθ1z
y v α
α
x u
sin α = y / ρ u = ρθ1zsinα
cosα = x / ρ v = −ρθ1zcosα
∴ u = θ1zy
v = −θ1zx
w = f(x,y)

Strains

∂u ∂v ∂u
εx = =0 γ xy = + = −θ1z + θ1z = 0
∂x ∂x ∂y
∂v ∂w ∂v ∂w
εy = =0 γ yz = + = − θ1x
∂y ∂y ∂z ∂x
∂w ∂w ∂u ∂w
εz = =0 γ zx = + = + θ1y
∂z ∂x ∂z ∂x

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Stresses

Sx = S y = Sz = Sxy = 0
 ∂w 
Szy = Gγ zy = G − θ1x
 ∂y 
 ∂w 
Szx = Gγ zx = G + θ1y
 ∂x 

Equations of Equilibrium

∂S zx ∂Szy ∂Sz
+ + =0
∂x ∂y ∂z

Substitute Sz = 0 and get

∂S zx ∂Szy
+ =0
∂x ∂y

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Differential Equation for w
Substitute Szx and Szy,

∂2 w ∂2 w
G 2 +G 2 =0
∂x ∂y
∂2 w ∂2 w
2 + 2 =0
∂x ∂y
Or ∇2 w = 0 This equation represents the
warped surface (Reference: Den
Hartog, p. 31).

Stress Function and its

Differential Equation
Let us define a stress function, φ,
∂φ
Szy =
∂x
∂φ
Szx = −
∂y
Substitute these equations into the equation of
equilibrium ∂2φ ∂2φ
− + =0
∂x∂y ∂y∂x
∂2 φ ∂2φ
=
∂x∂y ∂y∂x

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Stress Function and its
Differential Equation (Cont.)
The previous equation is the criteria for continuity
of a function. We can think of φ(x,y) as
representing a surface over the cross section of the
bar.
A) The slope of the φ surface in the x direction
represents the shear stress Szy normal to x.
Similarly for y direction.
B) It can be proved that the shear stress SzT normal
to the n direction is equal to the slope of the φ
surface in the n direction.

Stress Function and its

Differential Equation (Cont.)
y

Proof: P(x+∆x,y+∆y)
θ
∆n
P(x,y) ∆y
∆x
x

Slope ∂φ/∂n

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Stress Function and its
Differential Equation (Cont.)
∂φ φ(x + ∆x,y + ∆y) − φ(x,y)
= lim
∂n ∆n→0 ∆n
∂φ φ(x + ∆x,y + ∆y) − φ(x,y + ∆y) ∆x
= lim
∂n ∆x→0 ∆x ∆n
φ(x,y + ∆y) − φ(x,y) ∆y
+ lim
∆y→0 ∆y ∆n
∆x ∆y
= cos θ; = sin θ
∆n ∆n
∂φ ∂φ ∂φ
= cos θ + sin θ
∂n ∂x ∂y

Stress Function and its

Differential Equation (Cont.)
y
Treat OA as the maximum slope vector and
∂φ/∂x, ∂φ/∂y as its components.

Direction n
B
C
A Direction of
∂φ/∂y max slope
α
θ
θ
x
O ∂φ/∂x
Line of zero slope

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Stress Function and its
Differential Equation (Cont.)
Projection of OA on n direction is OB
OB = OA cos α = OC + CB
dφ dφ
OA cos α = cos θ + sin θ
dx dy
∂φ
OA cos α =
∂n

Thus ∂φ/∂n is the projection of the slope

vector on the n direction.

Stress Function and its

Differential Equation (Cont.)
y
Szy = ∂φ/∂x

Direction n
B
α ∂φ/∂n
A Slope
∂φ/∂y vector
90° α

90° θ
x
Szx = -∂φ/∂y O ∂φ/∂x

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Stress Function and its
Differential Equation (Cont.)
OA = ( ) ( )
∂φ 2
∂x + ∂φ 2
∂y

Ss = ( ) +( )
∂φ 2
∂x
∂φ 2
∂y

Ss = OA ∂φ
Ss⊥n = Ss cos α Ss⊥n =
∂n
∂φ ∂φ
= OAcosα = Ss cos α
∂n ∂n

Stress Function and its

Differential Equation (Cont.)
The φ surface over the cross section has contour lines where
φ = const. The slope along a contour line is zero so there is
no shear stress normal to a contour line.
y
φ = Constant

x
Zero slope direction
Max slope direction

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Stress Function and its
Differential Equation (Cont.)
Since we know there is no shear stress on the outer
surface, there is no shear stress normal to the
boundary meaning that the boundary is a contour
line. Thus
φ = Constant
Choose zero for the constant
φ=0

Stress Function and its

Differential Equation (Cont.)
Now get differential equation for φ.
∂φ  ∂w 
= Szy = G − θ1x
∂x  ∂y 
∂w 1 ∂φ
= + θ1x
∂y G ∂x
∂φ  ∂w 
= −Szx = −G  + θ1y
∂y  ∂x 
∂w 1 ∂φ
=− − θ1y
∂x G ∂y

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Stress Function and its
Differential Equation (Cont.)
The w surface is continuous, or
∂2 w ∂ 2 w
=
∂x∂y ∂y∂x
∂  1 ∂φ  ∂  1 ∂φ 
 + θ1x =  − − θ1y
∂x  G ∂x  ∂y  G ∂y 
1 ∂2φ 1 ∂2φ
+ θ1 = − − θ1
G ∂x 2 G ∂y 2
∂ 2 φ ∂2 φ
+ = −2Gθ1 Or ∇ 2 φ = −2Gθ1
∂x 2 ∂y 2

Torque as a Function of φ
y

Szy Mt

Szx

(
M t = ∫ Szx ydA − Szy xdA )

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Torque as a Function of φ (Cont.)
 ∂φ ∂φ
M t = ∫∫  −y − x  dxdy
 ∂y ∂x 
∂φ ∂φ
M t = − ∫∫ y dxdy − ∫∫ x dxdy
∂y ∂x
Now use integration by parts on each integral

 A   C 
M t = − ∫ yφ − ∫ φdy dx − ∫ xφ − ∫ φdx dy
 B   D 

Torque as a Function of φ (Cont.)

M t = − ∫ [y A φ A − y Bφ B − ∫ φdy ]dx −
∫ [ x C φC − x Dφ D − ∫ φdx ]dy
y y A.B.C.D are on
boundary
A

D C

x x
B

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Torque as a Function of φ (Cont.)
φA = φB = φC = φ D = 0
M t = ∫∫ φ dy dx + ∫∫ φ dx dy
M t = 2 ∫∫ φ dz dy = 2 Vol under φ surface
Since v v
F = kx
We can also write
M t = Cθ1
C is called torsional stiffness constant.

Summary - Torsion
∂ 2φ ∂2 φ
2 + 2 = ∇ φ = −2Gθ1
2
∂x ∂y
with φ = 0 on boundary
Then
∂φ ∂φ
Szx = − Szy =
∂y ∂x

M t = 2 ∫∫ φ dx dy = Cθ1

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