Torsion

Torsion of Circular Shafts

 Torsion
• Introduction
-In workshops and factories, a turning force is always
applied to transmit by rotation. This turning force is
applied either to rim of a pulley, keyed to the shaft, or at
any other suitable point at some distance from the axis.
-Torque, Turning Moment or Twisting Moment: is the
product of the turning force, and the distance between
the point of application of the force and the axis of the
shaft.
-The shaft under torque is said to be subjected to torsion.
- Due to this torque, every cross-section of the shaft is
subjected to some shear stress.
 Torsion
• Assumption for shear stress in a circular shaft Subjected to
Torsion
1. The material of the shaft is uniform throughout.
2. The twist along the shaft is uniform.
3.Normal cross-sections of the shaft, which were plane
and circular before twist, remain plane and circular even
after twist.
4. All diameters of the normal cross-section, which were
straight before twist, remain straight with their magnitude
unchanged, after twist.
 Torsion
• Torsional Stresses and Strains (Torsional Formula)
Consider a circular shaft fixed at one end and
subjected to a torque at the other end as shown
below.
Let:
T
T= Torque in N.mm;
L= Length of the shaft in mm and,
R = Radius of the circular shaft in mm.
 Torsion T

A’ A’
C φ A A θ
O O

L
T

Let line CA on the surface Of the shaft be deformed to CA’ and OA to

OA’.
<ACA’ = φ in degree ; and <AOA’ = θ in radians
τ = Shear stress induced at the surface;
G= Modulus of Rigidity, also known as torsional rigidity of the shaft
material.
 Torsion
T

A’ A’
C φ A R
A θ
O O
X

L
T

• Shear strain (Ƴ) = Deformation per unit length = (AA’/L)

= tanφ =φ (φ being very small, tanφ = φ )
• Also; since θ is very small tanθ = θ
 Torsion
T

A’
A’
C φ A A R
θ
O O
X

L
T

• So; Arc AA’ = R.θ

• So; φ = AA’/L = R.θ/L …. (1)
τ=ƳG=φG φ = (τ / G) …(2)
 Torsion
T

A’
A’
C φ A A R
θ
O O
X

L
T

From Eqs. (1) and (2):

(R.θ/L) = (τ / G)
or; (G.θ/L) = (τ / R)
 Torsion
T

A’
A’
C φ A A R
θ
O O
X

L
T

Note : If τx be the intensity of shear stress, on any layer at

a distance x from the center of the shaft, then
(τx /x)= (τ / R) = (G.θ/L)
 Torsion
• τ = τmax =
• τ = 0 ( at the origin, R=0)
• τ= (at any point on the radius;
). …(1)
τmax
(τ/x) = (G.θ/L) …. (2) τ
R τ= 0
 Torsion
• Strength of a solid shaft
Is the maximum torque or power, the shaft can transmit.
Let R= radius of the shaft, and
τ= Shear stress developed in the outermost layer of the shaft.
Consider a shaft subjected to a torque T as T
shown in Fig. Take an element of area dA of
dx
thickness dx at a distance x from the center
x
as shown.
dA = 2π.x. dx R
 Torsion
dT = Turning force × Distance of the element from the axis of the shaft.
= τx dA*x
since: (τx /x)= (G.θ/L) T

τx= (G. θ/L) .x dx

x
So; dT= (G. θ/L) .x.dA.x
= (G. θ/L) .x2.(2xπ.dx) R

T= =
 Torsion

T
• T= dx
x
• But = J = Polar second R
moment of area.
Then
T = (G.θ/L). J …..(3)
(T/J) = (G.θ/L) …. (4)
from eq. 2 and 4 ( T/ J) = (τ/x) = (G. θ/L)
 Torsion
• Maximum shear stress τmax occurs at the
outside circumference (i.e. at x=R)
( T/ J) = (τmax/R) = (G. θ/L)
τmax= T.R/J
To find J:
1. for solid shaft of radius R
R
J= = 2π [x /4]0 = (2πR4/4) = (π R4/2)
4
 Torsion
• For hollow shaft : r
J= (π/2)(R4 – r4)
R
Definitions
1. GJ= Torsional rigidity
2. GJ/L = Torsional stiffness
3. θ/L = angle of twist per unit length
 Torsion
Summary
1. Shear Stress (τ):
τ= ( at any point at a distance x from origin).

τmax =

2. Torque (T) :
Stiffness Formula : T/J = G.θ / L and
Strength Formulas T/J = τ / x and T/J = τmax / R
3. Polar Moment of Inertia ( J):
- Solid shaft of radius R: J= π R4/2
- Hollow Shaft : J = π / 2 (R4 – r4)
 Torsion
• Example: A solid steel shaft is subjected to a
torque of 100 kN.m. If the shearing stress is not to
exceed 45 MPa, find the minimum diameter of the
shaft and then calculate the angle of rotation if the
length of the shaft is equal to 1.2 m . G= 83 GN/m2.
Solution:
for solid shaft J = π r4 / 2
r = 112.3 mm
 Torsion
D = 224.6 mm

J = π r4 / 2 = (π . 112.34 /2) = 2.5 × 108 mm4

Θ = 0.00578 rad = 0.331ᵒ

 Torsion
• Example (Prob. 309 Singer)
A steel shaft with a constant diameter of 60 mm is loaded by
torques applied to gears attached to it as shown in Fig. Using G=
83 GN/m2. determine the relative angle of twist of gear D relative
to gear A.
 Torsion
• Solution

θD/A= θD/C+ θC/B+ θB/A

=( )D/C + ( )C/B + ( )B/A
= (1/G.J) (∑ T.L)
 Torsion
• θD/A=

= 0.03788 rad. = 2.17ᵒ

 Torsion
• Example ( Prob. 316 Singer)
A round steel shaft 3 m long tapers uniformly from a
60 mm diameter at one end to a 30 mm diameter at
the other end. Compute the angular twist for the
entire length when the shaft is transmitting a torque
of 170 N.m. Use G= 83 × 103 MN/m2.
Solution: 30 mm
15 mm
15 mm 30 mm
3m
 Torsion

15 mm r(x) 30 mm
15 mm 30 mm

x dx
x1 3m
J(x) = (π / 2) r(x)4 = (π / 2) ( 0.005 x)4 = 9.817 × 10-10 (x4)

dθ = ( T dx / G J)
 Torsion

= 0.02253 rad.
= 1.29ᵒ
 Torsion
• Example: A solid steel shaft of 60 mm diameter is
to be replaced by a hollow steel shaft of the same
material with internal diameter equal to half of the
external diameter. Find the diameters of the hollow
shaft and saving on material, if the maximum
allowable shear stress is same for both shafts.
Solution:
For solid shaft : T/J = τ / R
T / ( π × R4 / 2) = τ / R
 Torsion
T / (π × 304 / 2) = τ / 30
T = 42411.5 τ ….. (1)
For Hollow shaft : T1 /J = τ / R
T1 / ( π × (R14 – r14 ) / 2) = τ / R
T1 / ( π × (R14 - (0.5R1)4) / 2) = τ / R
T1= 1.473 τ R13 …(2)
Equating (1) and (2) 42411.5 τ = 1.473 τ R13
R1= 30.65 mm D1 = 61.3 mm , d1= 30.65 mm
 Torsion
• Saving in Material :
= [ Asolid - Ahollow] / Asolid
= [ (π × 602 / 4) – (π × (61.32- 30.652)/4] / (π × 602 / 4)
= 0.217 = 21.7 %
 Torsion
• Ex: (Problem 319 Singer)
The compound shaft shown in Fig. below is attached to
rigid supports. For the bronze segment AB, the diameter is
75 mm, shearing stress is not exceeding 60 MN/m2, and G=
35 GN/m2. For the steel segment BC, the diameter is 50
mm, shearing stress is not exceeding 80 MN/m2, and G= 83
GN/m2. Compute the maximum torque T that can be
applied. 2m 1.5 m

A B C

T
 Torsion
• Solution:
The shaft is statically indeterminate;
2m 1.5 m

A B C

T
TA Tc

At section B: θbr = θs (TA. Lbr / (GJ)br)= (TC. LS / (GJ)S

(TA / TC) = (GJ)br . LS / (GJ)S . Lbr
 Torsion
TA / TC = [ 35×109×(π/2) ×(0.075/2)4× 1.5] /
[ 83×109×(π/2) ×(0.05/2)4× 2]
TA = 1.601 TC ….(1) 2m 1.5
m
A B C
Aslo;
T
TA +TC = T ….. (2) TA TC
Substituting Eq. (1) into Eq. (2) 1.601 TC + TC = T
TC = 0.384 T
Eq. (1) TA = 0.616 T
 Torsion
• (T / J) = (τ / r) T=τ.J/r
• TA = Tbr = τbr . Jbr / r
• 0.616 T = ( 60×103×(π/2)(0.075/2)4/ (0.075/2)
T = 8.06 kN.m
OR; TC=TS= τS . JS / r
0.384 T= ( 80×103×(π/2)(0.05/2)4/ (0.05/2)
T= 5.11 kN.m
So; the max. torque which can be applied is
T = 5.11 kN.m
 Torsion
• Problem 1:
A hollow bronze shaft of 75 mm outer diameter
and 50 mm inner diameter is slipped over a solid
steel shaft 50 mm in diameter and of the same
length as the hollow shaft. The two shafts are
then fastened rigidly together at their ends.
Determine the maximum shearing stress
developed in each material be end torque of 3
kN.m. For bronze, G= 35 GN/m2; for steel G = 83
GN/m2.