5.

Torsion
CHAPTER OBJECTIVES
• Discuss effects of applying torsional
loading to a long straight member
• Determine SHEAR stress distribution
within the member under torsional
load
• Determine angle of twist when material behaves in
a linear-elastic and inelastic manner
• Discuss statically indeterminate analysis of shafts
and tubes
• Discuss stress distributions and residual stress
caused by torsional loadings
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CHAPTER OUTLINE
1. Torsional Deformation of a Circular Shaft
2. The Torsion Formula
3. Power Transmission
4. Angle of Twist
5. Statically Indeterminate Torque-Loaded Members
6. *Solid Noncircular Shafts
7. *Thin-Walled Tubes Having Closed Cross
Sections
8. Stress Concentration
9. *Inelastic Torsion
10. *Residual Stress

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5.1 TORSIONAL DEFORMATION OF A CIRCULAR SHAFT

• Torsion is a moment that twists/deforms a

member about its longitudinal axis
• By observation, if angle of rotation is small,
length of shaft and its radius remain unchanged

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angle of twist

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5.1 TORSIONAL DEFORMATION OF A CIRCULAR SHAFT
• By definition, shear strain γis= (π/2) – lim θ’
CA along CA

Let Δx  dx and Δϕ = dϕ BA along BA

BD = dϕ = dx γ
dϕ
γ =
dx
Equation also holds at the outer surface

Since dϕ / dx = γ / = max /c

fixed

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5.2 THE TORSION FORMULA
• For solid shaft, shear stress varies from zero at
shaft’s longitudinal axis to maximum value at its
outer surface.
• Due to proportionality of triangles, or using Hooke’s
law

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• Recall for axial loading:

F =∫ dF = ∫A σ dA

Torque=total moment

J
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5.2 THE TORSION FORMULA
• The integral in the equation can be represented as
the polar moment of inertia J, of shaft’s x-sectional
area computed about its longitudinal axis
Tc
τ max =
J
τ max = max. shear stress in shaft, at the outer surface
T = resultant internal torque acting at x-section, from method
of sections & equation of moment equilibrium applied
about longitudinal axis
J = polar moment of inertia at x-sectional area
c = outer radius of the shaft
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5.2 THE TORSION FORMULA
• Shear stress at intermediate distance,

The above two equations are

referred to as the torsion
formula
Used only if shaft is circular, its
material homogenous, and it
behaves in an linear-elastic
manner

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5.2 THE TORSION FORMULA
Solid shaft
• J can be determined using area element in the form
of a differential ring or annulus having thickness d
and circumference 2π .
• For this ring,
π
J= c4
2
• J is a geometric property of the circular area and
is always positive. Common units used for its
measurement are mm4 and m4.

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5.2 THE TORSION FORMULA
Tubular shaft
π4 4
J= (co - ci )
2

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5.2 THE TORSION FORMULA
Absolute maximum torsional stress
• Need to find location where ratio Tc/J is maximum
• Draw a torque diagram (internal torque τ vs. x along
shaft)
• Sign Convention: T is positive, by right-hand rule, is
directed outward from the shaft (like tension +ve,
compression  -ve)
• Once internal torque throughout shaft is determined,
maximum ratio of Tc/J can be identified

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EXAMPLE 5.3
Shaft shown supported by two bearings and
subjected to three torques.
Determine shear stress developed at points A and B,
located at section a-a of the shaft.

No torque at the supports

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EXAMPLE 5.3 (SOLN)
Internal torque
Bearing reactions on shaft = 0, if shaft weight
assumed to be negligible. Applied torques satisfy
moment equilibrium about shaft’s axis.
Internal torque at section a-a determined from free-
body diagram of left segment.

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 5. Torsion
EXAMPLE 5.3 (SOLN)
Internal torque
ΣMx = 0; 4250 kN·mm -3000 kN·mm - T = 0
+ve T = 1250 kN·mm (“negative” torque
Section property according to convention)

J = π/2(75 mm)4 = 4.97×107 mm4

Shear stress
Since point A is at = c = 75 mm

τA= Tc/J = ... = 1.89 MPa

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EXAMPLE 5.3 (SOLN)
Shear stress
Likewise for point B, at = 15 mm
τB = T /J = ... = 0.377 MPa

Directions of the stresses

on elements A and B
established from
direction of resultant
internal torque T.

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5.3 POWER TRANSMISSION
• Power is defined as work performed per unit time
• Instantaneous power is
P =FLdθ/dt= T (dθ/dt)
• Since shaft’s angular velocity ω = dθ/dt, we can
also express power as
P = Tω
• Frequency f of a shaft’s rotation is often reported.
It measures the number of cycles per second
and since 1 cycle = 2π radians, and ω = 2πf, then
power
P = 2πf T

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Last time: π
J= c4
2
P = 2πf T

The engine's output

specifications are: 360 kW
(483 hp) at 8500 rpm and
465 N·m (343 lb·ft) of
torque at 5250 rpm…

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5.3 POWER TRANSMISSION
Shaft Design
• If power transmitted by shaft and its frequency of rotation is
known, torque can be determined.
• Knowing T and allowable shear stress for material, τallow
and applying torsion formula, size of shaft
P = 2πf T
Tc J T
 max  =
J c τallow

Knowing power and frequency, calculate size

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5.3 POWER TRANSMISSION
Shaft Design
• For solid shaft, substitute J = (π/2)c4 to determine c
• For tubular shaft, substitute J = (π/2)(co4 – ci4) to
determine co and ci

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EXAMPLE 5.5
Solid steel shaft shown used to transmit 3750 W
(1J/s) from attached motor M. Shaft rotates at ω =
175 rpm and the steel τallow = 100 MPa.
Determine required diameter of shaft to nearest mm.

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EXAMPLE 5.5 (SOLN)
Torque on shaft determined from P = Tω,
Thus, P = 3750 N·m/s
175 rev 2π rad 1 min
ω =
min
(
1 rev )( )
60 s
= 18.33 rad/s

Thus, P = Tω, T = 204.6 N·m

J π c4 T
= =
c 2 c τallow ...

c = 10.92 mm
Since 2c = 21.84 mm, select shaft with diameter of
d = 22 mm
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Angle of twist
recall
dϕ
γ = 
dx

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5.4 ANGLE OF TWIST
• Angle of twist is important when analyzing reactions
on statically indeterminate shafts
L T(x) dx
φ =∫0
J(x) G
φ = angle of twist, in radians
T(x) = internal torque at arbitrary position x, found
from method of sections and equation of
moment equilibrium applied about shaft’s axis
J(x) = polar moment of inertia as a function of x
G = shear modulus of elasticity for material
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5.4 ANGLE OF TWIST
Constant torque and x-sectional area
TL
φ =
JG

If shaft is subjected to several different torques, or x-

sectional area or shear modulus changes suddenly
from one region of the shaft to the next, then apply
Eqn 5-15 to each segment before vectorially adding
each segment’s angle of twist:
TL
φ =Σ
JG
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5.4 ANGLE OF TWIST
Sign convention
Use right-hand rule: torque and angle of twist are
positive when thumb is directed outward from the
shaft

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5.5 STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS

• A torsionally loaded shaft is statically indeterminate

if moment equation of equilibrium, applied about
axis of shaft, is not enough to determine unknown
torques acting on the shaft

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5.5 STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS

• From free-body diagram, reactive torques at

supports A and B are unknown, Thus,
ΣMx = 0; T – TA - TB = 0
• Since problem is statically
indeterminate, formulate the
condition of compatibility; end
supports are fixed, thus angle of
twist of both ends should sum to
zero
φA/B = 0

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5.5 STATICALLY INDETERMINATE TORQUE-LOADED MEMBERS

• Assume linear-elastic behavior, and using load-

displacement relationship, φ = TL/JG, thus
compatibility equation can be written as
TA LAC TB LBC
- =0
JG JG
• Solving the equations
simultaneously, and realizing that
L = LAC + LBC, we get -ve angle
of twist
LBC LAC
TA = T ( ) TB = T( )
L L
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*5.7 THIN-WALLED TUBES HAVING CLOSED CROSS SECTIONS

• Thin-walled tubes of noncircular shape are used to

construct lightweight frameworks such as those in
aircraft
• This section will analyze such shafts with a closed
x-section
• As walls are thin, we assume stress is uniformly
distributed across the thickness of the tube

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*5.7 THIN-WALLED TUBES HAVING CLOSED CROSS SECTIONS

Average shear stress

T
τavg =
2tAm
τavg = average shear stress acting over
thickness of tube
T = resultant internal torque at x-section
t = thickness of tube where τavg is to be
determined
Am = mean area enclosed within
boundary of centerline of tube’s
thickness 33
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*5.7 THIN-WALLED TUBES HAVING CLOSED CROSS SECTIONS

Average shear stress

Define q = τavgt, the shear flow throughout the x-
section is
T
q=
2Am

Angle of twist
Can be determined using energy methods

TL ds
φ= ∫
O
4Am2G t

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EXAMPLE 5.16
Square aluminum tube as shown.
Determine average shear stress in the tube at point
A if it is subjected to a torque of 85 N·m. Also,
compute angle of twist due to this loading.
Take Gal = 26 GPa.

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EXAMPLE 5.16 (SOLN)
Average shear stress
Am = (50 mm)(50 mm) = 2500 mm2
T
τavg = = ... = 1.7 N/mm2
2tAm

Since t is constant except at corners,

average shear stress is same at all
points on x-section.
Note that τavg acts upward on darker-
shaded face, since it contributes to
internal resultant torque T at the
section
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EXAMPLE 5.16 (SOLN)
Angle of twist

TL ds
φ= O
4Am2G
∫ = ... = 0.196(10-4) mm-1 ∫O ds
t
Here, integral represents length around
centerline boundary of tube, thus

φ = 0.196(10-4) mm-1[4(50 mm)] = 3.92 (10-3) rad

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5. Torsion
CHAPTER REVIEW
• Torque causes a shaft with circular x-section to
twist, such that shear strain in shaft is
proportional to its radial distance from its centre
• Provided that material is homogeneous and
Hooke’s law applies, shear stress determined
from torsion formula, τ = (Tc)/J
• Design of shaft requires finding the geometric
parameter, (J/c) = (T/τallow)
• Power generated by rotating shaft is reported,
from which torque is derived; P = Tω

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CHAPTER REVIEW
• Angle of twist of circular shaft determined from
L T(x) dx
φ =∫
0 JG
• If torque and JG are constant, then
TL
φ =Σ
JG
• For application, use a sign convention for
internal torque and be sure material does not
yield, but remains linear elastic

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CHAPTER REVIEW
• If shaft is statically indeterminate, reactive
torques determined from equilibrium,
compatibility of twist, and torque-twist
relationships, such as φ = TL/JG
• Shear stress in tubes determined from
τ = T/2tAm

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