Fourth Edition

CHAPTER MECHANICS OF

1 MATERIALS
Ferdinand P. Beer
E. Russell Johnston, Jr.
John T. DeWolf

Lecture Notes:
Stress Analysis

J. Walt Oler
Texas Tech University
Dr. Mohamed Shiba

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Stress Analysis (DES262)

Contact info
● Email: [email protected]

© 2006 The McGraw-Hill Companies, Inc. All rights reserved.

 Fourth Edition

CHAPTER MECHANICS OF

3 MATERIALS
Ferdinand P. Beer
Torsion
E. Russell Johnston, Jr.
John T. DeWolf

Lecture Notes:
J. Walt Oler
Texas Tech University

© 2006 The McGraw-Hill Companies, Inc. All rights reser

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Contents

Introduction Statically Indeterminate Shafts

Torsional Loads on Circular Shafts Sample Problem 3.4
Net Torque Due to Internal Stresses Design of Transmission Shafts
Axial Shear Components Stress Concentrations
Shaft Deformations Plastic Deformations
Shearing Strain Elastoplastic Materials
Stresses in Elastic Range Residual Stresses
Normal Stresses Example 3.08/3.09
Torsional Failure Modes Torsion of Noncircular Members
Sample Problem 3.1 Thin-Walled Hollow Shafts
Angle of Twist in Elastic Range Example 3.10

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Torsional Loads on Circular Shafts

• Interested in stresses and strains of

circular shafts subjected to twisting
couples or torques

• Turbine exerts torque T on the shaft

• Shaft transmits the torque to the

generator

• Generator creates an equal and

opposite torque T’

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Net Torque Due to Internal Stresses

• Net of the internal shearing stresses is an

internal torque, equal and opposite to the
applied torque,
T  dF   dA

• Although the net torque due to the shearing

stresses is known, the distribution of the
stresses is not.
• Distribution of shearing stresses is statically
indeterminate – must consider shaft
deformations.
• Unlike the normal stress due to axial loads, the
distribution of shearing stresses due to torsional
loads can not be assumed uniform.

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Axial Shear Components

• Torque applied to shaft produces shearing

stresses on the faces perpendicular to the
axis.

• Conditions of equilibrium require the

existence of equal stresses on the faces of the
two planes containing the axis of the shaft.

• The existence of the axial shear components is

demonstrated by considering a shaft made up
of axial slats.

• The slats slide with respect to each other

when equal and opposite torques are applied
to the ends of the shaft.

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Shaft Deformations

• From observation, the angle of twist of the

shaft is proportional to the applied torque and
to the shaft length.
 T
L
• When subjected to torsion, every cross-section
of a circular shaft remains plane and
undistorted.
• Cross-sections for hollow and solid circular
shafts remain plain and undistorted because a
circular shaft is axisymmetric.
• Cross-sections of noncircular (non-
axisymmetric) shafts are distorted when
subjected to torsion.

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Shearing Strain

• 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.

• It follows that

L   or  
L

• Shear strain is proportional to twist and radius

c 
max  and   max
L c

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Stresses in Elastic Range

• Multiplying the previous equation by the
shear modulus,

G  Gmax
c
From Hooke’s Law,  G, so

   max
c

J  12  c 4
The shearing stress varies linearly with the
radial position in the section.
• Recall that the sum of the moments from
the internal stress distribution is equal to
the torque on the shaft at the section,
 
T  dA  max  2 dA  max J
c c
• The results are known as the elastic torsion

J  12  c24  c14  formulas,
Tc T
 max  and  
J J
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Normal Stresses
• Elements with faces parallel and perpendicular
to the shaft axis are subjected to shear stresses
only. Normal stresses, shearing stresses or a
combination of both may be found for other
orientations.
• Consider an element at 45o to the shaft axis,
F 2 max A0 cos 45  max A0 2
F  max A0 2
 45o    max
A A0 2

• 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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Torsional Failure Modes

• Ductile materials generally fail in

shear. 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.

• When subjected to torsion, a brittle

specimen breaks 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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Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB
and BC and perform static
equilibrium analyses to find
torque loadings.
• Apply elastic torsion formulas to
find minimum and maximum
stress on shaft BC.
Shaft BC is hollow with inner and outer
diameters of 90 mm and 120 mm, • Given allowable shearing stress
respectively. Shafts AB and CD are solid and applied torque, invert the
of diameter d. For the loading shown, elastic torsion formula to find the
determine (a) the minimum and maximum required diameter.
shearing stress in shaft BC, (b) the
required diameter d of shafts AB and CD
if the allowable shearing stress in these
shafts is 65 MPa.
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Sample Problem 3.1

SOLUTION:
• Cut sections through shafts AB and BC
and perform static equilibrium analysis
to find torque loadings.

 M x 0 6 kN m  TAB  M x 0 6 kN m  14 kN m  TBC

TAB 6 kN m TCD TBC 20 kN m

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Sample Problem 3.1

• Apply elastic torsion formulas to • Given allowable shearing stress and
find minimum and maximum applied torque, invert the elastic torsion
stress on shaft BC. formula to find the required diameter.

c24  c14  0.060 4  0.045 4 

  Tc Tc 6 kN m
J  max   4 65MPa 
2 2 J c  c3
2 2
6 4
13.92 10 m
c 38.9 10 3 m
TBC c2 20 kN m 0.060 m 
 max  2   d 2c 77.8 mm
J 13.92 10 6 m 4
86.2 MPa
 min c1  min 45 mm
 
 max c2 86.2 MPa 60 mm  max 86.2 MPa
 min 64.7 MPa  min 64.7 MPa
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Problem 5.8 Hibbler

• The solid 30-mm-diameter shaft is
used to transmit the torques
applied to the gears. Determine
the absolute maximum shear
stress on the shaft.
• Internal Torque: As shown on
torque diagram.
• Maximum Shear Stress: From
the torque diagram Tmax = 400
N.m
Then, applying torsion Formula.

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Problem 5.12 Hibbler

• 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.
• Internal Loadings: The internal torques
developed in segments AB, BC, and CD of the
assembly are shown in their respective free-
body diagrams shown in Figs. a, b, and c.

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Problem 5.19 Hibbler

• The shaft consists of solid 80-mm-diameter rod
segments AB and CD, and the tubular segment BC
which has an outer diameter of 100 mm and inner
diameter of 80 mm. If the material has an
allowable shear stress of determine the maximum
allowable torque T that can be applied to the shaft.

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Problem 5.33 Hibbler

• The motor M is connected to the speed reducer C
by the tubular shaft and coupling. If the motor
supplies 20 hp and rotates the shaft at a rate of 600
rpm, determine the minimum inner and outer
diameters di and do of the shaft if di/do = 0.75.
The shaft is made from a material having an
allowable shear stress of tallow = 12 ksi.

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Problem 5.33 Hibbler

• The motor M is connected to the speed reducer C
by the tubular shaft and coupling. If the motor
supplies 20 hp and rotates the shaft at a rate of 600
rpm, determine the minimum inner and outer
diameters di and do of the shaft if di/do = 0.75.
The shaft is made from a material having an
allowable shear stress of tallow = 12 ksi.

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Problem 5.39 Hibbler

• 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.

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Angle of Twist in Elastic Range

• Recall that the angle of twist and maximum
shearing strain are related,
c
max 
L
• In the elastic range, the shearing strain and shear
are related by Hooke’s Law,
 Tc
max  max 
G JG
• Equating the expressions for shearing strain and
solving for the angle of twist,
TL

JG
• 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
 
i J i Gi

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Statically Indeterminate Shafts

• Given the shaft dimensions and the applied
torque, we would like to find the torque reactions
at A and B.
• From a free-body analysis of the shaft,
TA  TB 90 lb ft

which is not sufficient to find the end torques.

The problem is statically indeterminate.
• Divide the shaft into two components which
must have compatible deformations,
TA L1 TB L2 LJ
 1  2   0 TB  1 2 TA
J1G J 2G L2 J1

• Substitute into the original equilibrium equation,

LJ
TA  1 2 TA 90 lb ft
L2 J1

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Sample Problem 3.4

SOLUTION:
• Apply a static equilibrium analysis on
the two shafts to find a relationship
between TCD and T0 .
• Apply a kinematic analysis to relate
the angular rotations of the gears.
• Find the maximum allowable torque
Two solid steel shafts are connected on each shaft – choose the smallest.
by gears. Knowing that for each • Find the corresponding angle of twist
shaft G = 11.2 x 106 psi and that the
for each shaft and the net angular
allowable shearing stress is 8 ksi,
rotation of end A.
determine (a) the largest torque T0
that may be applied to the end of
shaft AB, (b) the corresponding angle
through which end A of shaft AB
rotates.
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Sample Problem 3.4

SOLUTION:
• Apply a static equilibrium analysis on • Apply a kinematic analysis to relate
the two shafts to find a relationship the angular rotations of the gears.
between TCD and T0 .

rB B rCC
 M B 0  F 0.875 in. T0 rC 2.45 in.
B  C  C
 M C 0  F 2.45 in. TCD rB 0.875 in.
TCD 2.8 T0  B 2.8C

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Sample Problem 3.4

• Find the T0 for the maximum • Find the corresponding angle of twist for each
allowable torque on each shaft – shaft and the net angular rotation of end A.
choose the smallest.

A/ B 
TAB L

561lb in.24 in.

J AB G  0.375 in.4 11 .2 106 psi
2

0.387 rad 2.22o
TAB c T 0.375 in.
 max  8000 psi  0 TCD L 2.8 561lb in.24 in.
 0.375 in.4 C / D  
J AB
2 
J CDG  0.5 in.4 11 .2 106 psi
2

T0 663 lb in.
0.514 rad 2.95o
2.8 T0 0.5 in.
 max 
TCD c
J CD
8000 psi 
 0.5 in.4  
 B 2.8C 2.8 2.95o 8.26o
2
 A  B   A / B 8.26o  2.22o
T0 561lb in. T0 561lb in  A 10.48o
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Problem 5.53 Hibbler

• The 20-mm-diameter A-36 steel shaft is
subjected to the torques shown. Determine the
angle of twist of the end B.

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Problem 5.55 Hibbler

• Gear B supplies 15 kW of power, while gears
A, C, and D withdraw 6 kW, 4 kW, and 5 kW,
respectively. If the shaft is made of steel with
the allowable shear stress of τallow = 75
Mpa , and the relative angle of twist between
any two gears cannot exceed 0.05 rad,
determine the required minimum diameter d
of the shaft to the nearest millimeter. The
shaft is rotating at 600 rpm.
• The internal torque developed in segments
AB, CD, and BC of the shaft are shown in
Figs. a, b, and c, respectively.
• Allowable Shear Stress: Segment BC of
the shaft is critical since it is subjected to a
greater internal torque.

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Problem 5.55 Hibbler

• Gear B supplies 15 kW of power, while gears
A, C, and D withdraw 6 kW, 4 kW, and 5 kW,
respectively. If the shaft is made of steel with
the allowable shear stress of τallow = 75
Mpa , and the relative angle of twist between
any two gears cannot exceed 0.05 rad,
determine the required minimum diameter d
of the shaft to the nearest millimeter. The
shaft is rotating at 600 rpm.

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Problem 5.63 Hibbler

• If the shaft is made of red brass C83400
copper with an allowable shear stress of
τallow = 20 MPa, determine the maximum
allowable torques T1 and T2 that can be
applied at A and B. Also, find the
corresponding angle of twist of end A.
Set L = 0.75 m.

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Problem 5.63 Hibbler

• If the shaft is made of red brass C83400
copper with an allowable shear stress of
τallow = 20 MPa, determine the maximum
allowable torques T1 and T2 that can be
applied at A and B. Also, find the
corresponding angle of twist of end A.
Set L = 0.75 m.

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Design of Transmission Shafts

• Principal transmission shaft • Determine torque applied to shaft at

performance specifications are: specified power and speed,
­ power P T 2fT
­ speed P P
T 
 2f
• Designer must select shaft
material and cross-section to • Find shaft cross-section which will not
meet performance specifications exceed the maximum allowable
without exceeding allowable shearing stress,
shearing stress.  max 
Tc
J
J  3 T
 c  solid shafts 
c 2  max
J

 4 4
c2 2c2

c2  c1 
T

 max
hollow shafts 

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Stress Concentrations
• The derivation of the torsion formula,
Tc
 max 
J
assumed a circular shaft with uniform
cross-section loaded through rigid end
plates.
• The use of flange couplings, gears and
pulleys attached to shafts by keys in
keyways, and cross-section discontinuities
can cause stress concentrations
• Experimental or numerically determined
concentration factors are applied as
Tc
 max  K
J

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Plastic Deformations
• With the assumption of a linearly elastic material,
Tc
 max 
J
• If the yield strength is exceeded or the material has
a nonlinear shearing-stress-strain curve, this
expression does not hold.
• Shearing strain varies linearly regardless of
material properties. Application of shearing-stress-
strain curve allows determination of stress
distribution.
• The integral of the moments from the internal stress
distribution is equal to the torque on the shaft at the
section,
c c
T   2 d  2  2 d
0 0

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Elastoplastic Materials
• At the maximum elastic torque,
J LY
TY   Y  12 c3 Y Y 
c c

• As the torque is increased, a plastic region


(   
) develops around an elastic core ( 
Y
Y Y
L)Y
Y 

 Y3   Y3 
T  23 c3 Y  1  14  43 TY  1  14
 c3   c3 
 
 1 Y3 
T  3 TY  1  4 3 
4
   


• As Y  0 , the torque approaches a limiting

value,
TP  4 TY  plastic torque
3

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Residual Stresses
• Plastic region develops in a shaft when subjected to a
large enough torque.
• When the torque is removed, the reduction of stress
and strain at each point takes place along a straight line
to a generally non-zero residual stress.
• On a T- curve, the shaft unloads along a straight line
to an angle greater than zero.
• Residual stresses found from principle of
superposition

Tc   dA 0
 
m
J
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Example 3.08/3.09
SOLUTION:
• Solve Eq. (3.32) for Y/c and evaluate
the elastic core radius
• Solve Eq. (3.36) for the angle of twist

A solid circular shaft is subjected to • Evaluate Eq. (3.16) for the angle
a torqueT 4.6 kN m at each end. which the shaft untwists when the
Assuming that the shaft is made of torque is removed. The permanent
 Y 150 MPa
an elastoplastic material with twist is the difference between the
G and
77 GPa determine (a) angles of twist and untwist
the radius of the elastic core, (b) the
• Find the residual stress distribution
angle of twist of the shaft. When the
by a superposition of the stress due to
torque is removed, determine (c) the
twisting and untwisting the shaft
permanent twist, (d) the distribution
of residual stresses.

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Example 3.08/3.09
SOLUTION:
• Solve Eq. (3.36) for the angle of twist
• Solve Eq. (3.32) for Y/c and
evaluate the elastic core radius  Y Y
1   
 Y3  Y  T  3
Y c Y c
T  43 TY  1  14   4  3 

 c 
3 c  TY 
Y 
TY L

 
3.68 103 N m 1.2 m 

J  12 c 4  12  25 10 3 m  JG  
614 10-9 m 4 77 10 Pa 

614 10 9
m 4 Y 93.4 10 3 rad

 J 93.4 10 3 rad

Y 
TY c
 TY  Y  148.3 10 3 rad 8.50o
J c 0.630

TY 

150 106 Pa 614 10 9 m 4   8.50o
25 10 3 m
3.68 kN m
1
Y  4.6  3
 4  3  0.630
c  3 . 68 
Y 15.8 mm
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Fourt Beer • Johnston • DeWolf

Example 3.08/3.09

• Evaluate Eq. (3.16) for the angle • Find the residual stress distribution
which the shaft untwists when by a superposition of the stress due to
the torque is removed. The twisting and untwisting the shaft
permanent twist is the difference
between the angles of twist and Tc
  
 max
 
4.6 103 N m 25 10 3 m 
untwist J 614 10-9 m 4
187.3 MPa
TL
 
JG


4.6 103 N m 1.2 m 
6.14 10 9 m4 77 109 Pa 
116 .8 10 3 rad 6.69
φ p    
8.50  6.69
1.81o
 p 1.81o

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 MECHANICS OF MATERIALS
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Fourt Beer • Johnston • DeWolf

Torsion of Noncircular Members

• Previous torsion formulas are valid for
axisymmetric or circular shafts
• Planar cross-sections of noncircular
shafts do not remain planar and stress
and strain distribution do not vary
linearly
• For uniform rectangular cross-sections,
T TL
 max  
c1ab 2 c2 ab3G

• At large values of a/b, the maximum

shear stress and angle of twist for other
open sections are the same as a
rectangular bar.

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 MECHANICS OF MATERIALS
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Fourt Beer • Johnston • DeWolf

Thin-Walled Hollow Shafts

• Summing forces in the x-direction on AB,
 Fx 0  A t Ax   B t B x 
 At A Bt B  t q shear flow

shear stress varies inversely with thickness

• Compute the shaft torque from the integral

of the moments due to shear stress
dM 0  p dF  p t ds  q pds  2q dA
T dM 0 2q dA 2qA
T

2tA
• Angle of twist (from Chapter 11)
TL ds
 t
4 A 2G

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 MECHANICS OF MATERIALS
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Fourt Beer • Johnston • DeWolf

Example 3.10
Extruded aluminum tubing with a rectangular
cross-section has a torque loading of 24 kip-
in. Determine the shearing stress in each of
the four walls with (a) uniform wall thickness
of 0.160 in. and wall thicknesses of (b) 0.120
in. on AB and CD and 0.200 in. on CD and
BD.
SOLUTION:
• Determine the shear flow through the
tubing walls.
• Find the corresponding shearing stress
with each wall thickness .

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 MECHANICS OF MATERIALS
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Fourt Beer • Johnston • DeWolf

Example 3.10
SOLUTION: • Find the corresponding shearing
stress with each wall thickness.
• Determine the shear flow through the
tubing walls.
With a uniform wall thickness,
q 1.335 kip in.
 
t 0.160 in.
 8.34 ksi

With a variable wall thickness

1.335 kip in.
2  AB  AC 
A 3.84 in.2.34 in. 8.986 in. 0.120 in.
T 24 kip - in. kip  AB  BC 11 .13 ksi
q  1 . 335

2 A 2 8.986 in.2  in.
1.335 kip in.
 BD  CD 
0.200 in.
 BC  CD 6.68 ksi

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 MECHANICS OF MATERIALS
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Fourt Beer • Johnston • DeWolf

Faculty of
Engineering

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 MECHANICS OF MATERIALS
h
Fourt Beer • Johnston • DeWolf

© 2006 The McGraw-Hill Companies, Inc. All rights reserved.