Chapter Objectives (Section 5.1 ~ 5.

5)
 Determine the shear stresses in a circular shaft due to
torsion
 Determine the angle of twist
 Analyze statically indeterminate torque-loaded
members

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In-class Activities
1. Reading Quiz
2. Applications
3. Torsion Formula
4. Angle of Twist
5. Statically indeterminate torque-loaded members
6. Concept Quiz

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READING QUIZ

1) Given the angle of rotation is small and the

materials remain linear elastic, which
statement below is incorrect for the torsional
behavior of a long straight circular shaft.

a) Section-shape remains unchanged

b) Straight member remains straight

c) Plane section remains plane

d) End of member may wrap

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READING QUIZ (cont)

2) The unit for a shaft’s polar moment of inertia

J is:

a) kPa

b) m4

c) m2

d) m3

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APPLICATIONS

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TORSION FORMULA

• Assumptions:
– Linear and elastic deformation
– Plane section remains plane and undistorted

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TORSION FORMULA (cont)

• Linear distribution of stress:    max
c

• Torsion – shear relationship:


T     dA      max dA
A 
A
c
 max
T  dA
 2

c A

Tc
 max 
J
T
Similarily ,  
J

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TORSION FORMULA (cont)

• Polar moment of inertia

– For solid shaft:
C
1 4
C C
2
 2

J    dA    2d  2   d  2   
3

A 0 4 0 0


J c4
2

– For tubular shaft: J 
2
c 4
o  ci4 

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EXAMPLE 1
The pipe shown in Fig. 5–12a 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.

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EXAMPLE 1 (cont)
Solutions
• The only unknown at the section is the internal torque T
 M y  0;
800.3  80(0.2)  T  0
T  40 N  m

• The polar moment of inertia for the pipe’s cross-sectional area is

J

2
0.05  0.04   5.79610  m
4 4 6 4

• For any point lying on the outside

surface of the pipe,
  c0  0.05 m
Tc0 400.05
0    0.345 MPa (Ans)
J 
5.796 106 
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EXAMPLE 1 (cont)
Solutions
• And for any point located on the inside surface,   ci  0.04 m

Tci 400.04
i    0.276 MPa (Ans)
J 5.796 10 6
 
• The resultant internal torque is equal but opposite.

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ANGLE OF TWIST

dx
d  

T x 
d  dx
J x G
• For constant torque and cross-sectional area:
TL

JG
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ANGLE OF TWIST (cont)
• Sign convention for both torque and angle of twist
– positive if (right hand) thumb directs outward from the shaft

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EXAMPLE 2
The two solid steel shafts are coupled together using the
meshed gears. Determine the angle of twist of end A of shaft
AB when the torque 45 Nm is applied. Take G to be 80 GPa.
Shaft AB is free to rotate within bearings E and F, whereas
shaft DC is fixed at D. Each shaft has a diameter of 20 mm.

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EXAMPLE 2 (cont)
Solutions
• From free body diagram,

F  45 / 0.15  300 N
TD x  3000.075  22.5 Nm
• Angle of twist at C is

C 
TLDC

 22.51.5  0.0269 rad
JG 
 20.014 80109 
• Since the gears at the end
of the shaft are in mesh,

B 0.15  0.02690.075  0.0134 rad

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EXAMPLE 2 (cont)
Solutions
• Since the angle of twist of end A with respect to end B of shaft AB
caused by the torque 45 Nm,

A/ B 
TAB LAB

 452
 0.0716 rad
JG  20.010 80 10
4 9
  
• The rotation of end A is therefore

 A  B   A / B  0.0134  0.0716  0.0850 rad (Ans)

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STATICALLY INDETERMINATE TORQUE-
LOADED MEMBERS
• Procedure for analysis:
– use both equilibrium and compatibility equations

Equilibrium
• Draw a free-body diagram of the shaft in order to identify all
the torques that act on it. Then write the equations of
moment equilibrium about the axis of the shaft.

Compatibility
• To write the compatibility equation, investigate the way the
shaft will twist when subjected to the external loads, and
give consideration as to how the supports constrain the
shaft when it is twisted.

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STATICALLY INDETERMINATE TORQUE-
LOADED MEMBERS (cont)
• Express the compatibility condition in terms of the rotational
displacements caused by the reactive torques, and then
use a torque-displacement relation, such as Φ = TL/JG, to
relate the unknown torques to the unknown displacements.

• Solve the equilibrium and compatibility equations for the

unknown reactive torques. If any of the magnitudes have a
negative numerical value, it indicates that this torque acts
in the opposite sense of direction to that indicated on the
free-body diagram.

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EXAMPLE 3
The solid steel shaft shown in Fig. 5–23a 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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EXAMPLE 3 (cont)
Solutions
• It is seen that the problem is statically indeterminate since there is only
one available equation of equilibrium and there are 2 unknowns

Mx  0
 Tb  800  500  TA  0 (1)

• Since the ends of the shaft are fixed, the angle of twist of one end of the
shaft with respect to the other must be zero.

A/ B  0

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EXAMPLE 3 (cont)
Solutions
• Using the sign convention established,

 TB 0.2 800  TB 1.5 300  TB 0.3

  0
JG JG JG
TB  645 N  m (Ans)

• Using Eq. 1,

TA  345 N  m

• The negative sign indicates that acts

in the opposite direction of that shown
in Fig. 5–23b.

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CONCEPT QUIZ

1) When the bar is subjected to the torque T,

the length L

a) remains unchanged

b) Shortens

c) Elongates

d) None of the above

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Chapter Objectives (Section 5.6 ~ 5.10)
 Deal with solid non-circular shafts and thin-walled
tubes
 Deal with stress concentration
 Appreciate inelastic torsion
 Deal with residual stress

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In-class Activities
• Reading Quiz
• Applications
• Solid non-circular shafts
• Thin-walled tubes
• Stress concentration
• Inelastic torsion
• Residual stress
• Concept Quiz

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READING QUIZ

1) Which statement below is incorrect?

Inelastic torsion of a circular shaft leads to

a) non-linear distribution of shear stress

b) plane section remaining plane

c) change of sectional shape

d) wrapping at the end of member

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READING QUIZ

2) Which statement below is incorrect?

The angle of twist for a thin-walled tube having closed section is

a) proportional to the length of circumference

b) inversely proportional to the average thickness

c) inversely proportional to the square of the enclosed area

d) proportional to the shear modulus G

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APPLICATIONS

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SOLID NON-CIRCULAR SHAFTS

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SOLID NON-CIRCULAR SHAFTS (cont)

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EXAMPLE 1
The 6061-T6 aluminum shaft shown in Fig. 5–27 has a
cross-sectional area in the shape of an equilateral triangle.
Determine the largest torque T that can be applied to the end
of the shaft if the allowable shear stress is tallow = 56 MPa.
and the angle of twist at its end is restricted to Φallow = 0.02
rad. How much torque can be applied to a shaft of circular
cross section made from the same amount of material?

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EXAMPLE 1 (cont)
Solutions
• By inspection, the resultant internal torque at any cross section along the
shaft’s axis is also T.
20T 20T
 allow  3
; 56  3
 T  1779.2 Nm
a 40
46T
 allow  4 ; 0.02 
 
46T 1.2 103
 T  24.12 Nm (Ans)
a Gal   
404 26 103

• By comparison, the torque is limited due to the angle of twist.

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EXAMPLE 1 (cont)
Solutions
• For circular cross section, we have

Acircle  Atriangle; c 2 
1
4040 sin 60  c  14.85 mm
2

• The limitations of stress and angle of twist then require

Tc T 14.85
 allow  ; 56   T  288.06 Nm
J  / 214.854
TL T 1.2103 
allow  0.02   T  33.10 Nm (Ans)

 / 214.85 2610  
; 4 3
JGal

• Again, the angle of twist limits the applied torque.

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THIN WALL TUBES HAVING CLOSED SECTIONS

• Average shear stress

T
 avg 
2tAm

• Shear flow
T
q
2 Am

• Angle of twist
TL ds
 2 
4 AmG t

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EXAMPLE 2
The tube is made of C86100 bronze and has a rectangular
cross section as shown in Fig. 5–30a. If it is subjected to the
two torques, determine the average shear stress in the tube
at points A and B. Also, what is the angle of twist of end C?
The tube is fixed at E.

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EXAMPLE 2 (cont)
Solutions
• As shown in Fig. 5–30d, the mean area is

Am  0.0350.057   0.002 m 2

• Applying Eq. 5–18 for point A,

T 35
A    1.75 MPa (Ans)
2tAm 20.0050.002

• And for point B,

T 35
B    2.92 MPa (Ans)
2tAm 20.0030.002

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EXAMPLE 2 (cont)
Solutions
• From the free-body diagrams in Fig. 5–30b and 5–30c, the internal
torques in regions DE and CD are 35 Nm and 60 Nm respectively.

• Angle of twist is

TL ds 600.5   57   35 
4 Am2 G  t
  2   2 
  9 
40.002 38 10   5   3 
2

351.5   57   35 
 2   2 
   
 9 
4 0.002 38 10   5   3 
2

 6.2910  rad (Ans)

3

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STRESS CONCENTRATION

• Stress concentration factor K:

Tc
• Maximum stress stress:  max K
J
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EXAMPLE 3
The stepped shaft shown in Fig. 5–33a is supported by
bearings at A and B. Determine the maximum stress in the
shaft due to the applied torques. The shoulder fillet at the
junction of each shaft has a radius of r = 6 mm.

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EXAMPLE 3 (cont)
Solutions
• By inspection, moment equilibrium about the axis of the shaft is satisfied.

• The stress-concentration factor can be determined by the graph using

the geometry,
D 240 r 6
  2;   0.15
d 220 d 220

• Thus, K = 1.3 and maximum shear stress is

Tc  300.020 
 max  K  1.3 4
 3.10 MPa (Ans)
J   20.020 

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INELASTIC TORSION

• Elastic Plastic Torque:

c
T  2   2 d
0

   2
2Y c
  
 2   Y  d  2   Y  Y  2 d
0
Y  Y  Y 
Y
2
c
  Y   3d  2Y   2 d
Y 0 Y



2 Y
2
 Y Y   Y c 3  Y 3
4

3
 

Y
6

4c 3  Y
3

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INELASTIC TORSION

• Plastic Torque:
2
c
T  2   Y  2 d   Y c3
0
3

• Ultimate Torque:
2
T  2   d
A

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EXAMPLE 4
A solid circular shaft has a radius of 20 mm and length of 1.5
m. The material has an elastic–plastic diagram as shown in
Fig. 5–40a. Determine the torque needed to twist the shaft Φ
= 0.6 rad.

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EXAMPLE 4 (cont)
Solutions
• The maximum shear strain occurs at the surface of the shaft,

L  max 1.5
  ; 0.6    max  0.008 rad
 0.02

• The radius of the elastic core can be obtained by

Y 0.02
  Y  0.004 m  4 mm
0.0016 0.008

• Based on the shear–strain distribution, we have

 75106 
T
Y
6
4c 3
  3
Y  6
40.02  0.004   1.25 kNm
3 3
(Ans)

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EXAMPLE 4 (cont)
Solutions

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RESIDUAL STRESS

• Residual stress due to stress reversal after stressed

beyond elastic range:

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EXAMPLE 5
A tube in Fig. 5–41a has a length of 1.5 mm and the material
has an elastic- plastic diagram, also shown in Fig. 5–41a.
Determine the plastic torque. What is the residual shear-
stress distribution if is removed just after the tube becomes
fully plastic?

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EXAMPLE 5 (cont)
Solutions
• The stress distribution will appear as shown in Fig. 5–41b.

• Applying Eq. 5–23, we have

2
c0

Tp  2   Y  2 d   Y c03  ci3 
ci
3
2

3
 
 84103  0.053  0.0253  19.24 kNm (Ans)

• The angle of twist that occurs can be determined from Eq. 5–25, which
for the entire tube becomes
L 0.0021.5
p   Y   0.120
ci 0.025

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EXAMPLE 5 (cont)
Solutions
• In Fig. 5–41c the maximum shear stress or the modulus of rupture is
found from the torsion formula

r 
Tp co

19.240.05
J  / 20.054  0.0254 
 
 104.52 103 kN/m 2
 104.52 MPa

• Also, at the inner wall of the tube the shear stress is

 25 
 i  104.52   52.26 MPa (Ans)
 
50

• The resultant residual shear-stress

distribution is shown in Fig. 5–41d.

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CONCEPT QUIZ

1) The keyway shown below is used to connect

gears or pulleys to a shaft.

The maximum shear stress will occur at

a) the centre

b) the circumference

c) the point (dot) indicated

d) None of the above

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