Civil Engineering Materials 267

Stresses in Materials

Lecture 9 -

Torsion in Circular Shafts

Kerri Bland

Civil Engineering Materials 267 (Stresses)

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References
P.P. Benham & R.J. Crawford, Mechanics of Engineering Materials, 1987,
Longman Scientific & Technical
R.C. Hibbeler, Mechanics of Materials, SI 2nd Ed., 2005, Prentice
Hall/Pearson.
Lecture 9

Civil Engineering Materials 267 (Stresses)

Assumptions
for Torsion in Circular Shafts
Stresses dont exceed yield
stress
Radial lines remain straight
and radial
Plane cross sections
remain plane

Lecture 9

Civil Engineering Materials 267 (Stresses)

Torsion Polar Moment of Inertia (J)

I = y dA Second moment of area about x-axis
Used when considering bending about the x-axis
2

Area

I y = x 2 dA

Second moment of area about y-axis

Used when considering bending about the y-axis

Area

Polar (second) moment of area

The second moment of area about an axis perpendicular to the plane of an

area (ie: about the longitudinal axis of a member).

Used when considering twisting about the longitudinal axis.

Similarly to before:

J (or I p ) = r dA
2

(for circular shafts only)

Area

Also, we know:

r2 = x2 + y2

J = Ix + Iy

(for circles)

(for circular shafts only)

Lecture 9

Civil Engineering Materials 267 (Stresses)

Torsion in a Solid Circular Shaft

T
B

T
0

Applied
Torque T

r
R

Elemental
tube

Resisting
Torque

dr

Torque
Diagram

Angle of
rotation

Lecture 9

Civil Engineering Materials 267 (Stresses)

Torsion in a Solid Circular Shaft

Elemental resistance to torque

dT = * dA * r

T
B

dr
r

CC ' = l tan = r
But , is small tan
CC ' (small ) = l = r

l
= r
G

Elemental
tube

Also, G =

rearrange equation (1),

...(2)
G r
=
l

substitute equation (1) into equation (2)

G r 2
dT =
dA
l
Total torque resistance
T =

Area

dT

G Area 2
r dA

0
l
G
=
J
...(3)
l
........(1)
T G
(1) and (3) together :
= =
J r
l
Lecture 9
=

Civil Engineering Materials 267 (Stresses)

Torsion in a Solid Circular Shaft

Torsion formula for
circular shafts

Note similarity to
beam formula

T G
= =
J r
l
Angle of twist per unit length:

T
=
l GJ

GJ = torsional rigidity
(stiffness of a shaft)

Lecture 9

Similarly:

EI

EI = flexural rigidity
(stiffness of a beam)

Civil Engineering Materials 267 (Stresses)

Torsion in a Solid Circular Shaft

JSolid Circular Shaft =

Area

r 2 dA

= 2 r 3 dr
0

JSolid Circular Shaft =

r4

Lecture 9

Civil Engineering Materials 267 (Stresses)

Torsion in a Solid Circular Shaft

Torsion formula for circular shafts:
T G
J

is constant

From the torsion formula it can be seen that

r
for a given applied torque (T)

This implies that

l
r

To find maximum possible torque on a shaft,

Max. allowable
T el
need to consider :
=
stress
J
r
Lecture 9

Stress distribution
diagram

Civil Engineering Materials 267 (Stresses)

Torsion in a Hollow Shaft (thick wall)

As before :
Elemental resistance to torque = dT = * dA * r
ro

ri

Total torque resistance = T =

Area

G Area 2
r dA
=

0
l
G
J
ie :
=
l
A

dT

T G
= =
J r
l

ro

J = r dA = 2r 3 dr
2

ri

J Hollow Shaft =
Lecture 9

(ro4 ri 4 )
2

10

Civil Engineering Materials 267 (Stresses)

Torsion in a Hollow Shaft (thick wall)

(r r )
T G
=
J
J
ro

4
o

HollowShaf t

ri

JSolidShaft =

r 4
2

To find maximum possible torque on a shaft,

Max. allowable
T el
need to consider :
=
stress
J
r

So, for a given maximum shear stress and shaft radius:

G
r
l
G is constant,

is the same whether the shaft is hollow or solid

Lecture 9

11

Civil Engineering Materials 267 (Stresses)

Torsion in a Hollow Shaft (thick wall)

T G
= =
J r
l
ro

ri

Tel
=
J r

J HollowShaft =
JSolidShaft =

(ro4 ri 4 )
2

r 4
2

Max. allowable
stress

So, for a given maximum shear stress and shaft

radius:
Tel J

J( hollow ) < J( solid )

Tel ( hollow ) < Tel ( solid )

However, the weight of the solid section is greater than the

weight of the hollow section
Tel ( hollow )
Tel ( solid )
Rigorous analysis will show that:
>
unit weight unit weight

Use of hollow sections results in more

efficient utilisation of material
Lecture 9

12

Civil Engineering Materials 267 (Stresses)

Example

A copper pipe has an outer diameter of 40mm and an

inner diameter of 37mm. If it is tightly secured to the wall
at A and three torques are applied to it as shown,
determine the absolute maximum shear stress
developed in the pipe.
(26.7 MPa)

Steps:
Determine the maximum torque in the pipe.
Calculate J of the pipe.
Calculate the maximum shear stress.

Lecture 9

(Hibbler, p199)
Refer to slide 2 for
Copyright warning
13

Torsion in

Civil Engineering Materials 267 (Stresses)

a Thin Walled Tube r > 10

T
B

r
D

As this is a thin walled cylinder it can be assumed that the

stress doesnt change much between the inside and outside
walls of the cylinder, thus a constant stress is assumed.
Lecture 9

14

Civil Engineering Materials 267 (Stresses)

Torsion in a Thin Walled Tube

T
B

As this is a thin walled cylinder it can be

assumed that the stress doesnt change
much from the inside to the outside wall,
thus a constant stress in the wall is
assumed.

Torque (T) = force * lever arm

= stress * area * radius

CC ' = l tan = r
But , is small tan

T = * 2 rt * r

CC ' (small ) = l = r

Putting equations (1) and (2) together:

Also, G =

l
= r
G

........(2 )

Angle of twist per unit length

for a thin walled tube
........(1)
Lecture 9

rG

T
2 r 3 tG
15

Civil Engineering Materials 267 (Stresses)

Power Transmission

Shafts and tubes used to transmit power

developed by a machine.

The shafts and tubes are subjected to torques

related to the power developed by the machine.

Power = work performed per unit of time

Lecture 9

16

Civil Engineering Materials 267 (Stresses)

Power Transmission

Power = work performed per unit of time

Work by rotating shaft = torque*angle of rotation

So, in a unit of time dt, an applied torque T causes

the shaft to rotate d, then the instantaneous power
is:
Td

P=

The shafts angular velocity = d/dt

Power also expressed as:

Where P (watts), when T (Nm)
and (radians per second)

Lecture 9

dt

P = T
17

Civil Engineering Materials 267 (Stresses)

Power Transmission

It is common for the frequency of a shafts

rotation to be known.
Frequency ()= number of revolutions of the
shaft per second
Expressed in hertz (1 Hz = 1 cycle)
Angle of rotation of one cycle = 2 radians
Then angular velocity = 2
Power:

P = 2fT
Lecture 9

18

Civil Engineering Materials 267 (Stresses)

Examples

The shaft of an electric motor is 75mm diameter and

turns at 3000 rpm. What power can it deliver if the
maximum allowed shear stress due to torsion is 100
MPa?
(2602 kW)

If a 30mm diameter hole is drilled along the axis of this

shaft, what is the change in the power carrying capacity,
and in the power/weight ratio?
(-2.6%, +16%)

Lecture 9

19

Civil Engineering Materials 267 (Stresses)

Composite Shafts

Radial combination

steel

brass

combination

of materials in a
single cross section

Axial combination
combination

of materials along
the longitudinal axis of the shaft

brass
steel

Lecture 9

20

Civil Engineering Materials 267 (Stresses)

Composite Shafts Radial Combinations

steel

Key or shrink fit

brass
brass
steel

angular strain
(common)

steel
brass

steel

T G
= =
J r
l

brass

common for composite shafts

Lecture 9

21

Civil Engineering Materials 267 (Stresses)

Composite Shafts Radial Combinations

steel

Key or shrink fit

brass
brass
steel

angular strain
(common)

steel
brass

steel

Common to both materials

ie: a constant

brass

G
=
r
l
rG

st Gst
ie : at ri :
=
br Gbr

Lecture 9

22

Civil Engineering Materials 267 (Stresses)

Composite Shafts Radial Combinations

Worked Example:
brass

Find the maximum possible Tel

for the composite shaft shown
Assume Gsteel = 80GPa and Gbrass = 40GPa
Given: Max br = 100 MPa (assume this limits)

steel

Thus, br at interface = 66.7 MPa

steel=133.4 MPa

brass= 100 MPa

r (mm)
0 20 30

st Gst 80
=
=
=2
br Gbr 40

st at interface = 133.4 MPa

Lecture 9

23

Civil Engineering Materials 267 (Stresses)

Composite Shafts Radial Combinations

Worked Example:

Find the maximum possible Tel

for the composite shaft shown

T
=
J r

brass

Tcomposite = Tst + Tbr

steel

Tcomp .
steel=133.4 MPa

T G
= =
J r
l

brass= 66.7 MPa

brass= 100 MPa

r
0 20 30

Tcomp .

= J + J
r st r br

133.4 20 4 66.7 (30 4 20 4 )

=

+
2 20
2

20

= 5.08 kNm
Now assume max st = 120 MPa
So initial assumption wrong (brass limiting) as
max st = 133.4 MPa, so steel actually limits max
torque that can be applied to this shaft.
Lecture 9

24

Civil Engineering Materials 267 (Stresses)

Composite Shafts Axial Combinations

Statically Determinate

T
A

T G
= =
J r
l

Known variables:
l, r, G, J, T

1 & 2

B & C

T Torque
Diagram

Lecture 9

Angle of Twist
Diagram

25

Civil Engineering Materials 267 (Stresses)

Composite Shafts Axial Combinations

Statically Indeterminate

Known variables:
l, r, G, J, T
Tcombined = T1 + T2

T
A

T G
= =
J r
l
rearranging to give :

B =

T1

T
Note: bulk of torque
taken by stiffer
section
B(common)

(1)

Torque
Diagram

T1 l1 T2 l 2
=
J1 G1 J 2 G2

(2)

T2
Angle of Twist
Diagram
Lecture 9

26

Civil Engineering Materials 267 (Stresses)

Composite Shafts Axial Combinations

Statically Indeterminate

Known variables:
l, r, G, J, T

T
A

Tcombined = T1 + T2

(1)

B =

T1

T2

Lecture 9

(2)

Solve (1) and (2) to give T1

and T2

Use

Use (2) to get B

T
Note: bulk of torque
taken by stiffer
section
B(common)

T1 l1 T2 l 2
=
J1 G1 J 2 G2

T
=
for each section
J r
of shaft to get 1 & 2

27

Civil Engineering Materials 267 (Stresses)

Torsion Summary
Torsion in circular shafts

Torsion in thin walled cylinders

T G
= =
J r
l

T
=
=
l rG 2 r 3 tG

Tel
=
J r
JSolidShaft =

Power

r 4

P = T

P = 2fT

J HollowShaft =

(ro4 ri 4 )
2
Lecture 9

28