Equilibrium

Begin by cutting a free-body diagram (FBD) through the composite shaft around the flange
at B. The equilibrium equation for the sum of torques about the axis of the shaft can be
written as:

Mo = T - T1 + T2 = 0
Note that we make it a point to always assume positive internal torques, even when
common sense might dictate otherwise.
The equilibrium equation simplifies to:
T = T1 - T2
Since this is the only independent equilibrium equation, this type of problem is statically
indeterminate. We must develop a second equation.
Torque-Twist Relationship
The relationship between the torque in a shaft and its resulting angle of twist is given by:

= TL / GJ
We can write a torque-twist relationship for each shaft. For shaft (1):

= T1L1 / G1J1

For shaft (2):

= T2L2 / G2J2

Geometry of Deformations Equation

To develop the geometry of deformations equation, we want to work sequentially and
systematically along the composite shaft, moving in a +x direction. To determine the angle
of twist in a shaft, we find the rotation angles at the forward and aft ends of the segment
and subtract them. The angle of twist in shaft (1) is the difference between the rotation
angle at flange B (i.e., the forward end) and the rotation angle at support A (i.e., the aft
end):

1 = B - A
Since A is a fixed support, A = 0. Therefore:

1 = B
Similarly, the angle of twist in shaft (2) is the difference between the rotation angle at
support C and the rotation angle at flange B:

2 = C - B
Since C is a fixed support, C = 0. Therefore:

2 = -B
Add the two equations to obtain the geometry of deformations equation for end-to-end
shafts:

1 + 2 = 0
Compatibility Equation
Substitute the torque-twist relationships into the geometry of deformation equation:
T1L1 / G1J1 + T2L2 / G2J2 = 0
Notice that the compatibility equation has the same two variables, T1 and T2, as the
equilibrium equation. Using both the equilibrium equation and the compatibility equation, we
can solve the statically indeterminate end-to-end shaft problem.
Section Properties
Before we begin, we will need to compute section properties for the two shafts. For shaft
(1), the radial distance to the outside surface of the shaft (where the largest shear stress
occurs) is c1 = 25.0 mm and the polar moment of inertia J1 is computed as:
J1

= /32 (D1)4

= /32 (50.0 mm)4

= 613,592.3 mm4

For shaft (2), the radial distance to the outside surface of the shaft is c2 = 19.0 mm and the
polar moment of inertia J2 is computed as:
J2

= /32 (D2)4

= /32 (38.0 mm)4

= 204,707.7 mm4

Calculation
In this problem, the external torque T is known, and we are asked to compute the resulting
shear stresses in the shafts (1) and (2). From the compatibility equation, we can derive an
expression for T1:
T1

= -[(G1/G2)(J1/J2)(L2/L1)] T2

Substitute this expression into the equilibrium equation:

T

= -[(G1/G2)(J1/J2)(L2/L1)] T2 - T2

Solve this equation for T2:

T2

= -T / [(G1/G2)(J1/J2)(L2/L1) + 1 ]
= (-1.400 kN-m) / [(77.20 GPa/77.20 GPa)(613,592.3 mm 4/204,707.7 mm4)(250.0
mm/200.0 mm) + 1 ]
= -0.2949 kN-m
Backsubstituting into the equilibrium equation, we determine T1:
T1

= T + T2
= 1.400 kN-m + (-0.2949 kN-m)
= 1.105 kN-m

Now that we know T1 and T2, we can compute the shear stress in each shaft. For shaft (1):

= T1c1 / J1
= (1.105 kN-m)(25.0 mm) / 613,592.3 mm4
= 45.024 MPa

Note: Make the units consistent before performing the hand calculation.
and for shaft (2):

= T2c2 / J2
= (-0.2949 kN-m)(19.0 mm) / 204,707.7 mm4
= -27.375 MPa

Note: Make the units consistent before performing the hand calculation.
The angle of twist for the composite shaft can be computed either from shaft (1):

= T1L1 / G1J1
= (1.105 kN-m 200.0 mm) / (77.20 GPa 613,592.3 mm4)
= 0.2673 degrees

Note: Make the units consistent before performing the hand calculation.
or from shaft (2):

= T2L2 / G2J2
= (-0.2949 kN-m 250.0 mm) / (77.20 GPa 204,707.7 mm 4)
= -0.2673 degrees

Note: Make the units consistent before performing the hand calculation.
(These two angles should be the same magnitude but of opposite signs. If our calculations
don't produce this result, we've made a mistake somewhere.)

Summary
Problem Statement
Compute the shear stress in the two shafts due to an external torque applied at the flange.
Input
Shaft (1)
Outside diameter
Inside diameter
Shaft length
Shear modulus

50.0 mm
0.0 mm
200.0 mm
77.20 GPa

Shaft (2)
Outside diameter
Inside diameter
Shaft length
Shear modulus

38.0 mm
0.0 mm
250.0 mm
77.20 GPa

External torque

1.400 kN-m

Output
Shaft (1)
Outside radius
Polar moment of inertia
Internal torque
Shear stress

25.0 mm
613,592.3 mm4
1.105 kN-m
45.024 MPa

Shaft (2)
Outside radius
Polar moment of inertia
Internal torque
Shear stress
Angle of twist at flange

19.0 mm
204,707.7 mm4
-0.2949 kN-m
-27.375 MPa
0.2673 degrees