Department of Chemical Engineering

Strength of Materials for Chemical Engineers (0935381)

Chapter 6

TORSION of SHAFTS
Simple Torsion Theory

When a uniform circular shaft is subjected to a torque it can be shown that every section
of the shaft is subjected to a state of pure shear.

Assumptions

1. The material is homogeneous, i.e. of uniform elastic properties throughout.

2. The material is elastic, following Hook's law with shear stress proportional to
shear strain.
3. The stress does not exceed the elastic limit of proportionality.
4. Circular sections remain circular.
5. Cross sections remain plane.
6. Cross sections rotate as if rigid.
Angle of Twist (θ)

After applying the torque point A moves to point B and made an angleθ .
AB subtends an angle γ at the fixed end, γ is the shear strain.
∴ AB = Rθ = Lγ
Rθ
γ =
L
Shear Stress τ
Modulus of rigidity G = =
Shear Strain γ
τ
∴γ =
G
Rθ τ τ Gθ
∴ = ⇒ =
L G R L
τ ′ Gθ
= , τ ′ is the shear stress at any r
r L

Modulus of Rigidity (G)

It is a measure of how much deformation the material would undergo subjected to a

shear. G is the property which relates to the stiffness of the material, units N/m2.

Stresses
The force set up on each surface = Stress × Area resisting shear
F = τ ′ × 2πrdr
This force will produce a moment about the centre axis of the shaft
Ti = τ ′(2πrdr )r
Ti = 2πτ ′r 2 dr
Σ All these moment is the total torque.
R
T = ∫ 2πτ ′r 2 dr
0

Gθ Gθ 3
R
τ′ = r ⇒ T = ∫ 2π r dr
L 0
L
Gθ
R
T= ∫
L 0
2πr 3 dr

R
The integral ∫ 2πr 3 dr is called the polar second moment of area J.
0

Gθ
∴T = J
L
T Gθ τ
= =
J L R

• For circular solid shaft

R
R
⎡r4 ⎤
J = ∫ 2πr dr = 2π ⎢ ⎥
3

0 ⎣ 4 ⎦0
πR 4 πD 4
J= =
2 32
• For hollow shaft
 R
R
⎡r4 ⎤
J = ∫ 2πr dr = 2π ⎢ ⎥
3

0 ⎣ 4 ⎦r
π (R 4 − r 4 ) π (D 4 − d 4 )
J= =
2 32
• For thin-walled hollow shafts

J = 2πr 3 t

Section Modulus

At r = R,τ is maximum:
T T
τ max =
R ⇒ τ max =
J Z
J 2J
Where Z is polar section modulus = =
R D
πD 4
2 J πD 3
• For solid shaft J = ⇒Z = =
32 D 16
• For hollow shafts Z =
(
π D −d
4 4
)
16 D

Tensional Rigidity

The angle of twist per unit length of shafts is given by:

θ T
= , GJ is termed torsional rigidity.
L GJ

Composite Shafts

• Series Connection
When two similar or dissimilar shafts of the same or of different materials are connected
together to form one composite shaft, the driving torque being applied at one end and the
resisting torque at the other, the shafts are said to be connected in series.
Consider each component shaft separately, applying the torsion theory to each in turn.
The composite shaft will therefore be as weak as its weakest component.

T = T1 = T2
G1θ1 J 1 G 2θ 2 J 2
T= =
L1 L2
θ Net = θ1 + θ 2
TL1 TL1
θ Net = +
G1 J 1 G1 J 1
If θ 1 = θ 2 same angle of twist for the same material:
J1 J 2
=
L1 L2
L1 J 1
=
L2 J 2

• Parallel Connection

If the driving torque is applied at the junction of the two shafts connected together and
the resisting torque at the other ends of the two shafts, then the shafts are said to be
connected in parallel.
The torque applied in this case is divided between the two shafts but the angle of twist is
the same for each shaft.

T = T1 + T2
θ1 = θ 2
T1 L1 TL
∴ = 2 2
G1 J 1 G2 J 2
If L1 = L2
T1 G1 J 1
=
T2 G2 J 2
Maximum stress in each part:
T1 R1 TR
τ1 = and τ 2 = 2 2
J1 J2

Power Transmitted by Shafts

If a shaft carries a torque T N.m and rotates at w rad/s it will do work at the rate:

P = Tw watts

Combined Bending and Torsion

Shafts carry torque and subjected to bending.

To find the principal stresses:

1
σ 1 or σ 2 =
2
{
(σ x + σ y ) ± (σ x − σ y )2 + 4τ xy 2 }
The shaft can be considered to be subjected to equivalent torques or equivalent bending
moments.
2
1 ⎛σ x −σ y ⎞
τ max = (σ 1 − σ 2 ) = ⎜⎜ ⎟⎟ + τ xy 2
2 ⎝ 2 ⎠