STRESSES IN SHAFTS DUE TO

SHEAR FORCES AND BENDING

MOMENTS
Lecture #6

Course Name : DESIGN OF MACHINE ELEMENTS

Course Number: MET 214

After generating shear and moment diagrams for a shaft, the stresses
accompanying the internal shear forces and bending moments needs to
be investigated so that the shaft can be designed (specify material type
and dimensions) to accommodate the stresses and/or deflections that
results from the transverse loads applied to the shaft.
In order to develop relationships relating bending moments in shafts to
the amount of stress the bending moments generate, it is essential to
understand the geometry associated with bending. Shown in the figures
below are a unloaded beam having a rectangular cross section and the
same beam experiencing a transverse loading condition.

A side view of the situation under analysis is depicted below.

Note: F Since
Y Y a

Y
max a
C

Y
max
C

FY

The force FY will produce a moment M Y about the neutral axis.

M Y F YY
Y
max aY
C
Y 2a
M Y max
C
MY

To determine the total moment, all of the individual moments must be added
together.

M ( x) M Y max

Y2
a
C

max
Y 2a

C
Recall the definition of second moment of area or the moment of inertia of
the cross section about its own centroidal axes (not to be confused with
polar moment of area J or mass moment of inertia Jm )

I X Y 2a
is area moment of inertia of cross section about centroidal X axis.

M ( z)

max
Ix
C

M (z
) internal resisting moment.
Total
Found from moment diagram.

Rearranging the formula

M C
max max
Ix

Since shafts are frequently formed from solid circular cylinders, recall the
definition of I for a circular cross section as shown below.

Accordingly, for solid circular cylindrical shafts,

MTC

d4 1
max
I
J
I
64 2
where J= Polar area moment
Since stress is proportional to distance
Y
C
M CY
T
I C
M Y
T
I
I
Also note that M can be expressed in terms
S of

max

M T max

I
max S
C

Section Modulus


To determine the shaft diameter needed in a particular application, use
the formula for bending moments and substitute the expression for I in
terms of D and solve for the diameter D.

M T max I
C
max D 4

MT
D / 2 64

M T max D 3
32

Formula may be rearranged and solved for D as shown below

D3

32 M T
max

MT : Take greatest value from composite moment diagram

max : determined from material choice for the shaft and factor of safety

If the shaft has a diameter of 50 mm, determine the absolute maximum bending
stress in the shaft.

Additional situations exist where it is of interest to combine stresses

arising from different types of loading.
As an example that will be encountered frequently in the design of
machine elements, consider the shaft shown below which is supported
by two bearings and carries two V belt sheaves. During steady state
operation, the sheaves (pulleys) apply reaction torques to the shafts as
indicated by the arrows shown on the figure. Due to tension in the belts,
the belts also apply a transverse load to the shaft resulting in bending
moments. Previously, torsional shear stresses and the stresses due to
bending were treated independently. Due to the nature of the loading
applied to the shaft in this example, it is necessary to determine the
effects of both stresses acting in combination.

The accompanying shear and moment diagrams are shown below.

D
1540 32 8030 psi
MC M 2
M 32
max

D4
I
D3
3.141.25 3
64
Recall a negative sign for bending moment indicates the upper fibers
(i.e. fibers lying above the neutral axis) are in tension.
To calculate the amount of shear stress due to torsion, note the amount
of torque declared for the shaft as indicated in original figure.
T=1100 in-lb
Note

 xy

D
161100 2870 psi
TC T 2
16T

D 4 D 3 3.14 1.25 3
J
32

These stress levels exist at the outside radius

below.

of the shaft as shown

Stresses on element k appear below

Note: the bending moment associated with the transverse loading leads to
bending stresses which are tensile or compressive in nature as depicted above
on element k. The torque applied to the shaft leads to a torsional shear stress on
element k as depicted above. To assist in the visualization of the stresses
existing on element k, envision a band aide applied to the shaft before the shaft
experiences loading and then note how the shape of the band aid changes after
the shaft is placed under load. The bending forces due to belt tension would
have a tendency to stretch the band aid as the shaft bows in response to the
transverse loads. See diagram on previous slide. The torque applied to the shaft
would have a tendency to twist the band aid and thereby create torsional shear
stresses.
Since element k involves both tensile stresses (due to bending moments) and
torsional shear stresses, the maximum amount of shear stress associated with
the element must be found by utilizing equations associated with Mohrs circle.

Using equation 4-4 from the book by Mott and noting Y=0, for expression for max
can be rewritten as follows

max

2
2
XY

Substituting the definitions for Y and XY results in the following expression for
max. 32 M

XY

D3
16T

D3
2

max
max

32 M
16T

3
3
2 D
D
16

3
D

16
3
D

max

T 2

M 2 T 2

The above equation for max does not include effects of varying loads and stress
concentrations. If the shaft diameter must be determined for a particular
application, the above equation may be rearranged to solve for D.

 max
As will be evidently shortly, the equation involving
on the previous slides
is very similar to the equation adopted by the ASME in 1927 for transmission
shaft design. Accordingly to the book titled Machine Design for Mobile and
Industrial Applications by Krutz et al, although the code has been replaced by a
newer and more sophisticated one, it is often still used due to its simplicity.
As indicated in the book titled Machine Design for Mobile and Industrial
Applications by Krutz et al, stresses due to the use of a keyway in the shaft
and/or stresses due to press fitting the hub of a component onto a shaft must be
accounted for when sizing a shaft accordingly to the 1927 standard. As
suggested in the book, one way to handle each of these problems is to increase
the factor of safety existing in the equation of the standard. Although other texts
books assert that the 1927 standard is obsolete, it is believed that adopting the
suggestions made in the text book by Krutz et al will help the student obtain
insight concerning factors that must be considered in the design of a shaft. The
use of a simple approach enables a context to be established for the material
that is consistent with material the student has been exposed to previously, such
as Mohrs circle. Such considerations would be lacking in alternative approaches
that emphasize detailed calculations that are beyond the comprehension of
most technology students at this level. It is for these reasons the 1927 standard
will be used to illustrate the basic issues that must be considered when
integrating several different components onto a shaft including bearings. After
an initial exposure to the material has been established, a more contemporary
approach may be undertaken using any number of text books including the book
by Mott. Accordingly, the 1927 standard will be used as a bridge to enable the
student to approach more contemporary information by introducing the students
to a context consistent with prior exposure.

Shafts, Keys and Couplings

The accepted code for the design of transmission shafting is the American
Standards Association Standard B17C-1927. It refers to all shafts for
transmitting power and includes the effect of the type of load. Common
usage, however, classifies shafts in many ways. For Example, there are
shafts for prime movers such as generator, engine, and turbine shafts;
shafts for power transmission such as line shafts, countershafts, and jack
shafts, as well as machine shafts and spindles.
A member carrying rotating wheels, gears, etc., is generally referred to as
an axle; for example, the rear axle of an automobile. An axle may be either
stationary or rotating. Short shafts on machines are usually referred to as
spindles. When one or more pieces of shafting joined by couplings receive
motion from a prime mover, and transmit motion to machines, the term
line shafting is applied. When a shaft is placed is placed between the driver
and the line shaft, it is a counter shaft or jack shaft. A stub shaft or head
shaft is connected directly to a motor or engine.
In addition to various types of shafts indicated, shafts are usually classified
as to form. The most common form of shafting is of a solid circular cross
section and is called a solid shaft. There are also hollow shafts. Flexible
shafts make possible the transmission of power around corners, and
examples are found in dental tools, small power tools, and the common
speedometer drive in automobiles. A flexible shaft is of necessity limited to
relatively short lengths and the transmission of light loads.

Shock and Fatigue factors:

The code mentioned previously gives factors to be used for various
manners in which the torsional and moment loads are applied.
The below table lists the recommended factors . They are to be
applied to the torque T and moment M so that equation becomes

16
d3

K tT 2 K m M 2

Values for Km and Kt

Types of loading

Km

Kt

Stationary shafts:
Gradually applied
Suddenly applied

1.0
1.5 to 2.0

1.0
1.5 to 2.0

1.5
1.5 to 2.0
2.0 to 3.0

1.0
1.0 to 1.5
1.5 to 3.0

Rotating shafts:
Gradually applied or
steady
Suddenly applied, minor
shocks
Suddenly applied,
heavy shocks

It must be emphasized that the 1927 equation can be rewritten in

several equivalent, but alternative ways.

d3

16
a

K tT 2 K m M 2

Where

Ex: A solid circular shaft free of keyways is transmitting 50 hp and

rotates at 200 rpm. Assuming that 48,000 psi material is used in the
shaft with a safety factor of 6 and that the shaft is subject to steady
torsional stresses only, what shaft diameter is required?

Ex. A solid circular shaft for power transmission with keyways is subject to a
maximum torque of 6000 in-lb. What is the required shaft diameter, if
the allowable shear stress is 6000 psi and if there will be sudden
applications of load with minor shock?

Shear in straight members

Beams generally support both shear and moment loadings. The shear V is the
result of a transverse shear-stress distribution that acts over the beams crosssection. Due to the complementary property of shear, shear stresses will also act
along longitudinal planes of the beam. For example, a typical element removed
from the interior point on the cross section is subjected to both transverse and
longitudinal shear stress as shown below.

Shear Stress Distribution

Shear stress distribution for a

Rectangular cross section

A situation that is encountered frequently in power transmission

systems involves combining a torsional shear stress distribution with a
shear stress distribution arising from a shear force. Such a situation
exists at a bearing support that is supporting a section of shaft
experiencing pure torsion. The shear stresses due to the shear forces
arises from the bearing reactions existing at the bearing supports. A
typical situation involving shear stress combinations is shown below.

situation shown on the previous slide involves a solid circular shaft

The
experiencing torsional shear stresses and shear stresses due to a shear
force which could be envisioned as resulting from a bearing reaction
force applied to the shaft. As will be evident shortly, other situations
exist which could lead to the same combination shown on the previous
slide.
Due to the nature of the distributions and how shear stresses combine,
the two distributions shown on the previous slide can only be added
when the distributions are either parallel or antiparallel. However, it is
still possible to identify the maximum value of stress that exists in the
combined distribution. The maximum value of stress existing with the
combined distributions can be calculated from the following formula
also shown on the previous slide.

Where

To identify how the shear stress distributions described previously may be

combined to establish the maximum and minimum shear stress level existing when
both distributions are present on the same cutting plane, consider the example
shown below involving a simplified representation of a gear transmitting a
particular level of torque established by the force and the geometry of the situation.
Ex: A 3 inch diameter gear transmits 5HP to a short 1 inch diameter shaft at 300 rpm.
To determine F note the following.

Tn
T 1050in lbs
63000
T rF F 700lbs
P

To investigate the shear stress distribution existing with the above applied load, an
equivalent representation may be utilized involving a shear force acting through the
centroid perpendicular to the neutral axis of the shaft and a torque T as shown
below.

The shear stress distribution resulting from the equivalent shear force is shown
below.

4V
3A
4 700

1190 psi
3 1 2
4

max
where

max

The shear stress distribution resulting from torsion is shown below.

max

max

D
TC T 2
16T

D4 D3
J
32
161050 5350 psi

3.141 3

Shear stress levels associated with the two distributions shown above can be added only
when the shear stresses from both distributions are parallel or anti-parallel. Since the
orientation of the shear stress distribution due to torsion varies across the cutting plane,
the shear stress levels associated with the equivalent representation can only be obtained
along the horizontal axis in this particular instance. Fortunately, the stress levels obtain by
combining the two distributions for points along the horizontal axis include the maximum
and minimum values as illustrated below.

It should be noted that the above example transformed a tangential force acting at the
radius of a shaft to a force acting through the centroid of the shaft and a torque applied to
the shaft. The equivalent force acting through the centroid give rise to shear stresses and
bending stresses and the force is also responsible for creating deflections in the shaft
assuming the location of the component is not at a bearing support. The effect of the force
as it contributes to bending stresses will be accounted for in shear and moment diagrams
and consequently, the forces influence as it pertains to bending stresses is accounted for in
the equation existing with the 1927 standard for shafting. However, it should be noted that
if the equation existing with the 1927 standard is used to determine the shaft diameter,
then the stresses due to shearing forces will be neglected. Given the disparity that typically
exists between shear stresses due to shear forces and bending stresses due to transverse
loads leading to bending moment, such an assumption is usually acceptable.