Mekanika Kekuatan

03
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Stress Concentration and Torsion

Fakultas
Fakultas Dr. Ir. Haftirman MEng
Teknik
Program Studi
Program Studi
Teknik Mesin
 STRESS CONCENTRATIONS
• Force equilibrium requires magnitude of
resultant force developed by the stress
distribution to be equal to P. In other words,
P = ∫A σ dA

This integral represents graphically the volume under each of the stress-
distribution diagrams shown.

2
 STRESS CONCENTRATIONS
• In engineering practice, actual stress
distribution not needed, only maximum stress
at these sections must be known. Member is
designed to resist this stress when axial load P
is applied.
• K is defined as a ratio of the maximum stress to
the average stress acting at the smallest cross
section:
σmax
K= σavg

3
 STRESS CONCENTRATIONS
• K is independent of the bar’s geometry and the
type of discontinuity, only on the bar’s
geometry and the type of discontinuity.
• As size r of the discontinuity is decreased, stress
concentration is increased.
• It is important to use stress-concentration
factors in design when using brittle materials,
but not necessary for ductile materials
• Stress concentrations also cause failure
structural members or mechanical elements
subjected to fatigue loadings
4
 EXAMPLE
Steel bar shown below has allowable stress,
σallow = 115 MPa. Determine largest axial force P
that the bar can carry.

5
 EXAMPLE
Because there is a shoulder fillet, stress-
concentrating factor determined using the graph
below

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 EXAMPLE
Calculating the necessary geometric parameters
yields
r 10 mm w 40 mm
n = 20 mm = 0.50 h = 20 mm =2

Thus, from the graph, K = 1.4

Average normal stress at smallest x-section,
P
σavg = (20 mm)(10 mm) = 0.005P N/mm2

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 EXAMPLE

Applying Eqn 4-7 with σallow = σmax yields

σallow = K σmax
115 N/mm2 = 1.4(0.005P)
P = 16.43(103) N = 16.43 kN

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 EXAMPLE
Steel bar shown assumed to be elastic perfectly
plastic with σY = 250 MPa.
Determine (a) maximum value of applied load P
that can be applied without causing the steel to
yield, (b) the maximum value of P that bar can
support. Sketch the stress distribution at the
critical section for each case.

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 EXAMPLE
(a) When material behaves elastically, we must
use a stress-concentration that is unique for the
bar’s geometry. rn = (40 mm4 mm
− 8 mm) = 0.125

w 40 mm
h = (40 mm − 8 mm) = 1.25

When σmax = σY. Average normal stress is σavg = P/A

PY
σmax = K σavg; σY = K ( ) A
…

PY = 16.0 kN

10
 EXAMPLE
(a) Load PY was calculated using the smallest x-
section. Resulting stress distribution is
shown. For equilibrium, the “volume”
contained within this distribution must equal
9.14 kN.

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 EXAMPLE
(b) Maximum load sustained by the bar causes
all material at smallest x-section to yield. As P
is increased to plastic load PP, the stress
distribution changes as shown.

When σmax = σY. Average normal stress is σavg = P/A

PY
σmax = K σavg; σY = K ( )
A
…

PP = 16.0 kN

Here, PP equals the “volume” contained within the stress distribution, i.e., PP = σY
A

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 EXAMPLE
Steel rod has radius of 5 mm, made from an
elastic-perfectly plastic material for which σY =
420 MPa, E = 70 GPa.
If P = 60 kN applied to rod and then removed,
determine residual stress in rod and permanent
displacement of collar at C.

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 EXAMPLE
By inspection, rod statically indeterminate.
An elastic analysis (discussed in 4.4) produces:
FA = 45 kN FB = 15 kN

Thus, this result in stress of

45 kN
σAC = (0.005 m)2 = 573 MPa (compression)
> σY = 420 MPa

And

15 kN
σCB = (0.005 m)2 = 191 MPa

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 EXAMPLE
Since AC will yield, assume AC become plastic,
while CB remains elastic
(FA)Y = σY A = ... = 33.0 kN

Thus, FB = 60 kN  33.0 kN = 27.0 kN

σAC = σY = 420 MPa (compression)

27 kN
σCB = (0.005 m)2 = 344 MPa (tension)
< 420 MPa (OK!)

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 EXAMPLE
Residual Stress.
Since CB responds elastically,
FB LCB
C = AE = ... = 0.001474 m

Thus,
CB = C / LCB
= +0.004913

AC = C / LAC
= 0.01474

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 EXAMPLE
Residual Stress.
(σAC)r = 420 MPa + 573 MPa = 153 MPa

(σCB)r = 344 MPa  191 MPa = 153 MPa

Both tensile stress is the

same, which is to be
expected.

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 EXAMPLE
Permanent Displacement
Residual strain in CB is
’CB = /E = ... = 0.0022185

So permanent displacement of C is

C = ’CB LCB = 0.002185(300 mm) = 0.656 mm

Alternative solution is to determine residual strain ’AC, and ’AC = AC +

AC and
C = ’AC LAC = ... = 0.656 mm

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TORSIONAL DEFORMATION OF A CIRCULAR SHAFT
• Torsion is a moment that twists/deforms a
member about its longitudinal axis
• By observation, if angle of rotation is small, length
of shaft and its radius remain unchanged

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TORSIONAL DEFORMATION OF A CIRCULAR SHAFT
 = (/2)  lim ’
• By definition, shear strain is
CA along CA
BA along BA
Let x  dx and   = d

BD =  d = dx 

Since d / dx =  / = max /c

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 THE TORSION FORMULA
• For solid shaft, shear stress varies from zero at
shaft’s longitudinal axis to maximum value at its
outer surface.
• Due to proportionality of triangles, or using Hooke’s
law,

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 THE TORSION FORMULA
• The integral in the equation can be represented as
the polar moment of inertia J, of shaft’s x-sectional
area computed about its longitudinal axis

 max = max. shear stress in shaft, at the outer surface

T = resultant internal torque acting at x-section, from method of sections &
equation of moment equilibrium applied about longitudinal axis
J = polar moment of inertia at x-sectional area
c = outer radius pf the shaft

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 THE TORSION FORMULA
• Shear stress at intermediate distance, 
T
= J

The above two equations are referred to as the torsion formula

Used only if shaft is circular, its material homogenous, and it behaves in an linear-
elastic manner

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 THE TORSION FORMULA
Solid shaft
• J can be determined using area element in the form
of a differential ring or annulus having thickness d
and circumference 2 .
• For this ring, dA = 2 d

J is a geometric property of the circular area and is always positive. Common

units used for its measurement are mm4 and m4.

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 THE TORSION FORMULA
Tubular shaft

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 THE TORSION FORMULA
Absolute maximum torsional stress
• Need to find location where ratio Tc/J is maximum
• Draw a torque diagram (internal torque  vs. x along
shaft)
• Sign Convention: T is positive, by right-hand rule, is
directed outward from the shaft
• Once internal torque throughout shaft is determined,
maximum ratio of Tc/J can be identified

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 THE TORSION FORMULA
Procedure for analysis
Internal loading
• Section shaft perpendicular to its axis at point
where shear stress is to be determined
• Use free-body diagram and equations of
equilibrium to obtain internal torque at section
Section property
• Compute polar moment of inertia and x-sectional
area
• For solid section, J = c4/2
• For tube, J = (co4  ci2)/2

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 THE TORSION FORMULA
Procedure for analysis
Shear stress
• Specify radial distance , measured from centre
of x-section to point where shear stress is to be
found
• Apply torsion formula,  = T /J or max = Tc/J
• Shear stress acts on x-section in direction that is
always perpendicular to 

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 EXAMPLE
Shaft shown supported by two bearings and
subjected to three torques.
Determine shear stress developed at points A and B,
located at section a-a of the shaft.

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 EXAMPLE
Internal torque
Bearing reactions on shaft = 0, if shaft weight
assumed to be negligible. Applied torques satisfy
moment equilibrium about shaft’s axis.
Internal torque at section a-a determined from free-
body diagram of left segment.

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 EXAMPLE
Internal torque
 Mx = 0; 4250 kN·mm  3000 kN·mm  T = 0
T = 1250 kN·mm

Section property

J = /2(75 mm)4 = 4.97 107 mm4

Shear stress
Since point A is at  = c = 75 mm

B = Tc/J = ... = 1.89 MPa

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 EXAMPLE
Shear stress
Likewise for point B, at  = 15 mm

B = T /J = ... = 0.377 MPa

Directions of the stresses on elements

A and B established from direction of
resultant internal torque T.

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 POWER TRANSMISSION
• Power is defined as work performed per unit of
time
P = T (d/dt)
• Instantaneous power is
• Since shaft’s angular velocity  = d/dt, we can
also express power as P = T

Frequency f of a shaft’s rotation is often reported. It measures the number of

cycles per second and since 1 cycle = 2 radians, and  = 2f T, then power

P = 2f T

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 POWER TRANSMISSION
Shaft Design
• If power transmitted by shaft and its frequency of
rotation is known, torque is determined from Eqn
5-11
• Knowing T and allowable shear stress for
material, allow and applying torsion formula,

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 POWER TRANSMISSION

Shaft Design
• For solid shaft, substitute J = (/2)c4 to determine c
• For tubular shaft, substitute J = (/2)(co2  ci2) to
determine co and ci

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 EXAMPLE
Solid steel shaft shown used to transmit 3750 W from
attached motor M. Shaft rotates at  = 175 rpm and
the steel allow = 100 MPa.
Determine required diameter of shaft to nearest mm.

36
 EXAMPLE
Torque on shaft determined from P = T,
Thus, P = 3750 N·m/s
175 rev 2 rad 1 min
 = min
( 1 rev
)( 60 s
) = 18.33 rad/s

Thus, P = T, T = 204.6 N·m

J  c4 T
c = 2 c=2 allow
...

c = 10.92 mm

Since 2c = 21.84 mm, select shaft with diameter of d = 22 mm

37
 ANGLE OF TWIST
• Angle of twist is important when analyzing reactions
on statically indeterminate shafts
L T(x) dx
 =
∫0
J(x) G

 = angle of twist, in radians

T(x) = internal torque at arbitrary position x, found from method of sections and
equation of moment equilibrium applied about shaft’s axis
J(x) = polar moment of inertia as a function of x
G = shear modulus of elasticity for material

38
 ANGLE OF TWIST
Constant torque and x-sectional area
TL
 = JG

If shaft is subjected to several different torques, or x-sectional area or shear

modulus changes suddenly from one region of the shaft to the next, then apply
Eqn 5-15 to each segment before vectorially adding each segment’s angle of twist:

TL
 =
 JG

39
 ANGLE OF TWIST
Sign convention
Use right-hand rule: torque and angle of twist are positive when thumb is directed
outward from the shaft

40
 EXAMPLE
50-mm-diameter solid cast-iron post shown is buried
600 mm in soil. Determine maximum shear stress in
the post and angle of twist at its top. Assume torque
about to turn the post, and soil exerts uniform
torsional resistance of t N·mm/mm along its 600 mm
buried length. G = 40(103) GPa

41
 EXAMPLE
Internal torque
From free-body diagram
 Mz = 0; TAB = 100 N(300 mm) = 30  103 N·mm

42
 EXAMPLE
Internal torque
Magnitude of the uniform distribution of torque along buried segment BC can be
determined from equilibrium of the entire post.

 Mz = 0;

100 N(300 mm)  t(600 mm) = 0

t = 50 N·mm

43
 EXAMPLE
Internal torque
Hence, from free-body diagram of a section of the post located at position x within
region BC, we have

 Mz = 0;

TBC  50x = 0
TBC = 50x

44
 EXAMPLE
Maximum shear stress
Largest shear stress occurs in region AB, since torque largest there and J is
constant for the post. Applying torsion formula

TAB c
max =J = ... = 1.22 N/mm2

45
 EXAMPLE
Angle of twist
Angle of twist at the top can be determined relative to the bottom of the post,
since it is fixed and yet is about to turn. Both segments AB and BC twist, so

TAB LAB LBC TBC dx

A = JG
+
∫
0
JG
...

A = 0.00147 rad

46
 STRESS CONCENTRATION
• Three common discontinuities
of the x-section are:
a) is a coupling, for connecting
2 collinear shafts together
b) is a keyway used to connect
gears or pulleys to a shaft
c) is a shoulder fillet used to
fabricate a single collinear
shaft from 2 shafts with
different diameters

47
 STRESS CONCENTRATION
• Dots on x-section indicate
where maximum shear stress
will occur
• This maximum shear stress
can be determined from
torsional stress-concentration
factor, K

48
 STRESS CONCENTRATION
• K, can be obtained from
a graph as shown
• Find geometric ratio D/d
for appropriate curve
• Once abscissa r/d
calculated, value of K
found along ordinate
• Maximum shear stress is
then determined from
max = K(Tc/J)

49
 STRESS CONCENTRATION
IMPORTANT
• Stress concentrations in shafts occur at points of
sudden x-sectional change. The more severe the
change, the larger the stress concentration
• For design/analysis, not necessary to know exact
shear-stress distribution on x-section. Instead,
obtain maximum shear stress using stress
concentration factor K
• If material is brittle, or subjected to fatigue
loadings, then stress concentrations need to be
considered in design/analysis.

50
 EXAMPLE
Stepped shaft shown is supported at bearings at A
and B. Determine maximum stress in the shaft due to
applied torques. Fillet at junction of each shaft has
radius r = 6 mm.

51
 EXAMPLE
Internal torque
By inspection, moment equilibrium about axis of
shaft is satisfied. Since maximum shear stress
occurs at rooted ends of smaller diameter shafts,
internal torque (30 N·m) can be found by applying
method of sections

52
 EXAMPLE
Maximum shear stress
From shaft geometry, we have
D 2(40 mm)
d = 2(20 mm) =2

r 6 mm)
d = 2(20 mm) = 0.15

Thus, from the graph, K = 1.3

max = K(Tc/J) = ... = 3.10 MPa

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Terima Kasih
Dr. Ir. Haftirman MEng