Lecture 4: Torsion

By: V.KALAIKUMAR
1

Chapter 4 : Torsion
Chapter’s Objectives
„ Discuss effects of applying torsional loading to
a long straight member
„ Determine stress distribution within the
member under torsional load
„ Determine angle of twist when material
behaves in a linear-elastic and inelastic
manner

Department of Civil Engineering 2

Universiti Teknologi PETRONAS

1
Chapter 4 : Torsion
Chapter’s Outline
1. Introduction
2. Review
3. The Torsional Formula
4. Power Transmission
5. Angle of twist

Department of Civil Engineering 3

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
1. Introduction
„ Torque is a moment that twists a member about its
longitudinal axis.
„ If the angle of rotation is small, the length of the
shaft and its radius will remain unchanged

Department of Civil Engineering 4

Universiti Teknologi PETRONAS

2
Chapter 4 : Torsion
2. Review
„ By definition, shear strain is γ = (π/2) − lim θ’
C→A along CA

Let Δx → dx and Δ φ = dφ B→A along BA

BD = ρ dφ = dx γ
dφ
γ =ρ
dx
„ Since dφ / dx = γ /ρ = γmax /c

ρ
γ = (c ) γ max

Department of Civil Engineering 5

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
3. The Torsion Formula
„ When material is linear-elastic, Hooke’s law
applies.
„ A linear variation in shear strain leads to a
corresponding linear variation in shear stress
along any radial line on the cross section.
Tc Tp
τ max = or τ =
J J
τ max = maximum shear stress in the shaft
τ = shear stress
T = resultant internal torque
J = polar moment of inertia of cross-sectional area
c = outer radius of the shaft
p = intermediate distance

Department of Civil Engineering 6

Universiti Teknologi PETRONAS

3
Chapter 4 : Torsion
3. The Torsion Formula
„ If the shaft has a solid circular cross section,

π
J= c4
2

„ If a shaft has a tubular cross section,

π
J=
2
(c 4
o − ci4 )

Department of Civil Engineering 7

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
3. The Torsion Formula
Example 1
The solid shaft of radius c is subjected to a torque T. Find
the fraction of T that is resisted by the material contained
within the outer region of the shaft, which has an inner
radius of c/2 and outer radius c.

Department of Civil Engineering 8

Universiti Teknologi PETRONAS

4
Chapter 4 : Torsion
3. The Torsion Formula
Solution for Example 1
Stress in the shaft varies linearly, thus τ = (ρ c )τ max

The torque on the ring (area) located within the lighter-shaded region is
dT ' = ρ (τdA) = ρ (ρ c )τ max (2πρdρ )
For the entire lighter-shaded area the torque is

2πτ max 15π

c
T'= ∫ ρ dρ = τ max c 3 (1)
3

c c/2
32

Department of Civil Engineering 9

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
3. The Torsion Formula
Solution for Example 1
Using the torsion formula to determine the maximum stress in the shaft,
we have Tc Tc
τ max = =
J (π 2)c 4
2T
τ max = 3
πc
Substituting this into Eq.
Eq 1 yields

15
T '= T (Ans)
16

Department of Civil Engineering 10

Universiti Teknologi PETRONAS

5
Chapter 4 : Torsion
3. The Torsion Formula
Example 2
The shaft is supported by two bearings and is subjected to
three torques. Determine the shear stress developed at
points A and B, located at section a–a of the shaft.

Department of Civil Engineering 11

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
3. The Torsion Formula
Solution for Example 2
From the free-body diagram of the left segment,
∑M x = 0; 4250 − 3000 − T = 0 ⇒ T = 1250 kNmm
The polar moment of inertia for the shaft is
π 4
J= (75)
7
= 4.97 ×10 mm
2
Since point A is at ρ = c = 75 mm,
Tc (1250)(75)
τB = = = 1.89 MPa (Ans)
J 4.97 ×107
Likewise for point B, at ρ =15 mm, we have
Tc (1250)(15)
τB = = = 0.377 MPa (Ans)
J 4.97 × 107

Department of Civil Engineering 12

Universiti Teknologi PETRONAS

6
Chapter 4 : Torsion
4. Power Transmission
„ Power is defined as the work performed per unit of
time.
„ For a rotating shaft with a torque, the power is
P = Tω where shaft angular ve locity, ω = dθ / dt

„ Since 1 cycle= 2π rad ⇒ ω = 2πf, the power equation is

P = 2πfT
„ For shaft
F h f design,
d i the
h ddesign
i or geometric
i
parameter is J T
=
c τ allow

Department of Civil Engineering 13

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
4. Power Transmission
Example 1
A solid steel shaft AB is to be used to transmit 3750 W
f
from the
th motort M tot which
hi h it iis attached.
tt h d If the
th shaft
h ft rotates
t t
at ω =175 rpm and the steel has an allowable shear stress
of allow τallow =100 MPa, determine the required
diameter of the shaft to the nearest mm.

Department of Civil Engineering 14

Universiti Teknologi PETRONAS

7
Chapter 4 : Torsion
4. Power Transmission
Solution for Example 1
The torque on the shaft is
P = Tω
⎛ 175 × 2π ⎞
3750 = T ⎜ ⎟ ⇒ T = 204.6 Nm
⎝ 60 ⎠
Since, J π c4 T
= =
c 2 c τ allow
⎛ 2(204.6)(1000) ⎞
1/ 3 1/ 3
⎛ 2T ⎞
c = ⎜⎜ ⎟⎟ = ⎜⎜ ⎟⎟ = 10.92 mm
⎝ πτ allow ⎠ ⎝ π (100) ⎠

As 2c = 21.84 mm, select a shaft having a diameter of 22 mm

Department of Civil Engineering 15

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
5. Angle of Twist
„ Integrating over the entire length L of the shaft, we
have
Φ = angle of twist
T (x )dx
L
T(x) = internal torque
φ=∫ J(x) = shaft’s polar moment of inertia
0
J (x )G G = shear modulus of elasticity for
the material
„ Assume material is homogeneous, G is constant,
thus TL TL
φ= φ =Σ *
JG JG
*Used when several different torque, cross section
and shear modulus varied
„ Sign convention is
determined by right hand rule,
Department of Civil Engineering 16
Universiti Teknologi PETRONAS

8
Chapter 4 : Torsion
5. Angle of Twist
Example 1
The two solid steel shafts are coupled together using the
meshedh d gears. D
Determine
i the
h anglel off twist
i off end
d A off shaft
h f AB
when the torque 45 Nm is applied. Take G to be 80 GPa. Shaft
AB is free to rotate within bearings E and F, whereas shaft DC
is fixed at D. Each shaft has a diameter of 20 mm.

Department of Civil Engineering 17

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
5. Angle of Twist
Solution for Example 1
From free body diagram,
F = 45 / 0.15 = 300 N
(TD )x = 300(0.075) = 22.5 Nm
Angle of twist at C is

φC =
TLDC
=
(+ 22.5)(1.5) = +0.0269 rad
JG [
(π 2)(0.001)4 80(10)9 ]
Since the gears at the end of the shaft are in mesh,
φB (0.15) = (0.0269)(0.075) ⇒ 0.0134 rad

Department of Civil Engineering 18

Universiti Teknologi PETRONAS

9
Chapter 4 : Torsion
5. Angle of Twist
Solution for Example 1
Since the angle of twist of end A with respect to end B of shaft AB
caused by the torque 45 Nm,
φA/ B =
TAB LAB
=
(+ 45)(2) = +0.0716 rad
JG [ ( )]
(π 2)(0.010)4 80 109
The rotation of end A is therefore
φ A = φB + φ A / B = 0.0134 + 0.0716 = +0.0850 rad (Ans)

Department of Civil Engineering 19

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
5. Angle of Twist
Example 2
The tapered shaft is made of a material having a shear
modulus G. Determine the angle of twist of its end B when
subjected to the torque.

Department of Civil Engineering 20

Universiti Teknologi PETRONAS

10
Chapter 4 : Torsion
5. Angle of Twist
Solution for Example 2
From free body diagram, the internal torque is T.
c2 − c1 c2 − c ⎛c −c ⎞
= ⇒ c = c2 − x ⎜ 2 1 ⎟
L x ⎝ L ⎠
4
Thus, at x, J (x ) = π ⎡c − x⎛⎜ c2 − c1 ⎞⎟⎤
⎢ 2 ⎥
2⎣ ⎝ L ⎠⎦

For angle of twist,

2TL ⎛ c22 + c1c2 + c12 ⎞
L
2T dx
φ= ∫
πG 0 ⎡ ⎛ c2 − c1 ⎞⎤
4
= ⎜
3πG ⎜⎝ c13c23
⎟⎟ (Ans)
⎠
⎢ c2 − x ⎜ L ⎟ ⎥
⎣ ⎝ ⎠⎦

Department of Civil Engineering 21

Universiti Teknologi PETRONAS

Chapter 4 : Torsion
5. Angle of Twist
Example 3
Determine the twist at joint A for the structure which is
subjected to torques as shown in the figure. Assume
G=80GPa

Department of Civil Engineering 22

Universiti Teknologi PETRONAS

11
Chapter 4 : Torsion
5. Angle of Twist
Solution for Example 1 250 Nm
250 Nm
From free bodyy diagram,
g ,
2000 Nm
AB: ∑Ty=0; 250 –TAB = 0 == TAB = 250 Nm TAB
BC: ∑Ty=0; 250 +2000-TBC = 0 == TBC = 2250 Nm
TBC
Since no torque at C, TCD= TBC = 2250 Nm
JAB = πc14/2 = π(0.015)4/2=0.0795 x 10-6 m4
JBC = πc24/2 = π(0.030)4/2=1.272 x 10-6 m4
JCD = π(c14-c34)/2 = π(0.0304-0.0224/2=0.904 x 10-6 m4
ФA = ∑TiLi/JiGi = ФAB + ФBC + ФCD
= TABLAB/JABGAB+ TBCLBC/JBCGBC+ TCDLCD/JCDGCD
= (1/80E9){ (250x0.4/0.0795E-6) + (2250x0.2/1.272E-6) +
(2250x0.6/0.904E-6) }
= 0.0388 rad ( Ans )
Department of Civil Engineering 23
Universiti Teknologi PETRONAS

END OF LECTURE 4

24

12