Mechanics of Materials 18MEI33

Module-5

TORSION OF CIRCULAR SHAFTS AND ELASTIC

STABILITY OF COLUMNS
Syllabus
Torsion:
Introduction, Pure torsion, assumptions, derivation of torsional equations, polar modulus,
torsional rigidity / stiffness of shafts, Power transmitted by solid and hollow circular shafts

TORSION OF CIRCULAR SHAFTS

INTRODUCTION
In this chapter structural members and machine parts that are in torsion will be
considered. More specifically, the stresses and strains in members of circular cross section
subjected to twisting couples, or torques, T and T' (Fig. 5.1) are analyzed. These couples have a
common magnitude T, and opposite senses. They are vector quantities and can be represented by
couple vectors as shown in Fig.5.1.
Members in torsion are encountered in many engineering applications. The most common
application is provided by transmission shafts, which are used to transmit power from one point
to another. For example, the shaft shown in Fig. 5.1 is used to transmit power from the engine to
the rear wheels of an automobile. These shafts can be solid, as shown in Fig. 5.1, or hollow.

Fig. 5.1: Torsion in shafts

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PURE TORSION
A member is said to be in pure torsion when its cross sections are subjected to only torsional
moments and not accompanied by axial forces or bending moment. Now consider the section of a
shaft under pure torsion as shown in Fig. 5.2.

Fig. 5.2 Pure torsion

The internal forces develop so as to counteract this torsional moment. Hence, at any element, the
force dF developed is in the direction normal to radial direction. This force is obviously shearing
force and thus the elements are in pure shear. If dA is the area of the element at distance r from
the axis of shaft, then,
dF =  dA
where  is shearing stress,
and dT = dF x r

ASSUMPTIONS IN THE THEORY OF PURE TORSION

In the theory of pure torsion, expressions will be derived for determining shear stress and the
effect of torsional moment on cross-section i.e. in finding angle of twist. In developing this
theory the following assumptions are made.
➢ The material is homogeneous and isotropic.
➢ The stresses are within the elastic limit, i.e. shear stress is proportional to shear strain.
➢ Cross-sections which are plane before applying twisting moment remain plane even after
the application of twisting moment i.e. no warping takes place.
➢ Radial lines remain radial even after applying torsional moment.
➢ The twist along the shaft is uniform.

DERIVATION OF TORSIONAL EQUATIONS

Consider a shaft of length L, radius R fixed at one end and subjected to a torque Tat the other end
as shown in Fig. 5.3.
Let O be the centre of circular section and B a point on surface. AB be the line on the shaft
parallel to the axis of shaft. Due to torque T applied, let B move to B’. If  is shear strain (angle
BOB') and  is the angle of twist in length L, then
R = BB' = L
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If s is the shear stress and G is modulus of rigidity then,


 =
G

Fig. 5.3: Torsion in shaft

s
R = L
G
 s G
=
R L
Similarly if the point B considered is at any distance r from centre instead of on the surface, it
can be shown that
 G … (i)
=
r L
s 
=
R r
Thus shear stress increases linearly from zero at axis to the maximum value s at surface.
Now consider the torsional resistance developed by an elemental area 'a' at distance r from
centre.
If  is the shear stress developed in the element the resisting force is
dF = da

Fig. 8.4
Resisting torsional moment,
dT= dF x r
= rda
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WKT,
r
 = s
R
Therefore,

r2
dT =  s da
Total resisting torsional moment, R
r2
T =  s da
R
s
T=
R
 r 2da

But  r 2da is nothing but polar moment of inertia of the section. Representing it by notation J

we get,
s
T= J
R
T s
i.e., =
J R
s 
WKT, =
R r
T 
There, = (ii)
J r
From (i) and (ii), we have,
T  G
= = (iii)
J r L
Where,
T - torsional moment , N-mm
J - polar moment of inertia, mm4
 - shear stress in the element, N/mm2
r- distance of element from centre of shaft, mm
G - modulus of rigidity, N/mm2
- angle of twist, rad
L- length of shaft, mm

POLAR MODULUS
From the torsion equation,
T 
=
J r
But,
s 
=
R r
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Where s is maximum shear stress (occurring at surface) and R is extreme fibre distance from
centre. Therefore,
T s
=
J R
or
J
T=  =Z
R s p s

where Zp is called as 'Polar Modulus of Section’. It may be observed that Z p is the property of the
section and may be defined as the ratio of polar moment of inertia to extreme radial distance of
the fibre from the centre.
(i) For solid circular section of diameter d

J R
(ii) For hollow circular shaft with external diameter d1 and internal diameter d2

TORSIONAL RIGIDITY / STIFFNESS OF SHAFTS

From the torsion equation,
TL
Angle of twist, =
GJ
T - Torsional moment , N-mm
J - Polar moment of inertia, mm4
G - Modulus of rigidity, N/mm2 (sometimes denoted by C)
 - angle of twist, rad
For a given specimen, the shaft properties like length L, polar modulus J and material
properties like rigidity modulus G are constants and hence the angle of twist is directly
proportional to the twisting moment or torque producing the twist. Torque producing twist in a
shaft is similar to the bending moment producing bend or deflection in a beam. Similar to the
flexural rigidity in beams expressed by EI, torsional rigidity is expressed as GJ which can be
defined as the torque required to produce a twist of unit radian per unit length of the shaft.
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POWER TRANSMITTED
Let us consider a circular shaft running at N rpm under mean torque T. Let P be the power
transmitted by the shaft in kW.
The angular speed of the shaft is given by the distance covered by a particle in the circle in
radians for N revolutions per second, i.e. the particle covers  radians for one revolution and for
N revolutions the particle covers 2N radians in one minute. Hence the angular speed  is given
by:
2N
= Rad/s
60
Thus, the power transmitted = Mean torque (kN-m) x Angular speed (rad/s)
i.e.,
2NT
P = T = kN-m/s or kW
60
It is seen that from the above equation mean torque T in kN-m is obtained. It should be converted
to N-mm so that the stress due to torque can be obtained in N/mm2. Maximum shear stress due to
torque can be obtained from the torque equation.
T  G
= =
J r L

WORKED EXAMPLES
1) A solid shaft has to transmit 120 kW of power at 160 rpm. If the shear stress is not to exceed
60 MPa and the twist in a length of 3 m must not exceed 1°, find the suitable diameter of the
shaft. Take G = 80 GPa.
Solution
P = 120 kW, N = 160 rpm,  = 60 N/mm2,  = 1°, G or C = 80 x 103 N/mm2, d = ?
Power transmitted is given by,

(i) From the maximum shear stress considerations

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(ii) From the maximum twist considerations

d = 2 x 55.946 = 111.89 mm
Choose the higher diameter among the two so that it can be safe.
2) Find the diameter of the shaft required to transmit 60 kW at 150 rpm if the maximum torque
exceeds 25% of the mean torque for a maximum permissible shear stress of 60 MN/mm2.
Find also the angle of twist for a length of 4 m. Take G = 80 GPa.
Solution
P = 60 kW, N = 150 rpm, s = 60 N/mm2,  = ?, G or C = 80 x 103 N/mm2, d = ?
Power transmitted is given by,
2NT
P=
60

Tmax = 1.257 = 1.25 x 3.8197 x 106 = 4.77465 x 106 N mm.

From torque equation, we have
T  G
= =
J r L
d 4 R3
Where, J = =
32 2

(ii) Angle of twist l = 4 m,  = ?

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3) A solid cylindrical shaft is to transmit 300 kW power at 100 r.p.m. (a) If the shear stress is
not to exceed 80 N/mm2, find its diameter. (b) What percent saving in weight would be
obtained if this shaft is replaced by a hollow one whose internal diameter equals to 0.6 of the
external diameter, the length, the material and maximum shear stress being the same?
Solution:
Given:
Power, P = 300 kW = 300 x 103 W
Speed, N = 100rpm
Max. Shear stress,  = 80 N/mm2
(a)
Let D = Dia. of solid shaft
Power transmitted by the shaft is given by,

(b) Percent saving in weight

Let D0 = External dia. of hollow shaft Di. = Internal dia. of hollow shaft = 0.6 x Do. (given)
The length, material and maximum shear stress in solid and hollow shafts are given the same.
Hence torque transmitted by solid shaft is equal to the torque transmitted by hollow shaft.

But the torque transmitted by hollow shaft is given by equation,

But torque transmitted by solid shaft = 28647800 N-mm.

Equating the two torques, we get
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Internal dia, Di = 0.6 x D0 = 0.6 x 128 = 76.8 mm

Let, Ws = Weight of solid shaft,
Wh = Weight of hollow shaft.
Let, Ws = Weight density x Area of solid shaft x Length

Similarly,

4) A hollow shaft of diameter ratio 3/8 is to transmit 375 kW power at 100 r.p.m. The maximum
torque being 20% greater than the mean. The shear stress is not to exceed 60 N/mm2 and
twist in a length of 4 m not to exceed 2°. Calculate its external and internal diameters which
would satisfy both the above conditions. Assume modulus of rigidity, C = 0.85 x 105 N/mm2.
Solution:
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i) Diameters of the shaft when shear stress is not to exceed 60 MPa,

For the hollow shaft, the torque transmitted is given by

(ii) Diameters of the shaft when the twist is not to exceed 2 degrees.

The diameters of the shaft, which would satisfy both the conditions, are the greater of the two
values.
External dia., D0 = 157 mm.
Internal dia., Di = 59 mm.
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