MODULE 3: TORSION

The learning objectives:

At the end of this lesson, the learner will be able to:

• Understand the effects of torsion in a circular element

• Evaluate the torsional shearing stress
• Evaluate the angle of twist
• Evaluate the power transmitted by a shaft
• Evaluate the capacity of a flanged bolted coupling assembly
• Evaluate the capacity of a thin-walled vessel subjected to torque
• Evaluate the capacity of helical springs

COURSE MATERIAL:
INTRODUCTION
Consider a bar to be rigidly attached at one end and twisted at the other end by a torque or twisting
moment T equivalent to 𝐹 × 𝑑, which is applied perpendicular to the axis of the bar, as shown in
the figure. Such a bar is said to be in torsion.

TORSIONAL SHEARING STRESS, 𝝉

For a solid or hollow circular shaft subject to a twisting moment T, the torsional shearing stress 𝜏
at a distance 𝜌 from the center of the shaft is
𝑇𝜌
𝜏=
𝐽
The maximum shearing stress is
𝑇𝑅
𝜏𝑚𝑎𝑥 =
𝐽
where J is the polar moment of inertia of the section and R is the outer radius.

For a solid circular shaft:

𝜋 4
𝐽= 𝐷
32
16𝑇
𝜏𝑚𝑎𝑥 =
𝜋𝐷 3
For a hollow cylindrical shaft:
𝜋
𝐽= (𝐷 4 − 𝑑4 )
32
16𝑇𝐷
𝜏𝑚𝑎𝑥 =
𝜋(𝐷 4 − 𝑑4 )
16𝑇𝑑
𝜏𝑚𝑖𝑛 =
𝜋(𝐷 4 − 𝑑4 )
ANGLE OF TWIST
The angle θ through which the bar of length L will twist is
𝑇𝐿
𝜃=
𝐽𝐺

POWER TRANSMITTED BY A SHAFT

A shaft rotating with a constant angular velocity 𝜔 (in radians per second) is being acted by a
twisting moment T. The power transmitted by a shaft is
𝑃 = 𝑇𝜔 = (𝑁 ⋅ 𝑚)(𝑟𝑎𝑑⁄𝑠) = 𝑁 ⋅ 𝑚/𝑠
but
𝜔 = 2𝜋𝑓

where f is the frequency in revolutions per second (rpm), and P is power in watts (W). (1 N-m/s =
1 W)
PROBLEM 1: What is the minimum diameter of a solid steel shaft that will not twist more than 3°
in a 6-m length when subjected to a torque of 12 kN⋅m? What is the maximum shearing stress
developed? Use G = 83 GPa.
PROBLEM 2: A hollow cylindrical steel shaft is 1.5 m long and has an inner and outer diameter,
respectively, equal to 40 mm and 60 mm. (a) What is the largest torque that can be applied to the
shaft if the shearing stress is not to exceed 120 MPa? (b) What is the corresponding minimum
value of the shearing stress in the shaft?
PROBLEM 3: An aluminum shaft with a constant diameter of 50 mm is loaded by torques applied
to gears attached to it as shown in the figure. Using G = 28 GPa, determine the relative angle of
twist of gear D relative to gear A.
PROBLEM 4: A solid steel shaft 5 m long is stressed at 80 MPa when twisted through 4°. Using
G = 83 GPa, compute the shaft diameter. What power can be transmitted by the shaft at 20 Hz?
PROBLEM 5: A steel propeller shaft is to transmit 4.5 MW at 3 Hz without exceeding a shearing
stress of 50 MPa or twisting through more than 1° in a length of 26 diameters. Compute the proper
diameter if G = 83 GPa.
PROBLEM 6: Determine the maximum torque that can be applied to a hollow circular steel shaft
of 100-mm outside diameter and an 80-mm inside diameter without exceeding a shearing stress
of 60 MPa or a twist of 0.5°/m. Use G = 83 GPa.
PROBLEM 7: The steel shaft shown in the figure rotates at 4 Hz with 35 kW taken off at A, 20
kW removed at B, and 55 kW applied at C. Using G = 83 GPa, find the maximum shearing stress
and the rotation of gear A relative to gear C.
PROBLEM 8: The solid rod AB has a diameter 𝑑𝐴𝐵 = 60 𝑚𝑚. The pipe CD has an outer diameter
of 90 mm and a wall thickness of 6 mm. Knowing that both the rod and the pipe are made of steel
for which the allowable shearing stress is 75 MPa, determine the largest torque T that can be
applied at A.
PROBLEM 9: The compound shaft shown in the figure is attached to rigid supports. For the
bronze segment AB, the diameter is 75 mm, 𝜏 ≤ 60 𝑀𝑃𝑎, and G = 35 MPa. For the steel segment
BC, the diameter is 50 mm, 𝜏 ≤ 80 𝑀𝑃𝑎, and G = 83 MPa. If a = 2 m, and b = 1.5 m, compute the
maximum torque T that can be applied.
PROBLEM 10: A shaft composed of segments AC, CD, and DB is fastened to rigid supports and
loaded as shown in the figure. For bronze, G = 35 GPa; aluminum, G = 28 GPa; and for steel, G
= 83 GPa. Determine the maximum shearing stress developed in each segment.
FLANGED BOLTED COUPLINGS
In shaft connection called flanged bolt couplings, the torque is transmitted by the shearing force
P created in the bolts that is assumed to be uniformly distributed. For any number of bolts n, the
torque capacity of the coupling is
𝜋𝑑2
𝑇 = 𝑃𝑅𝑛 = 𝜏𝑅𝑛
4
If a coupling has two concentric rows of bolts, the torque capacity
is
𝑇 = 𝑃1 𝑅1 𝑛1 + 𝑃2 𝑅2 𝑛2
where the subscript 1 refers to bolts on the outer circles and
subscript 2 refers on the inner circles.

For rigid flanges, the shear deformations in the bolts are proportional to their radial distances from
the shaft axis. The shearing strains are related by
𝛾1 𝛾2
=
𝑅1 𝑅2
Using Hooke’s law for shear, 𝐺 = 𝜏⁄𝛾, we have
𝜏1 𝜏2
=
𝐺1 𝑅1 𝐺2 𝑅2
or
𝑃1 ⁄𝐴1 𝑃2 ⁄𝐴2
=
𝐺1 𝑅1 𝐺2 𝑅2
if the two bolts on the two circles have the same area, 𝐴1 = 𝐴2 , and if the bolts are made of the
same material, 𝐺1 = 𝐺2 , the relation between 𝑃1 and 𝑃2 reduces to
𝑃1 𝑃2
=
𝑅1 𝑅2
PROBLEM 11: A flanged bolt coupling consists of ten 20-mm diameter bolts spaced evenly
around a bolt circle 400 mm in diameter. Determine the torque capacity of the coupling if the
allowable shearing stress in the bolts is 40 MPa.
PROBLEM 12: The plate shown in the figure is fastened to the fixed member by five 10-mm
diameter rivets. Compute the value of P so that the average shearing stress in any rivet does not
exceed 70 MPa.
TORSION ON THIN-WALLED TUBES
The torque applied to thin-walled tubes is expressed as
𝑇 = 2𝐴𝑞
where T is the torque (kN⋅m), A is the area enclosed by
the centerline of the tube (mm2), and q is the shear flow
(N/mm).
The average shearing stress across any thickness is
𝑞 𝑇
𝜏= =
𝑡 2𝐴𝑡
Thus, the torque can be also expressed as
𝑇 = 2𝐴𝜏𝑡
PROBLEM 13: A tube 2 mm thick has the shape shown in the figure. Find the shearing stress
caused by a torque of 600 N⋅m.
PROBLEM 14: A hollow brass shaft has the cross section shown. Knowing that the shearing
stress must not exceed 12 ksi and neglecting the effect of stress concentrations, determine the
largest torque that can be applied to the shaft.
HELICAL SPRINGS
When closed-coiled helical spring, composed of a wire of
round rod of diameter d wound into a helix of mean radius R
with n number of turns, is subjected to an axial load P
produces the following stress and elongation:
The maximum shearing stress is the sum of the direct
shearing stress 𝜏1 = 𝑃⁄𝐴 and the torsional shearing stress
𝜏2 = 𝑇𝑟⁄𝐽, with 𝑇 = 𝑃𝑅.
𝑃 16𝑃𝑅
𝜏 = 𝜏1 + 𝜏2 = 𝜋 +
2 𝜋𝑑3
4𝑑
16𝑃𝑅 𝑑
𝜏= 3
(1 + )
𝜋𝑑 4𝑅
This formula neglects the curvature of the spring. This is used for light spring where the ratio d =
4R is small.
For heavy springs and considering the curvature of the spring, a more precise formula is given
by: (A.M. Wahl Formula)
16𝑃𝑅 4𝑚 − 1 0.615
𝜏= ( + )
𝜋𝑑3 4𝑚 − 4 𝑚
where
2𝑅
𝑚=
𝑑
is the spring index and (4𝑚 − 1)⁄(4𝑚 − 4) is the Wahl factor.
The elongation of the bar is
64𝑃𝑅 3 𝑛
𝛿=
𝐺𝑑4
Notice that the deformation 𝛿 is directly proportional to the applied load P. The ratio of P to 𝛿 is
called the spring constant k and is equal to
𝑃 𝐺𝑑4
𝑘= =
𝛿 64𝑃𝑅 3 𝑛
Springs in Series
For two or more springs with spring laid in series, the resulting spring constant k is given by

𝑛
1 1 1 1 1
= + + +⋯=∑
𝑘 𝑘1 𝑘2 𝑘3 𝑘1
𝑖=1

where k1, k2, … are the spring constants for different springs.

Springs in Parallel
In similar manner, the spring constant k for parallel springs is

𝑘 = 𝑘1 + 𝑘2 + 𝑘3 + ⋯ = ∑ 𝑘𝑖
𝑖=1
PROBLEM 15: Determine the maximum shearing stress and elongation in a helical steel spring
composed of 20 turns of 20-mm diameter wire on a mean radius of 90 mm when the spring is
supporting a load of 1.5 kN. Use G = 83 GPa. Use formula for heavy spring.
PROBLEM 16: Two steel springs arranged in series as shown in the figure supports a load P.
The upper spring has 12 turns of 25-mm diameter wire on a mean radius of 100 mm. The lower
spring consists of 10 turns of 20-mm diameter wire on a mean radius of 75 mm. If the maximum
shearing stress in either spring must not exceed 200 MPa, compute the maximum value of P and
the total elongation of the assembly. Use equation for heavy spring and G = 83 GPa. Compute
the equivalent spring constant by dividing the load by the total elongation.
PROBLEM 17: As shown in the figure, a homogeneous 50-kg rigid block is suspended by the
three springs whose lower ends were originally at the same level. Each steel spring has 24 turns
of 10-mm diameter on a mean diameter of 100 mm, and G = 83 GPa. The bronze spring has 48
turns of 20-mm diameter wire on a mean diameter of 150 mm, and G = 42 GPa. Compute the
maximum shearing stress in each spring using the equation for light spring.