Name: Mel John C.

Clemente Date: March 30, 2021

Year and Section: 2EE-B Professor: Preciosa Ognilla

Torsion of Circular Shafts

Simplifying assumptions
During the deformation, the cross sections are not distorted in
any manner－they remain plane, and the radius r does not
change. In addition, the length L of the shaft remains
constant.

Figure 3.1
Deformation of
a circular shaft
caused by the
torque T. The
initially straight
line AB deforms
into a helix.
 Based on these observations, we make the
following assumptions:
٠ Circular cross sections remain plane (do not warp) and
perpendicular to the axis of the shaft.
٠ Cross sections do not deform (there is no strain in the plane of
the cross section).
٠ The distances between cross sections do not change (the axial
normal strain is zero).
 Each cross section rotates as a rigid entity about the axis of
the shaft. Although this conclusion is based on the observed
deformation of a cylindrical shaft carrying a constant
internal torque, we assume that the result remains valid even
if the diameter of the shaft or the internal torque varies along
the length of the shaft.
 Compatibility
 Because the cross sections are separated by an infinitesimal
distance, the difference in their rotations, denoted by the
angle
dθ, is also infinitesimal.
 As the cross sections undergo the relative rotation dθ, CD
deforms into the helix CD. By observing the distortion of the
shaded element, we recognize that the helix angle γis the shear
strain of the element.
From the geometry of Fig.3.2(a), we obtain DD´=  dθ=γdx ,
from which the shear strain γ is
d
   (3.1)
dx
The quantity dθ/dx is the angle of twist per unit length, where
θ is expressed in radians. The corresponding shear stress,
illustrated in Fig. 3.2 (b), is determined from Hooke´s law:
  G  G d 
(3.2)
dx

Figure 3.2 (a) Shear

strain of a material
element caused by
twisting of the shaft;
(b) the corresponding
shear stress.
 the shear stress varies linearly with the radial distance  from
d
the axial of the   G  G 
shaft. dx

 The variation of the shear stress acting on the cross section

is illustrated in Fig. 3.3. The maximum shear stress, denoted
by
τmax , occurs at the surface of the shaft.
 Note that the above derivations assume neither a constant
internal torque nor a constant cross section along the length
of the shaft.

Figure 3.3 Distribution of

shear stress along the
radius of a circular
shaft.
 Equilibrium Figure 3.4
Calculating the
 Fig. 3.4 shows a cross
Resultant of the
section of the shaft
shear stress acting
containing a
on the cross
differential element
section. Resultant
of area dA loaded at
is a couple equal
the radial distance ρ
to the internal
from the axis of the
torque T.
shaft.
 The shear force acting on this area is dP = τdA = G (dθ/dx)
 dA, directed perpendicular to the radius. Hence, the
moment (torque) of dP about the center o is  dP = G
(dθ/dx)  2dA. Summing the contributions and equating the
result to the
internal torque yields  A dP  T , or
d
G dx
 A  2dA  T
Recognizing that is the polar moment of inertia of the cross-
sectional area, we can write this equation as G (dθ/dx) J = T , or
d T (3.3)
dx GJ

The rotation of the cross section at the free end of the shaft, called
the angle of twist θ , is obtained by integration:

 
L L
 d (3.4a)
o GJ o

As in the case of a prismatic bar carrying a constant torque, then

Tdx
reduces the torque-twist relationship

 (3.4b)
TLG
Note the similarity between Eqs.J(3.4) and the corresponding
formulas for axial deformation: 
L P / EAdx and  = PL/(EA)
 o
 Notes on the Computation of angle of Twist
٠ 1.In the U.S. Customary system, the consistent
.4 units are G [ psi
], T [ lb．in ] , and L [ in.], and J [ in ]; in the SI system, 4the
consistent units are G [ Pa ], T [ N．m ], L [ m ], and J [ m ].
٠ 2.The unit of θin Eqs. (3.4) is radians, regardless of which
system of unit is used in the computation.
٠ 3.Represent torques as vectors using the right-hand rule, as
illustrated in Fig. 3.5. The same sign convention applies to the
angle of twistθ.
Figure 3.5 Sign
Conventions
for Torque
T and angle
of twist .
 Torsion formulas
d
 G (dθ/dx) = T/J , which substitution into Eq. (3.2),  G 
dx
G
gives the shear stress  acting at the distance  from the center
of the shaft, Torsion formulas :
T 
(3.5a)
J
The maximum shear stress max is found by replacing  by the
radius r of the shaft: 
 max Tr
(3.5b)
J
 Because Hook´s law was used in the derivation of Eqs. (3.2)-
(3.5), these formulas are valid if the shear stresses do not
exceed
the proportional limit of the material shear. Furthermore,
these formulas are applicable only to circular shafts, either
solid or hollow.
 The expressions for the polar moments of circular areas are :
2T 16T
Solid shaft :  max (3.5c)
r d
3 3

Hollow shaft : 2TR 16TD (3.5d)



  R4  r4   
max

D 4are called
Equations (3.5c) and (3.5d) d4 
the torsion formulas.

Figure 3.6 Polar moments of inertia of circular areas.

 Power transmission
 Shafts are used to transmit power. The power  transmitted by
a torque T rotating at the angular speed  is given by  =T ,
where  is measured in radians per unit time.
 If the shaft is rotating with a frequency of f revolutions per unit
time, then  = 2π f , which gives  = T (2π f ). Therefore, the
torque can be expressed as 
T  (3.6a)
2f
 In SI units,  in usually measured in watts (1.0 W=1.0 N‧m/s)
and f in hertz (1.0 Hz = 1.0 rev/s); Eq. (3.6a) then determines
the torque T in N‧m.
 In U.S. Customary units with  in lb‧in./s and f in hertz,
Eq.(3.6a) calculates the torque T in lb‧in.
 Because power in U.S. Customary units is often expressed
in horsepower (1.0 hp = 550 lb•ft/s = 396×103
lb•in./min), a convenient form of Eq.(3.6a) is
 hp 396 103 lb  in./ min
T (lb  in) 
 2f rev / min 1.0hp
which simplifies to
T (lb   63.0 103   hp 
in)
f rev / min (3.6b)
 Statically indeterminate problems
• Draw the required free-body diagrams and
write the equations of equilibrium.
• Derive the compatibility equations from the
restrictions imposed on the angles of twist.
• Use the torque- twist relationships in Eqs.(3.4) to
express the angles of twist in the compatibility
equations in terms of the torques.
• Solve the equations of equilibrium and compatibility
for the torques.