1.

TORSION

1.1 Introduction

Torsion refers to the twisting of a structural member when it is loaded by couples that
produce rotation about its longitudinal axis. Note that torsion is an action. The figure below
shows the action of torsion, and torsional moments (or torques) T
1
and T
2
.














Figure 1.1: Action of Torsion

In the figure above, the right-hand rule is used for moment vectors.


1.2 Torsion of Circular Members




















Rectangular element distorted into a rhomboid.

Figure 1.2: Circular Member in Pure Torsion
P
1

P
1

P
2

P
2

1 1 1
d P T =
2 2 2
d P T =

r
T
T
x
dx
L
A member loaded in this manner
is said to be in Pure Torsion
d
r
dx

o
b
b
a
=shear strain, which is
constant for a given torque
or
T
2

T
1

T
2

T
1


Based on symmetry, we can show that cross-sections rotate as rigid bodies about the
longitudinal axis with radii remaining straight and cross-sections remaining plane and
circular. Also, if the total angle of twist is small, neither the length nor the radius will
change.

Assuming one end of the member is fixed (left hand end),

=Angle of Twist

Shear Strain,
dx
rd
ab
bb
= =
'
Element in State of Pure Shear

Rate of Twist =Angle of Twist per unit length, =
dx
d


In the special case of pure torsion,
dx
d
is constant along the member =
L

L
r
r

= =

Note the above equation is valid for any material (elastic or inelastic)


For any element within the circular bar,

=

Shear Stress G = (Hookes Law)

G =

) 1 ( 2 +
=
E
G

where G =shear modulus of elasticity, =Poissons ratio.

From the shear stress equation above, it can be seen that is a maximum at the outer
surface.








r
dA

max

Figure 1.3: Triangular Shear Stress distribution












Figure 1.4: Internal Stress Distributions

Torque

= = = =
p
I G dA G dA G dA T
2 2

where

= dA I
p
2
=Polar moment of area =
2
4
r
or
32
4
d
(for solid circular sections)

p
GI
T
=

Total Angle of Twist (in radians),
p
GI
TL
=
Where
p
GI =Torsional Rigidity of Shaft
L
GI
p
=Torsional Stiffness of Shaft
p
GI
L
=Torsional Flexibility of Shaft
The above terms are similar to EA/L, L/EA etc used in the case of axial forces.

Shear Stress
p
I
T
G = =

L
G
G
I
T
p

= = =
Torsion formula
L
G
I
T
p

= =


The maximum shear stress is given by the following
L
G
I
T
r
p

= =
max

where
2
d
r =
32
4
d
I
p

=
3
max
16
d
T

= (for a circular member)

1

max

max

Longitudinal shear stress
(Timber cracking in
longitudinal direction)
Element 1 in
pure shear
Tensile and compressive stresses
acting at 45
o
to the longitudinal
axis (C =T =
max
)
1
2
T
T
C
T
Mohrs Circle of Stress
Hollow Circular tubes are a very efficient form to carry torsional moments.

The same equations are used with a modified polar moment of area I
p
.

( )
4
1
4
2
2
r r I
p
=

= ( )
4
1
4
2
32
d d

If the tube is very thin,
4
2
3
3
t d
t r I
p

= =
where r is the mean radius.

The above equation can be proved by using
2
2
t
r r + = and
2
1
t
r r = in ( )
4
1
4
2
2
r r I
p
=

.


1.3 Non-uniform Torsion

In this case the section is non-prismatic while applied torque may also vary along the
length as seen in Figure 1.6. It is similar to the case of an axially loaded column with
varying loads at different levels (see Figure 1.6).










Figure 1.6: Non-uniform Torsion

The formulae derived earlier may be applied to each part separately.

Total Angle of Twist

=
=
n
i pi i
i i
I G
L T
1











Figure 1.7: Members with Varying Cross-section

For members with varying cross section and torque as shown above,
r
2

r
1

P
1

P
2

P
3

T
1

T
2

T
4

T
3

L
T
x
dx
T
T
x

Figure 1.5: Hollow Circular Tube
px
x
I G
dx T
d =

=
L
px
x
I G
dx T
0
(solid or hollow sections)


1.4 Composite Tubes/Bars

Outer Part A =G
a
, diameter d
a
, I
pa
- T
a
Same L
Inner Part B =G
b
, diameter d
b
, I
pb
T
b


For Static Equilibrium, T =T
a
+T
b

For compatibility of rotations,

pb b
b
pa a
a
I G
L T
I G
L T
= = Figure 1.8: Composite Tubes

|
|
.
|

\
|
+
=
pb b pa a
pa a
a
I G I G
I G
T T ,

|
|
.
|

\
|
+
=
pb b pa a
pb b
b
I G I G
I G
T T

pb b pa a
I G I G
TL
+
=

Maximum Shear Stresses
pa
a a
a
I
d T ) 2 / (
(max)
=


pb
b b
b
I
d T ) 2 / (
(max)
=
a a
b b
a
b
d G
d G
=

(can be <1, so design of inner part may be critical).

Figure 1.9: Shear Stress Distribution in Composite Tubes

b

a
Discontinuity

Centre
d
a
/2
d
b
/2
Note the discontinuity of stresses (but
not the discontinuity of strains)
A
B
T
1.5 Thin-walled Closed Tubes (In light weight structures)

In this section, closed tubes of arbitrary cross-section (not circular) are considered.





















Figure 1.10: Thin-walled Closed Tube Under Torsion


dx t F
b b b
= dx t F
c c c
=

c b
F F =
c c b b
t t =

Shear Flow t mm N f = ) / ( =constant
Figure 1.11: Shear Flow



ds f r dT =

ds r f T
m
L

=
0


m
A f T 2 =

where A
m
=area enclosed by the median line
of the cross section (not cross-sectional area).

m
A
T
t f
2
= =
m
tA
T
2
= Figure 1.12: Deriving Torque in terms of f
t
T
x
dx
L
T T
a
b
d
c
a b
c
d

c

c

b

t
b

t
c

F
b

F
c

F
1

F
1

s
ds
f ds
t
o
Median line
r

The above shear stress formula is valid for any geometry. Hence it can be used for the
circular sections. By substituting, A
m
= r
2
, the shear stress can be obtained.

dx
t
ds
G
f
dx
t
ds
G
t
dx ds t
G
dU
2 2 2
2 2 2 2
= = =




= =
(

= =
m m m
L
m
L L
L
t
ds
GA
L T
t
ds
G
L f
t
ds
dx
G
f
dU U
0
2
2
0
2
0 0
2
8 2 2


Torsion Constant

=
m
L
m
t
ds
A
J
0
2
4

GJ
L T
U
2
2
=
External Work =
GJ
L T
T
2 2
2
=

GJ
TL
= GJ =Torsional Rigidity (Replace I
p
by J ).

In general,
m
m
L
t A
J
2
4
= for constant thickness.

For a thin-walled circular tube:
t r
t r
r
t
ds
A
J
m
L
m 3
2 2
0
2
2
/ 2
) ( 4 4

= =

A
m
= r
2
, L
m
=2 r


Thin-walled rectangular section:

|
|
.
|

\
|
+ =

2 1 0
2
t
b
t
h
t
ds
m
L
bh A
m
=

2 1
2 1
2 2
2
ht bt
t t h b
J
+
=

Shear flow
bh
T
f
2
= ; Angle of twist
GJ
TL
=

Sheat stresses in the tubes are:
1
1
2bht
T
= Figure 1.13: Rectangular Tube

2
2
2bht
T
=
h
b
t
2

t
2

t
1
t
1