Chapter VIII

Torsion of prismatic pieces

VIII-2
Torsion of prismatic pieces
Pure torsion
Solution by St-Venant
d 0
d 0
x
A
y
A
T A
T A
=
=
}
}
( )
d
x y T
A
xT yT A M =
}
(pure torsion)
VIII-3
Torsion of prismatic pieces
Pure torsion
Basic assumptions:
( )
rotation angle
warping (????) (independently on z) ,
x
y
z
u zy
u zx
u x
z
y
u
u
u
u
=

`
= +
)
= +
Method to solve the problem:
u c o
balance equations
(volume & surface)
VIII-4
Torsion of prismatic pieces
Pure torsion
( )
1
2
0 ; 0
;
Hooke's law: isotropic material
0 ; 0
;
ij j i i j
x y z xy
xz yz
x y z xy
xz yz
D u Du
y x
x y
G y G x
x
u
y
c
c
c
c
c c
u u
o o o t
t
o
u t u
= +
= = = =
| | c+ c+
| |
= = +
| |
c c
\ .
\ .
= = = =

| | c+ c+
| |
= = +
| |
c c
.
\

\
.
VIII-5
Torsion of prismatic pieces
Pure torsion
0 ; 0 ; 0
yz yz
xz xz
z z x y
t t
t t
c c
c c
= = + =
c c c c
! new idea:

if u exists, then volume balance is automatically satisfied
( )
, : ;
xz yz
x y
y x
t t
cu cu
u = =
c c
0
Balance equation (vo
0
0
0
0
lume)
j
j ji i
D
x x y xy
x xy y y
z z
z xz
z xz
x xz y xy
F
D D
D
D
D
D
D
D
D
o
o t
t t o
o
t
t t
=

c + =
+ + =
+ +
+ +
=
=
VIII-6
Torsion of prismatic pieces
Pure torsion

initially +(x,y)
(assumption on the displacements)


new idea u(x,y)
(assumption on the stresses)
xz
yz
G y
x
G x
y
t u
t u
c+ | |
=
|
c
\ .

| | c+

= +
|

c
\ .

xz
yz
y
x
t
t
cu
=

cu

c
G y
y x
G x
x y
u
u
cu c+ | |
=
|
c c
\ .

`
| | cu c+

= +
|

c c
\ .
)
2 2
2 2
2G
x y
u
c u c u
+ =
c c
(u is the stress function of Prandtl)
THIS IS A
COMPATIBILITY
EQUATION !
VIII-7
Torsion of prismatic pieces
Pure torsion
Balance equation (surface)

Lateral surface // z
0 0
cos sin
cos sin 0
dy dscos dx dssin
0
0
x y z j ji
x y
xz yz
T T T n
n e e
y x
s y s x
s
o
o o
ot ot
o o
= = = =
= +
+ =
= =
c cu c cu | |
+ =
|
c c c c
\ .
cu
=
c
u is constant along C
VIII-8
Torsion of prismatic pieces
Pure torsion
Balance equation (surface)

Lateral surfaces z
0 ; 0 ; 0
;
x y z
j ji i
z
x xz y yz
T T T
n T
n e
T T
o
t t
= = =
=
=
= =
the solution is strictly exact only if
both T
x
and T
y
are distributed
in the same way as t
xz
and t
yz

over the top and bottom faces
VIII-9
Torsion of prismatic pieces
Pure torsion
Average balance
dA dA dA
ds
x xz
A A A
y
T
y
n
t
cu
= =
c
= u
} } }
}
C
if both T
x
= t
xz
and T
y
= t
yz
over the top and bottom faces,
then their resulting forces (translation) are equal to zero
if u=0 along C:
dA 0 ; dA 0
x y
A A
T T = =
} }
VIII-10
Torsion of prismatic pieces
Pure torsion
Average balance
( ) ( )
( ) ( )
dA dA
dA
ds dA
T y x yz xz
A A
A
x y
A
M xT yT x y
x y
x y
x n y n
t t = =
| | cu cu
= +
|
c c
\ .
= u + u + u + u
} }
}
} }
C
if u=0 along C:
2 dA
T
A
M = u
}
VIII-11
Torsion of prismatic pieces
Pure torsion
Multiply-connected sections
1 2 3
= C C C C
u=0 along C
1

2
3 3 3
2 2
(over
*
A )
over A ( )
inside
inside (over A )
C
C
u = u
=
=
=
C
C
2 2
2 2
2G
x y
u
c u c u
+ =
c c
1
2 * dA
T
A
M = u
}
inside C
1

VIII-12
Torsion of prismatic pieces
Pure torsion
Analogy with membrane
2 2
2 2
2G
x y
u
c u c u
+ =
c c
2 2
2 2
2 2
2 2
dx dy dx dy 0
w w
p s
x y
w w p
x y s
| |
c c
+ + =
|
c c
\ .
c c
+ =
c c
VIII-13
Torsion of prismatic pieces
Pure torsion
Analogy with membrane
;
nz tz
t n
t t
cu cu
= =
c c
( )
2 x volume under membrane
2
T
M
p
G
s
u
=