STRENGTH OF

MATERIALS
(MECH 206)
F. Javidrad
Spring 2024
Middle East Technical University
North Cyprus Campus
Some parts of the course materials have been taken from the following references.

(1) Beer, Johnston, Dewolf and Mazurek, Mechanics of

Materials, Seventh edition, Mc Graw-Hill, 2012.
(2) Hibbeler, Mechanics of Materials, Sixth edition,
Pearson Prentice Hall, 2005.

2
 Chapter-5
Torsion of circular shafts

3
General
General
■ In this chapter we analyze torsion of circular shafts. The term torsion refers to a
deformation produced by twisting moments. Twisting moments also refer to moments that
its vector senses along the axis of the shaft (Fig. 1).

Fig . 1

There are numerous applications regarding shafts in

torsion. Transmitting power from an electric motor to
a turbine is just an example in Fig. 2. Fig .2
Circular shafts in torsion
4.1. Circular shafts in torsion
■ Consider a shaft AB carrying two equal but opposite sense torques at its ends. Suppose
the shaft is cut with an imaginary plane at C.
■ Now, we consider an element dA with the distance r from the center at the cut cross-
section. It can be stated that the shear stress must exist in this element so that its partial
shearing force tries to absorb part of the applied twisting moment.
Partial twisting moment from the partial shear force
(dF) is

dT  dF .r (4.1)
The summation of forces for all elements at the cross
section would be
T   r dF (4.2)
Fig . 5.3
Circular shafts in torsion (Cont’d)
■ Since the partial force dF is equal to the shear stress t in the element dA, we can write

T   rt dA (4.3)

■ It is noted that the shear stress t in equation 4.3 cannot only occur in one plane and the
condition of static equilibrium enforces that equal shear stresses exist in perpendicular
planes.

Eq. 4.3 does not give us information regarding

the shear stress distribution at the cross-section.
Since it has been calculated only by using statics
principles. For finding shear stress distribution,
the deformation of the shaft must be analyzed.

Fig . 4
Circular shafts in torsion (Cont’d)
■ Consider a shaft with one end fixed and carrying a twisting moment T at the other end. The
free end rotated by the angle f as shown in Fig. 5. This angle is called the angle of twist.
 It can be imagined that the angle of twist is primarily a
function of the applied torque T, and the length of the
shaft, L. However, because of the symmetry of the
circular cross-section, in torsion of circular shafts, it is
assumed that all thin disks of the shaft rotate as a rigid
body without any distortion (warping) (Fig. 6).
 This implies that
every cross section of
the shaft remain
planar after
deformation.

Fig . 5 Fig . 5
Circular shafts in torsion (Cont’d)
According to the assumption of deformation in the torsion of
circular shafts, the shear strain along the shafts can be
determined. By considering Fig. 7, if we look at the
deformation of a small square during torsion, it is seen that the
square tends to be a rhombus. The angle of shear strain can be
related to the angle of twist by the following relation.

 L  rf (4.4)
rf
 (4.5)
L
It is seen that the shear strain is directly related to r. So the
maximum shear strain occurs at the maximum r which is c.
cf
 max  (4.6)
L
Fig . 7
Circular shafts in torsion (Cont’d)
■ Eliminating f between Eq. (4.5) and (4.6) gives
r
  max (4.7)
c
■ Eq. 4.7 shows that the shear strain has a linear distribution in the circular cross-section. It
is zero at the center of the circle and linearly increases with radius. It becomes maximum
at the maximum radius which is c.
4.2. Stresses in the elastic range
There are many experimental indications that, in the elastic region, the shear stress is related
to the shear strain by a material property called the modulus of rigidity (G) (or the “shear
modulus of elasticity”).
t  G (4.8)
Using this relation, Eq. 4.7 can be re-written as
Stresses in the elastic range (Cont’d)
r
t t max (4.9)
c
Equation (4.9) shows that there is a linear distribution in shear stress along any radius from
the center of the circle of the cross-section. This would be true for both solid or hollow cross
sections (Fig. 8).
In a hollow shaft, the minimum shear strain occurs
at the periphery of the inner circle and the
maximum shear stress at the outer circle periphery.

The ratio of minimum to maximum shear stress in

a hollow shaft is
c1
t min  t max (4.10)
c2
Now, we can derive an equation for the maximum Fig . 8
shear stress by using the static equation (5.3).
Stresses in the elastic range
t max
T   rt dA   r dA
2
(4.10) Table 1
c
Since
r
 dA  J
2
(4.11)
Where J is the polar moment of the area of the
cross section (See Table 1).
t T .c
T  max J , or t max  (4.12)
c J
Substituting tmax from Eq. (4.9)
T .r
t (4.13)
J
Equations (4.12) and (4.13) are fundamental equations for torsion analysis of circular shafts and
they are called “elastic torsion formulas”. In these formulas, T is twist in N-m, r is the distance of
the point from the center of the shaft in m and J is the polar moment of area in m^4.
 Stresses in the elastic range (Cont’d)
1
For solid circular shaft : J   c 4
2 (4.14)
1
For hollow circular shaft : J   (co4  ci4 )
2
The existence of shear stress on the cross-section of circular shafts
would give us maximum normal stress at the angle of 45° of the
cross-section. As it is shown in Fig. 9, an element with sides
parallel to the axis of the shaft on the surface only carries shear
stresses. But, in an inclined plane with 45°, the normal stress exists.
T .c
t max 
J
F  2(t max A0 ) cos 45 (4.15)
F  2 A0t max (4.16)
The area of the inclined face is A0/cos45 Fig . 5.9
F 2 A0t max
   t max (5.17)
A 2 A0
Stresses in the elastic range (Cont’d)
■ It can be seen that at the 45°plane the normal tensile stress would be present with a value
equal to the maximum shear stress tmax. A similar analysis of the element shown in the
figure shows that the normal stress on the face perpendicular to this 45°inclined plane
can be compressive stress with the same value of tmax .
■ The existence of the normal stress in the 45°inclined plane can justify the fracture of
shafts made of brittle materials. It is argued that the fracture surface in brittle material is
perpendicular to the maximum tensile stress. Thus, fracture of shafts made of ductile
materials, which is governed mainly by shear stress, would occur perpendicular to the
shaft axis as shown in Fig. 10.

Fig .10
Stresses in the elastic range (Cont’d)
■ Another case of using shafts in practice is the stepped shafts that may carry
different twisting moments at each portion. In such cases, the polar moment of
inertia and the twisting moment can be different in every section. So, to find
shear stress in each section, it is enough the draw the free-body diagram of the
shaft and determine the twisting moment at each portion. Then, by using Eq.
5.12 and 5.13 the maximum shear stress of the distribution of shear stress on the
shaft cross-section can be determined.
For example, in the case shown in Fig. 5.11, the torque at the cut plane is

T  TB  TE (4.18)
Let the radius of the cross-section at the cut lane be R, the
maximum stress on this section would be
(TB  TE ) R 2(TB  TE )
t max   (4.19)
1
R 4  R 3
Fig . 11
2
 Stresses in the elastic range (Example)
Example 1

A hollow cylindrical steel shaft is 1.5 m long and has

inner and outer diameters 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 exceeded 120
MPa.
(b) What is the corresponding minimum value of the
shearing stress in the shaft?

Solution of part (a)

The largest twist load is directly related to the largest shear stress
J .t max
Tmax 
c
Stresses in the elastic range (Example)
Calculation of the polar moment of area
1
J   (co4  ci4 )
2
1
J   (0.034  0.024 )  1.02110 6 m4
2
J .t max 1.021106 (120 106 )
Tmax    4.08 kN  m
c 0.03
Solution of part (b)

The minimum shear stress occurs at the inner surface.

ci
t min  t max
co
0.02
t min  120  80 MPa
0.03
Stresses in the elastic range (Example)
Example 2
Shaft BC is hollow with inner and outer diameters of
90 mm and 120 mm respectively. Shaft AB and CD
are solid of diameter d. For the loading shown,
determine
(a) the maximum and minimum shearing stress in
shaft BC
(b) the required diameter d of shaft AB and CD if the
allowable shearing stress in these portions is 65 MPa.

Considering CCW twists positive (when we look from

point D toward point A), twists at each portion is
determined by drawing free-body diagrams.
Stresses in the elastic range (Example)
TAB  6 kN  m
TBC  20 kN  m
TCD  6 kN  m
Solution part (a)

Polar moment of area for the shaft BC

1 1
J BC   (co4  ci4 )   (604  454 )  13.92 106 mm 4
2 2
TBC 20 106
(t BC ) min  t 1  ci  (45)  64.7 MPa
J BC 13.92 106
TBC 20 106
(t BC ) max  t 2  co  (60)  86.2 MPa
J BC 13.92 10 6

Solution part (b)

Both shafts carry equal torques and both have the same allowable
shear stress and diameter. So, we consider only portion AB.
Stresses in the elastic range (Example)
cd /2
TAB .c 2TAB 16TAB
(t max ) AB   
1 4  c3  d 3
c
2
1/3 1/3
 16TAB  16  (6 106 )  d  78 mm
d      77.76 mm
  (t all ) AB   65( ) 

Example 3
The solid spindle AB is made of steel with an allowable shearing
stress of 12 ksi and the sleeve CD is made of brass with an
allowable shearing stress of 7 ksi. Determine
(a) the largest torque T that can be applied at A if the allowable
shearing stress is not to be exceeded in sleeve CD.
(b) The corresponding required value of diameter ds of spindle AB.
(c) If the solid spindle AB has a diameter of ds=1.5 in, determine
the largest torque T that can be applied at A.
Stresses in the elastic range (Example)
Solution part (a)
Polar moment of area for the sleeve CD
do 3
c0    1.5 in
2 2
d d  2t 3  0.5
ci  i  o   1.25 in
2 2 2
1 1
J CD   (co4  ci4 )   (1.54  1.254 )  4.117 in 4
2 2
The torque applied to the sleeve CD is equal to the torque T.
T .co J CD (t all )CD 4.117(7 103 )
(t max )CD  Tmax    19.21 103 lb  in
J CD co 1.5
Solution part (b)
Maximum shear stress in spindle for applied torque of 19.21×10³
1 1 d 1
J AB   cs4   ( s ) 4   d s4
2 2 2 32
T .d s 16T
(t max ) AB  
2 J CD  d s3
Stresses in the elastic range (Example)
1/3 1/3
 16T  16 19.21103 
ds       2.013 in d s  2 in
  (t all ) AB    (12 10 ) 
3

Solution part (c)

Assuming the maximum controlling stress occurs on spindle AB
1 1 1.5
J AB   cs4   ( ) 4  0.497 in 4
2 2 2
T .d s Tall .d s
(t all ) AB  
2 J AB 2 J AB
2(0.497)(t all ) AB 2(0.497)(12 103 )
Tall    7.95  103 lb  in
ds 1.5
Maximum shearing stress in sleeve for T=7950 lb-in
T .co 7950(1.5)
(t max )CD    2896.5 psi  2.9 ksi
J CD 4.117
2.9 ksi is less than the allowable brass tube shear stress (7 ksi), hence, the brass tube is safe. However, the
steel spindle is in own maximum allowable stress. So the largest allowable torque in this case is 7950 lb-in.
Stresses in the elastic range (Example)
Example 4
The allowable shearing stress is 15 ksi in the 1.5-in.-diameter
steel rod AB and 8 ksi in the 1.8-in.-diameter brass rod BC.
Neglecting the effect of stress concentration, determine
(a) The largest torque T that can be applied at A.
(b) The diameters of AB and BC shafts, if a torque of magnitude
10 kip-in. is applied at A.

Solution part (a)

Polar moment of area for the steel shaft AB and brass shaft BC
d s 1.5 1 4 1
cs    0.75 in, Js   cs   (0.75) 4  0.497 in 4
2 2 2 2
d 1.8 1 1
cb  b   0.9 in, J b   cb4   (0.9) 4  1.031 in 4
2 2 2 2
Stresses in the elastic range (Example)
Maximum allowable torque, T considering allowable shear
stress in the steel part
T .c
(t max ) all  all s
Js
J s (t max ) all 0.497(15 103 )
Tall    9940 lb  in
cs (0.75)
Maximum allowable torque, T considering allowable shear
stress in the brass part
Tall .cb
(t max ) all 
Jb
J b (t max ) all 1.031(8 103 )
Tall    9160 lb  in
cb (0.9)
The maximum allowable torque is the minimum of
these two allowable torques which is 9160.
Solution part (b)
For the steel part
Stresses in the elastic range (Example)

T .cs T .cs 2T
t max    3
Js 1 4  cs
 cs
2
2T
(t all ) s 
 (cs )3min
2T 2(10  10 3
)
(cs ) min 3 3  0.7515 in.
 (t all ) s  15 10 3

(d s ) min  1.5 in.

For the brass part

2T 2(10  10 3
)
(cb ) min 3 3  0.9266 in.
 (t all )b   8 10 3

db  1.85 in.
Angle of twist in elastic torsion
4.3. Angle of twist in elastic torsion
4.3.1 Angle of twist in elastic portion for uniform cross section
To develop a relationship between the twist angle f and the applied torque, T, first, we
consider a uniform circular shaft with radius c and length L under the action of the torque
T. Assuming elastic behavior, the maximum shear strain is
cf
 max  (4.18)
L
In the elastic range, shear strain is related
to the shear strain as
t max
 max  (4.19)
G
Recalling Eq. 4.12, for tmax
1 T .c T .c
 max  ( ) (4.20) Fig . 12
G J GJ
Angle of twist in elastic torsion
Replacing max from Eq. 5.18, we can relate the angle of twist to the applied torque T.
T .L
f (4.21)
GJ
Where f is in radians. Eq. 4.21 shows that the elastic angle of twist is proportional to T.
It is noted that in derivation of Eq. 5.21, one end of the shaft is considered to be fixed. If it is not the case,
Eq. 5.21 will represent the relative angle of twist between two ends of the shaft.
By using Eq. 4.21 an experiment can be set up to determine the shear modulus of elasticity G. If
we apply various magnitudes of torque to a particular shaft with definite length L and measure
the resulting angle of twist, then by plotting T against f, a line should obtained. Slope of this line
represents L/GJ, from which G can be determined.
Example 5
The hollow shaft of Example 1 is showed here again. If G for the
material is 77 GPa, determine (a) The required torque to a twist of
2° (b) The value of the angle of twist which crates a shearing
stress of 70 GPa on the inner surface of the hollow shaft.
Angle of twist in elastic torsion (Example)
Part (a)
Converting f to radians,

 2 
f  2   34.9  10 3
rad
 360 
Recalling from Example 1

J  1.021106 m 4
T .L
f
GJ
GJ (1.02110 6 )(77 10 9 )
T f (34.9  10 3 )  1.829  103 N .m T  1.829 kN .m
L 1.5
Part (b)
Shear strain at the inner surface of the shaft
t min
 min 
G
Angle of twist in elastic torsion (Example)
70
 min   0.909  10 3
mm / mm
77 10 3

Calculating the angle of twist

L min
f
c1
1.5(0.909 103 )
f  68.175  106 rad
(40 2)
360
f  68.175 106  ( )  3.91
2
Example 6
A hollow shaft and a solid shaft constructed of the same material have the
same length and the same radius r. The inside radius of the hollow shaft is
0.6r. Assuming that both shafts are subjected to the same torque, compare
the maximum shear stresses, the angle of twist, and the weights of the two
shafts.
Angle of twist in elastic torsion (Example)
Polar moments of area
1 4
J solid  r
2
1 1
J hollow  (ro4  ri 4 )   (r 4  (0.6r ) 4 )  0.4352  r 4
2 2
Shear stress is directly proportional to torque and radius and inversely
proportional to the J. Here, T and c are the same. Thus
T .c
t max 
J
(t max ) hollow J
 solid
(t max ) solid J hollow
(t max ) hollow 0.5  r 4
  1.15
(t max ) solid 0.4352  r 4

Because L and the material is the same for two shafts, the angles
of twist is the same proportion as the shear stress
T .L
f
GJ
Angle of twist in elastic torsion (Example)
fhollow J solid
  1.15
fsolid J hollow
Weights of the shafts are proportional to their cross sectional areas
Asolid   r 2
Ahollow   (ro2  ri 2 )   (r 2  (0.6r ) 2 )  0.64r 2
(W ) hollow Ahollow 0.64  r 2
   0.64
(W ) solid Asolid  r2

The results show that hollow shaft has 15% more stress and angle of twist than
the solid shaft but with 36% lower weight.
4.3.2 Angle of twist in elastic portion for non-uniform cross section
In stepped shafts with multiple sections, it is necessary to calculate the angle of twist for each
portion and add them together to find the total angle of twist. The same rule applies to shafts
with multiple material properties and the shafts with multiple torques at different locations.
Angle of twist in elastic torsion
For example consider Fig. 13, a stepped shaft
with four loading torques. The material is the
same for two parts and radii of the parts are r1
and r2. The angle of twist at the point B is
Ti .Li
3
fB   (4.22)
i 1 GJ
i
Torque in each part is Fig . 13
T  T1 part with length L1
T  T1  T2 part with length L2
T  T1  T2  T3 part with length L3
1 2T1 L1 2(T1  T2 ) L2 2(T1  T2  T3 ) L3
fB  ( 4   )
G  r1  r24
 r24
Angle of twist in elastic torsion
■ For a shaft with variable circular cross section as shown in Fig. 14, J is a function of x. The
angle of twist for a sliced element (dx) can be written as
Tdx
df  (4.23)
G.J ( x)
Now, by integration, the angle of twist at B (relative to
the end point A) can be written as
L Tdx T L dx
fB  f A     (4.24)
0 G.J ( x ) G 0 J ( x)
If one of the shaft’s faces is fixed to a support, Eq. 4.24
will give the absolute angel of twist at the other end.

Fig . 14
Angle of twist in elastic torsion (Example)
Example 6
The horizontal shaft AD is attached to fixed base at D and is subjected to the torques shown. A 44-
mm-diameter hole is drilled into portion CD of the shaft. Knowing that the entire shaft is made of
steel for which G=77 GPa, determine the angle of twist at the end A

The shaft has three portions. For each portion, T, J, L are

calculated.
Portion AB:
1 1
J AB   r 4   (15) 4  79521 mm 4
2 2
LAB  400 mm

TAB  250 N .m  250 103 N .mm

Portion BC:
Angle of twist in elastic torsion (Example)
Portion BC:
1 2 1
J BC   rBC   (30) 4  1272348 mm 4
2 2
LBC  200 mm

TBC  2000  250  2250 N .m  2250 103 N .mm

Portion DC:
1 1
J CD   (ro4  ri 4 )   (304  224 )  904379 mm 4
2 2
LCD  600 mm

TCD  TBC  2.25  106 N .mm

3 Ti .Li
fA  
i 1 GJ
i
Angle of twist in elastic torsion (Example)
1  TAB .LAB TBC .LBC TCD .LCD 
fA     
G  J AB J BC J CD 

1  250 103  400 2250 103  200 2250 103  600 

fA  3 
  
77 10  79521 1272348 904379 
f A  40.31103 rad
360
f A  40.31103 ( )  2.31
2
Example 7
A torque T is applied as shown to a solid tapered shaft AB
with a fixed end. Determine the angle of twist at A.

Choosing the origin of x axis at B, the equation of variable

radius of the tapered shaft is
Angle of twist in elastic torsion (Example)
x  0, r  2c
r ( x)  mx  N x
x  L, r  c
x c
r ( x)  c(2  ) L
L
Polar moment of inertia
1
J ( x)   (r ( x)) 4 r
2
1 x 1 x
J ( x)   (c(2  )) 4   c 4 (2  ) 4
2 L 2 L
Angle of twist for variable diameter circular shafts o
2c
Tdx
L
f
0 GJ

T L dx T L dx 2T L dx
f     
G 0 J ( x) G 0 1  c 4 (2  x ) 4  c 4G 0 (2  x ) 4
2 L L
L
2T  L  2TL 1 1 7TL
f 4    4 [  ]
 c G  3(2  x )3   c G 3 24 12 c 4G
 L 0
Statically indeterminate twisting shafts
4.4. Statically indeterminate twisting shafts
There are situations that the internal force and/or reaction forces cannot be determined from
statics (For example see Fig. 15). In such cases, additional equations should be derived by using
geometry and deformation analysis of the structure.

In torsional systems, torque equations together with

compatibility of angles of twist in various portions
of the system can be adequate in finding the reaction
and internal twisting moments. This is described
further by the following examples.

Fig . 15
 Statically indeterminate twisting shafts (Example)
Example 8
A circular shaft AB consists of a 10 in long, 7/8 in diameter. Steel
cylinder, in which a 5 in long, 7/8 in diameter cavity has been drilled
from end B. The shaft is attached to fixed supports at both ends, and
a 90 lb-ft torque is applied at its midsection. Determine the torque
exerted on the shaft by each of the supports.
Polar moments of inertia
1 1 7
J AC   r 4   ( ) 4  0.05755 in 4
2 2 16
1 1 7 5
J CB   (ro4  ri 4 )   [( ) 4  ( ) 4 ]  0.04257 in 4
2 2 16 16
Considering two unknown torques at A and B, torques
equilibrium equation can be written as
TA  TB  T
Angle of twist for part AC
Statically indeterminate twisting shafts (Example)
Angle of twist for part AC Angle of twist for part CB
TL T L T2 LCB TB LCB
fCA  1 AC  A AC fCB  
GJ AC GJ AC GJ CB GJ CB
Compatibility of twist angle at C
f AB  0
fB  f A  0
fB  f A  fC  fC  0
(fB  fC )  (fC  f A )  0 fCB  fCA  0
TA LAC (TB ) LCB
 0
GJ AC GJ CB
LAC J CB 5 0.04257 TA 
620.77
 51.73 lb  ft
TB  TA  TA .  0.74TA
LCB J AB 5 0.05755 12
TB  T  TA  90  51.73  38.27 lb  ft
Statically indeterminate twisting shafts (Example)
Example 9 T1=1 kN-m T2=1.5 kN-m
A stepped solid circular shaft with two end-fixed
D
supports has been shown in the figure. The shaft A B C
is made of steel with G=77 GPa. Determine the
maximum shear stress in the shaft.
L1=400 m
L3=600 mm
Solution by the method of superposition d1=40 mm
d3=25 mm
L2=500 mm
Calculation of polar moment of area. d2=60 mm
 
J DC  4
d DC  (25) 4  3.8  104 mm 4
32 32 T1=1 kN-m T2=1.5 kNm
 
J CB  4
dCB  (60) 4  127  104 mm 4
32 32 D
  A B C
J BA  4
d BA  (40) 4  25.1104 mm 4
32 32
Statically indeterminate twisting shafts (Example)
First release support D and calculate the angle of twist at D. T1=1 kN-m T2=1.5 kNm
TDC  0.
D
TCB  1.5 106 N .mm A B C
TBA  2.5 10 6
N .mm
TDC LDC TCB LCB TBA LBA
fD(1)   
GJ DC GJ CB GJ BA
1.5 106 (500) 2.5 106 (400)
f (1)
D  0 
77 10 127 10 77 103  25.110 4
3 4

TD
f (1)
D
3 3
 7.7 10  51.7 10  59.4 10 3
rad
D
Now apply a twisting moment TD at the support D A B C
and calculate the angle of twist at the point D.
TDC  TCB  TBA  TD
 Statically indeterminate twisting shafts (Example)
TDC LDC TCB LCB TBA LBA
fD(2)    T1=1 kN-m T2=1.5 kN-m
GJ DC GJ CB GJ BA
T  LDC LCB LBA  D
f (2)
D  D     A C
G J J J B
 DC CB BA 

TD  600 500 400  2 TD

fD(2)   
 3.8 104 127 104 25.1104   1.78  10 L1=400 m
G   G L3=600 mm
d1=40 mm
d3=25 mm
Compatibility of angle of twist at the support D. Note that sign here
L2=500 mm
is not important. Equating the angle of twist in the two cases d2=60 mm
fD(1)  fD(2)
TD
1.78 102  59.4 103 TD  3.34G  257 103 N .mm
G
Torque values in shaft
TDC  257 103 N .mm
TCB  1.5  106  TDC  1.5  106  257  103  1243  103 N .mm
TBA  1243 103  1106  2243 103 N .mm
Statically indeterminate twisting shafts (Example)
t DC  TDC d DC / 2 J DC  (257 103 )(25) / (2  3.8 10 4 )  84.54 MPa
t CB  TCB dCB / 2 J CB  (1243 103 )(60) / (2 127 10 4 )  29.36 MPa
t CB  TCB dCB / 2 J CB  (2243 103 )(40) / (2  25.110 4 )  178.7 MPa

4.5 Gears in torsion assemblies

Gears are mechanical components found in many power
transmission devices. Gears are used for many purposes
such as:

(1) Transmitting torque from one shaft to another

(2) Increasing or decreasing torques
(3) Increasing or decreasing rotational velocity
(4) Changing the rotation direction
(5) Changing the orientation of rotation from one shaft to
another
Fig . 15
Gears in torsion assemblies
■ A basic gear assembly has been in Fig. 16. Gears assembly provides a positive contact.
Therefore there is a fixed ratio relationships between angle of rotation of two shafts.
Referring to Fig. 16.
RAf A   RBfB (4.25)
Eq. 5.25 shows that the angle of rotation is
inversely dependent on the radius of the gears.

fA RB
 n (4.26)
fB RA
Note that the negative sign is used to emphasis for
the different directions of fA and fB.
Fig . 16
Gears in torsion assemblies
■ The ratio RB/RA is known as the gear assembly ratio. Due to the definition of the angular
velocity (w = d(f)/dt), therefore, the ratio of angular velocities is also expressed by the same
gear ratio.
wA RB
 n (4.27)
wB RA

Since two mating gears mush have the same pitch distance value (angular distance
between two similar points in two adjacent tooth measured on the pitch circle), Thus
NB
n (4.28)
NA
■ Thus, the fundamental kinematic and geometry equation of two mating gears can be written
as:
Gears in torsion assemblies
wA N R
 B  B n (4.29)
wB N A RA

To illustrate the internal torques between

shafts of two mating gears, free body diagram
of each gear are shown in Fig. 17

It is obvious the each shaft must be in

equilibrium.
T1  FRA  0 (4.30)
T2  FRB  0 (4.31)
From these two equations:
RB
T2  T1   nT1 (4.32) Fig . 17
RA
Gears in torsion assemblies
■ Again, the ratio of the transmitted torque is defined by the gear assembly ratio. Because the
shear stress in shafts connected to the gears are directly related to the torque, the ratio of
shear stresses between two similar shafts (same geometry and material) is also defined by
the gear ratio
Example 10
Two steel shafts (G=80 GPa) are connected by gears
shown. Shaft 1 has a diameter of 35 mm and shaft
(2) has a diameter of 30 mm. Assuming no friction
in bearings, determine the maximum shear stress
magnitudes in each shaft and the angle of twist of
each gear, if a 315 N-m torque is applied at gear D.
Calculation of polar moment of area
 
J1  D12  (35) 4  14.7  104 mm 4
32 32
 
J2  D22  (30) 4  7.95  104 mm 4
32 32
Gears in torsion assemblies (example)
Calculation of twisting moments in each shaft by the equilibrium equations
315  T2  0 T2  315 N .m

F .Rc  T2
T2 315  103
F 
Rc Rc
The tangential force F transmitted to teeth of the gear B.
T
F  1
RB
T1 315  103 R
  T1  315  103 B
RB Rc Rc
Since RB/RA is regraded as the gear ratio, n, T1 can be determined
RB N B 54
n    1.2857 T1  315  103 (1.2857)  405 N .m
Rc N c 42
Gears in torsion assemblies (example)
Maximum shear stresses in two shafts
T1 D1 (405 103 )(35)
t1    48.2 MPa
2 J1 2(14.7 104 )
T2 D2 (315 103 )(30)
t2    59.4 MPa
2J2 2(7.95 104 )

Angle of twist for two shafts

T1 L1 (405 103 )(600)  180 
f1    2.07  102 rad  2.07  102     1.2
GJ1 (80 10 )(14.7 10 )
3 4
  
T2 L (315 103 )(850)  180 
f2    4.21 102 rad  4.21 102    2.4
GJ 2 (80 10 )(7.95 10 )   
3 4

Angle of rotation for each gear

fB  1.2
fC  fB  1.2
fD  fC  f2  1.2  2.4  3.6
Gears in torsion assemblies (example)
Example 11
In the bevel gear system shown, a=18.43°. Knowing
that the allowable shearing stress is 8 ksi in each shaft
and the system is in equilibrium, determine the largest
torque TA that can be applied at A.
In this assembly, torques Ta and TB are related to each other by
the radius of the gears.
rA  rB .tga
Tooth force F is common between two gears.
TB  F .rB
TA   F .rA
Dividing these two equation to each other
TA r
  A  tga
TB rB
 Gears in torsion assemblies (example)
TA  TB tga  TB tg (18.43 )  (0.333)TB
Polar moment of area for two shafts
 
JA  DA2  (0.5) 4  6.14  103 in 4
32 32
 
JB  DB2  (0.625) 4  0.015 in 4
32 32
Maximum shear stress for two shafts
TA DA TA (0.5)
t max, A    40.7TA
2J A 2(6.14 10 3 )
TB DB (0.333)TA (0.625)
t max, B    (6.9375)TA
2J B 2(0.015)
Shear stress in the shaft A is larger than that of B. tmax,A is then
compared with the given allowable shear stress.
t max, A  t all
8 103
8 10  40.7TA ,
3
TA   196.6 lb  in
40.7
Power transmission by shafts
4.6. Power transmission by shafts

■ The Power transmitted by shafts is related to the torque and the speed of rotation.
P  T .w (4.33)
Where T is the torque in N.m, w is the rotational speed (angular
velocity) in rad/sec and P is the transmitted power in N.m/sec or
Watts.

■ Sometimes the rotational speed is given in RPM (revolutions per minute). In such cases,
for changing RPM to rad/sec, it must be multiplied by 2/60.
2
1 rpm  rad / sec
60
Power transmission by shafts
■ When US customary units are used, the rotational speed is usually expressed in RPM and
the power in horsepower (hp). The torque can then be expressed in lb-in or lb-ft.
1 hp  550 lb. ft / sec
1 hp  6600 [Link] / sec

■ The following formula can be used in US units

T .w
P (4.34)
63000
Where P is in hp, w is in RPM and T is in lb-in.

Example 12
■ What size of shaft should be used for the rotor of a 5-hp motor operating at 3600 RPM if
the shearing stress is not to exceed 8500 psi in the shaft?
Power transmission by shafts (example)
Using Eq. 4.26, the transmitted torque is calculated
Tw 63000  P 63000  5
P T   87.5 lb  in
63000 w 3600

Shear stress-torque relation

Tc
t max 
J 1
Tc 2Tc 2T  2T  3
t max   4  3 c 
1 4 c c t
 max 
c
2
1 1
 2  87.5  3
 2  87.5  3
cmin      0.187 in
  (t )
max all   8500 
Power transmission by shafts (example)
Example 13
A hollow shaft is to transmit 200 kW at 80 RPM. If the shear stress is not to exceed 60 MPa
and internal diameter is 0.6 of the external diameter, find the diameters of the shaft.
Polar moment of area
1
J  (d o4  di4 )
32
1
di  0.6d o J  (d o4  (0.6d o ) 4 )  (0.0855) d o4
32
Calculation of torque to be transmitted
P  T .w
200 103
P
T   23.87  103 N .m
w 80( 2 )
60
Maximum shear stress occurs at the outer radius.
Td o Td o T
t max   
2 J 2(0.0855d o4 ) 0.171 d o3
Power transmission by shafts (example)
The minimum value of the outer diameter of the shaft
T
(t max ) all 
0.171(d o )3min
T 23.87 106
(d o ) min 3 3  132.3 mm
0.171(t max ) all 0.171 60

(d o ) min  133 mm
(di ) min  80 mm