40 Lecture 13
40 Lecture 13
40 Lecture 13
Lecture 13
Engineering Mechanics - ME102
Sunil Kumar Singh and Rishi Raj
Courtesy: TMH
Torsional Loads on Circular Shafts
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Net Torque Due to Internal Stresses
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Do you remember?
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State of Stress
• Stress components are defined for the
planes cut parallel to the x, y and z axes.
For equilibrium, equal and opposite
stresses are exerted on the hidden planes.
• The combination of forces generated by the
stresses must satisfy the conditions for
equilibrium:
Fx = Fy = Fz = 0
Mx = M y = Mz = 0
• Consider the moments about the z axis:
M z = 0 = ( xy A)a − ( yx A)a
xy = yx
similarly, 𝜏𝑦𝑧 = 𝜏𝑧𝑦 and 𝜏𝑥𝑧 = 𝜏𝑧𝑥
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Shaft Deformations
𝑑∅
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Shearing Strain
=
𝜋
−𝛾
2 𝑳𝜸 (𝜸 → 𝟎)
𝛾
𝑳 Now imagine, this rectangle was
the curved surface of a shaft
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Shearing Strain
• Consider an interior section of the shaft. As a
torsional load is applied, an element on the
interior cylinder deforms into a rhombus.
J = 12 c 4
The shearing stress varies linearly with the
radial position in the section.
• Recall that the sum of the moments from
Hollow Shaft the internal stress distribution is equal to
the torque on the shaft at the section,
T = dA = max 2 dA = max J
c c
• The results are known as the elastic torsion
(
J = 12 c24 − c14 ) formulas,
Tc T
max = and =
J J
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Problem 1
@ 𝜌 = 𝑐2
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𝜏𝑚𝑎𝑥 = 120 MPa 12
Solution
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Solution
Where will the shaft experience
minimum shearing stress?
@ 𝜌 = 𝑐1
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Recall: Axial Load → Shear Stress
• Pass a section through the member
forming an angle q with the normal
plane.
• From equilibrium conditions, the
distributed forces (stresses) on the plane
must be equivalent to the force P.
• Resolve P into components normal and
tangential to the oblique section,
F = P cosq V = P sinq
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Torsional Failure Modes
• Ductile materials generally fail in
shear. Brittle materials are weaker in
tension than shear.
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Recall: Tensile Failure Modes
Ductile Brittle
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Problem 2
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• Apply elastic torsion formulas to
find minimum and maximum
stress on shaft BC
Tc Tc 6 kN m
max = = 65MPa =
J c4 c3
2 2
c = 38.9 10−3 m
d = 2c = 77.8 mm
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Comparison: Deformations Under
Axial and Torsional Loadings
• From Hooke’s Law:
𝜎 = 𝐸𝜀 𝜏 = 𝐺𝛾
• Deformation
𝑃𝐿 𝑇𝐿
𝛿= 𝜑=
𝐴𝐸 𝐽𝐺
• With variations in loading, cross-section or
material properties,
𝑃𝑖 𝐿𝑖 𝑇𝑖 𝐿𝑖
𝛿= 𝜑=
𝐴𝑖 𝐸𝑖 𝐽𝑖 𝐺𝑖
𝑖 𝑖
𝐀𝐱𝐢𝐚𝐥 𝐓𝐨𝐫𝐬𝐢𝐨𝐧𝐚𝐥
𝜹 𝒎 → ∅ −
𝑷 𝑵 → 𝑻 (𝑵 − 𝒎)
𝑳 𝒎 → 𝑳 (𝒎)
𝑨 𝒎𝟐 → 𝑱 (𝒎𝟒 )
[email protected] 𝑬 𝑷𝒂 → 𝑮 (𝑷𝒂) 24
Problem 3
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Statically Indeterminate Shafts
125 mm • Given the shaft dimensions and the applied
125 mm torque, we would like to find the torque reactions
at A and B.
• From a free-body analysis of the shaft,
120 N-m
TA + TB = 120 N − m
Hollow which is not sufficient to find the end torques.
The problem is statically indeterminate.
120 N-m
• Divide the shaft into two components which
must have compatible deformations,
TA L1 TB L2 LJ
= 1 + 2 = − =0 TB = 1 2 TA
J1G J 2G L2 J1
Outer diameter = 22 mm
Inner diameter = 16 mm
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Statically Indeterminate Shafts
Outer diameter = 22 mm
Inner diameter = 16 mm
𝑇𝐴 = 69.8 N − m 𝑇𝐵 = 50.2 N − m
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Torque Transmission: Newton’s 3rd Law
𝑭𝟏 = 𝑭𝟐 = 𝐅
𝑻𝟏 𝑻𝟐
=
𝒓𝟏 𝒓𝟐
𝑻𝟏 𝑻𝟐 Peripheral distance covered
should be same
𝒓𝟏 𝜽𝟏 = 𝒓𝟐 𝜽𝟐
Peripheral velocity should be
same
𝒓𝟏 𝝎𝟏 = 𝒓𝟐 𝝎𝟐
𝝎𝟏 𝝎𝟐
Number of teeth interacted
=
𝒓𝟐 𝒓𝟏
𝑵 𝑵 𝒓𝟏 𝒓𝟐
𝒓𝟏 𝜽𝟏 = 𝒓𝟐 𝜽𝟐 → 𝒓𝟏 𝟐𝝅 = 𝒓𝟐 𝟐𝝅 → =
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Torque Transmission: Newton’s 3rd Law
𝑻𝟏 𝑻𝟐
𝑻𝟏 𝒓𝟏 𝜽𝟐 𝝎𝟐 𝑵𝟏
= = = =
𝑻𝟐 𝒓𝟐 𝜽𝟏 𝝎𝟏 𝑵𝟐
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Problem 4a
Two solid shafts are connected by gears as shown.
Knowing that G = 77.2 GPa for each shaft, determine the
angle through which end A rotates when TA = 1200 N ⋅ m.
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Solution 𝜙𝐶/𝐷 = 2.52°
2.52°
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Solution 𝜙𝐶/𝐷 = 2.52°
2.52°
= 7.56°
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Problem 4b
Two solid shafts are connected by gears as shown.
Knowing that G = 77.2 GPa for each shaft, determine the
angle through which end A rotates when TD = 3600 N ⋅ m.
TD
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Solution
𝜙𝐵/𝐴 = 4.67°
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Solution 𝜙𝐶 = 1.56°
𝜙𝐷/𝐶
= 4.67°
80
C 𝜑𝐶 = 𝜑 = 27.137 × 10−3 𝑟𝑎𝑑 = 1.56°
240 𝐵
Knowing TCD, find 𝜙𝐷/𝐶
2.52°
𝜙𝐷/𝐶
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Solution 𝜙𝐶 = 1.56°
𝜙𝐷/𝐶
= 2.52°
Hence, the twists 𝜙𝐷/𝐶 and 𝜙𝐶 should be
added to get 𝜙𝐷/𝐴 𝜙𝐵/𝐴 = 4.67°
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𝜙𝐶/𝐷 = 2.52° Comparison 𝜙𝐶 = 1.56°
𝜙𝐷/𝐶
= 2.52°
Gear Ratio=3
𝜙𝐴/𝐵 = 4.67° 𝜙𝐵 = 7.56° 𝜙𝐵/𝐴 = 4.67°
𝜙𝐴/𝐷 = 𝜙𝐴/𝐵 + 𝜙𝐵 = 4.67° + 7.56° = 12.23° 𝜙𝐷/𝐴 = 𝜙𝐷/𝐶 + 𝜙𝐶 = 2.52° + 1.56° = 4.08°
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𝜙𝐶/𝐷 = 2.52° Comparison 𝜙𝐶 = 1.56°
𝜙𝐷/𝐶
= 2.52°
Gear Ratio=3
𝜙𝐴/𝐵 = 4.67° 𝜙𝐵 = 7.56° 𝜙𝐵/𝐴 = 4.67°
𝜙𝐴/𝐷 = 𝜙𝐴/𝐵 + 𝜙𝐵 = 4.67° + 7.56° = 12.23° 𝜙𝐷/𝐴 = 𝜙𝐷/𝐶 + 𝜙𝐶 = 2.52° + 1.56° = 4.08°
𝐀𝐱𝐢𝐚𝐥 𝐓𝐨𝐫𝐬𝐢𝐨𝐧𝐚𝐥
𝜹 𝒎 → ∅ −
𝑷 𝑵 → 𝑻 (𝑵 − 𝒎)
Rigid Lever 𝑳 𝒎 → 𝑳 (𝒎)
𝑨 𝒎𝟐 → 𝑱 (𝒎𝟒 ) Rigid Gear
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𝑬 𝑷𝒂 → 𝑮 (𝑷𝒂) 39
Problem 4c
Two links are connected by a rigid lever as shown.
Knowing that E = 105 GPa for each link, determine the
displacement of end A when FA = 1200 N.
L = 1.6 m
A = 1272 mm2
B O C
L = 1.2 m
A = 305 mm2
A
FA = 1200 N
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Problem 4c D
L = 1.6 m
A = 1272 mm2
𝛿𝐵 = 3 × 𝛿𝐶 = 129.4 × 10−6 m ↓
C’
Shrinkage in CD
O 𝑃𝐿 3600×1.6
B C 𝛿𝐶 = = −6
𝐴𝐸 1272×10 ×105×109
𝛿𝐶 = 43.1 × 10−6 m ↑
B’
L = 1.2 m
A = 305 mm2
Elongation in AB
A 𝑃𝐿 1200×1.2
𝛿𝐴 = = −6
𝐴𝐸 305×10 ×105×109
A’ 𝛿𝐴 = 44.9 × 10−6 m ↓
FA = 1200 N
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Problem 4d
Two links are connected by a rigid lever as shown.
Knowing that E = 105 GPa for each link, determine the
displacement of end D when FD = 3600 N.
FD = 3600 N
D
L = 1.6 m
A = 1272 mm2
B O C
L = 1.2 m
A = 305 mm2
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FD = 3600 N
Problem 4d D’ Elongation in CD
𝑃𝐿 3600×1.6
𝛿𝐷 = =
D 𝐴𝐸 1272×10−6 ×105×109
𝛿𝐷 = 43.1 × 10−6 m ↑
Shrinkage in AB
𝑃𝐿 1200×1.2 L = 1.6 m
𝛿𝐵 = = −6
𝐴𝐸 305×10 ×105×109 A = 1272 mm2
𝛿𝐵 = 44.9 × 10−6 m ↓
O C’
B C
1
B’ 𝛿𝐶 = × 𝛿𝐵 = 14.97 × 10−6 m ↑
3
L = 1.2 m
A = 305 mm2
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Tension
Comparison
Lever Ratio=3
Compression
Compression
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Problem 5
The long, hollow, tapered shaft AB has a uniform
thickness t. Denoting by G the modulus of rigidity, show
that the angle of twist at end A is
𝑇𝑖 𝐿𝑖
𝜑=
𝐽𝑖 𝐺𝑖
𝑖
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Solution For a differential element
𝑇𝑖 𝐿𝑖 𝑇𝑑𝑦
𝜑= 𝑑𝜑 =
𝐽𝑖 𝐺𝑖 𝐽𝐺
𝑖
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For the differential element
𝑇𝑑𝑦
𝑑𝜑 =
𝐽𝐺
𝑦 3 (𝑐 − 𝑐 )3
𝐵 𝐴
𝐽 = 𝐴𝑐 2 = 2𝜋𝑐 3 𝑡 = 2𝜋𝑡
𝐿3
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Design of Transmission Shafts
• Principal transmission shaft • Determine torque applied to shaft at
performance specifications are: specified power and speed,
- power P = T = 2fT
- speed P P
T= =
2f
• Designer must select shaft
material and cross-section to • Find shaft cross-section which will not
meet performance specifications exceed the maximum allowable
without exceeding allowable shearing stress,
shearing stress. Tc
max =
J
J 3 T
= c = (solid shafts )
c 2 max
J
=
4 4
c2 2c2
(
c2 − c1 = )
T
max
(hollow shafts )
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Power Transmission
𝑻𝟏 𝒓𝟏 𝜽𝟐 𝝎𝟐 𝑵𝟏
= = = =
𝑻𝟐 𝒓𝟐 𝜽𝟏 𝝎𝟏 𝑵𝟐
𝑷𝟏 𝑻𝟏 𝝎𝟏
= =𝟏
𝑷𝟐 𝑻𝟐 𝝎𝟐
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Problem 5
Three shafts and four gears are used to
form a gear train that will transmit power
from the motor at A to a machine tool at
F. (Bearings for the shafts are omitted in
the sketch.) The diameter of each shaft
is as follows: dAB =16 mm, dCD =20 mm,
dEF = 28mm. Knowing that the
frequency of the motor is 24 Hz and that
the allowable shearing stress for each
shaft is 75 MPa, determine the
maximum power that can be
transmitted.
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Solution
Three shafts and four gears are used to form a gear train that will transmit
power from the motor at A to a machine tool at F. The diameter of each shaft
is as follows: dAB =16 mm, dCD =20 mm, dEF = 28mm. Knowing that the
frequency of the motor is 24 Hz and that the allowable shearing stress for
each shaft is 75 MPa, determine the maximum power that can be transmitted.
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Solution
Three shafts and four gears are used to form a gear train that will transmit
power from the motor at A to a machine tool at F. The diameter of each shaft
is as follows: dAB =16 mm, dCD =20 mm, dEF = 28mm. Knowing that the
frequency of the motor is 24 Hz and that the allowable shearing stress for
each shaft is 75 MPa, determine the maximum power that can be transmitted.
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Solution
Three shafts and four gears are used to form a gear train that will transmit
power from the motor at A to a machine tool at F. The diameter of each shaft
is as follows: dAB =16 mm, dCD =20 mm, dEF = 28mm. Knowing that the
frequency of the motor is 24 Hz and that the allowable shearing stress for
each shaft is 75 MPa, determine the maximum power that can be transmitted.
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Solution
Three shafts and four gears are used to form a gear train that will transmit
power from the motor at A to a machine tool at F. The diameter of each shaft
is as follows: dAB =16 mm, dCD =20 mm, dEF = 28mm. Knowing that the
frequency of the motor is 24 Hz and that the allowable shearing stress for
each shaft is 75 MPa, determine the maximum power that can be transmitted.
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Problem 6
The horizontal shaft AD is attached to a fixed base at D and is
subjected to the torques shown. A 44-mm-diameter hole has been
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
end A.
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Since the shaft consists of three portions AB, BC, and
CD, each of uniform cross section and each with a
constant internal torque, the following equation may be
used: 𝑇𝑖 𝐿𝑖
𝜑=
𝐽𝑖 𝐺𝑖
𝑖
Next, we need to draw the FBDs of various portions to
find the torques in the sections AB, BC, and CD.
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Next, we need to estimate the polar moment of inertias
of each of these three portions AB, BC, and CD as
follows:
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Next, we estimate the angle of twist as follows:
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Problem 7
A steel shaft and an aluminum tube are connected to a fixed support
and to a rigid disk as shown in the cross section. Knowing that the
initial stresses are zero, determine the maximum torque To that can
be applied to the disk if the allowable stresses are 120 MPa in the
steel shaft and 70 MPa in the aluminum tube. Use G = 77 GPa for
steel and G = 27 GPa for aluminum.
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What is the value of
shear stress in
aluminium tube?