
The procedure to solve this problem
can be outlined as:
• Equilibrium
Draw a free-body diagram of flange to determine the relationship of internal torques and to the applied torque .
• Geometry of deformation
From the angles of rotation at , , and , we will deduce the relationship between the twist angles in shafts and .
• Torque-twist relationships
The relationship between internal torque and angle of twist will be expressed for each shaft.
• Compatibility equation
The torque-twist relationships will be substituted into the geometry of deformation relationship to derive a compatibility equation expressed in terms of the internal torques and .