
The procedure to solve this problem
can be outlined as:
• 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 .
• Stress relationship
Expressions for shaft torques can be obtained from the elastic torsion formula. Substituting these expressions into the compatibility equation, we will derive a relationship between the shear stresses in the two shafts.