… in solid circular bars and thick-walled circular tubes#

The shear stress due to torsion in a circular cross section:
\[\tau(r) = \frac{M_tr}{I_p}\]
This is treated in chapter 6.2.2 and 6.2.3 of the book Engineering Mechanics Volume 2 (Hartsuijker and Welleman, 2007).
Exercises#
Exercises 6.3, 6.4 and 6.9 - 6.13 of the book Engineering Mechanics Volume 2 (Hartsuijker and Welleman, 2007). Answers are available on this website.