Torsion spring ($\tau =-\kappa \Delta \theta ,U=\frac{1}{2}\kappa (\Delta \theta {)}^2$)

An ideal linear torsion spring exerts a restoring torque proportional to the relative angle between its two ends. Integrating the torque gives its elastic potential energy. A spring connecting two rotating bodies contributes $\kappa ({\theta }_2-{\theta }_1{)}^2/2$ to the potential energy; a spring connected to a fixed frame is obtained by setting one angle to zero. The coefficient $\kappa$ is the torsional spring constant.

A circular shaft twisted uniformly through small end angle $\varphi$ over length $L$ has local engineering shear strain $r\varphi /L$ at radius $r$. Its shear stress is $Gr\varphi /L$, so the integrated torque is $C={\int }_{A}r(Gr\varphi /L)dA=G{J}_p\varphi /L$, using the polar second moment of area. The restoring torque has the opposite sign to the imposed twist. The stored elastic energy is $C\varphi /2=G{J}_p{\varphi }^2/(2L)$. The circular cross-section is important: general noncircular sections can warp and have a different torsion constant.