Stress analysis - calc angle of twist?

The assembly ABCD shown in Fig Q3 is made of three hollow shafts. The end A is fixed and the couplings at B and C joins the three shafts together. The diameters d1, d2, and d3 of the three shafts are 76, 58 and 42 mm respectively. Each shaft has a wall thickness of 3 mm. The lengths l1, l2, and l3 are 118, 104 and... show more The assembly ABCD shown in Fig Q3 is made of three hollow shafts. The end A is fixed and the couplings at B and C joins the three shafts together. The diameters d1, d2, and d3 of the three shafts are 76, 58 and 42 mm respectively. Each shaft has a wall thickness of 3 mm. The lengths l1, l2, and l3 are 118, 104 and 81 mm respectively. A torque of 2.3 kNm is applied about the axis of the shaft at the end D. Calculate the angle of twist of the assembly at the free end D of the shaft in degrees. The shear modulus of the shafts is 80 GPa?
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