Where (G) is the shear modulus of elasticity (77 GPa for steel), and (L) is the length of the shaft (2.5 m).
"(T) is torque, (c) is the outer radius, and (J) is the polar moment of inertia. For a solid circle, (J = \frac\pi32 d^4)." Mechanics Of Materials 7th Edition Chapter 3 Solutions
Leo solved: [ d = \sqrt[3]\frac16T\pi \tau_allow ] [ d = \sqrt[3]\frac16(4000)\pi (24\times10^6) = 0.094 \text m \approx 94 \text mm ] Where (G) is the shear modulus of elasticity
[ \phi = \frac(4000)(2.5)(3.106\times10^-6)(77\times10^9) ] [ \phi = 0.0418 \text radians \approx 2.4 \text degrees ] (c) is the outer radius
[ \tau_max = \fracTcJ ]