This lecture covers the introduction to torsion, relative strain energy, shear stress, torsional stiffness, and the angle of torsion in non-circular bars. It explains how to calculate the angle of rotation for a bar with prismatic segments under constant torque, as well as the evaluation of internal torque for bars with varying cross-sections. The lecture also discusses the importance of symmetry in cross-sections and the misconception regarding shear stress in non-circular bars.