I don't think us engineers are very good at the explaining lol. This may help anyone out that wants to understand the concept of the shape/dimension and resistance to torsion (bending and compression/tension is also a very similar mathematical and practical concept to torsion, and much simpler actually)
http://www.engineeringtoolbox.com/torsion-shafts-d_947.html
Shear Stress in the Shaft
When a shaft is subjected to a torque or twisting, a shearing stress is produced in the shaft. The shear stress varies from zero in the axis to a maximum at the outside surface of the shaft.
The shear stress in a solid circular shaft in a given position can be expressed as:
σ = T r / Ip (1)
where
σ = shear stress (MPa, psi)
T = twisting moment (Nmm, in lb)
r = distance from center to stressed surface in the given position (mm, in)
Ip = "polar moment of inertia" of cross section (mm4, in4)
The "polar moment of inertia" is a measure of an object's ability to resist torsion.
Ip is essentially the idea of the distance of mass from the center. In a rotating shaft, the stress from torque at the exact center is zero, and the maximum is at the surface of the outside diameter. You could somewhat think of this by visualizing a breaker bar on a pinion. In order to turn the pinion, the most effective place to apply force is very far from the pinion (a longer lever).
The same essentially happens with the atoms in a material (metal in our case). In our case of talking about a frame rail in torsion, the farther away the iron atoms are from the centerline of the frame rail, the less force they need to apply to that center line in order to produce the same resisting torque. There's also a large increase in surface area, which distributes force over a larger area (stress is force divided by area).
These are some flash demonstrations that I think are fantastic at helping visualize what we're talking about. If you click on Chap. 6 Torsion in the left column, there are several presentations demonstrating gears and torque tubes and stuff.
http://web.mst.edu/~mecmovie/