Dear Asif Kiani

For a hollow shaft, the moment of inertia “I” is:

I = ½*m*(R2+r2)

Where m=mass, R=outer diameter, r=inner diameter. (Length is not important)

For calculating the torque “T”, you must specify the angular acceleration “a”:

T = I*a

Regards.

Alfonso Gómez

Thank you Alfonso Gómez. I really appreciate your help.

Sorry. Correction

I = ½*m*(R^2+r^2)

Torque for starting rotation

T = I*a+Mt

Mt is the moment of dry friction. It can be great

Maximal angular velosity of shaft 

w=(T-Mt)/k

k - damping moment coeff

Regards.

Pavel Kruchinin