Since the drill pipe is in rotational as well as performs linear motion, the drill string experiences both TORQUE & DRAG.
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Now let us consider a situation where a drill string section is present in the wellbore as shown in the figure below.
When the drill string is in tension, it tries to straighten while going around a dogleg.
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Take a cylindrical hollow pipe as shown in figure below (black coloured), inside that pipe, insert another cylindrical pipe of lesser diameter (refer figure).