The present paper studies the heating of coronal loops by linear reson
ant Alfven waves that are excited by the motions of the photospheric f
ootpoints of the magnetic field lines. The analysis is restricted to t
orsionally polarised footpoint motions in an axially symmetric system
so that only torsional Alfven waves are excited. For this subclass of
footpoint motions, the Alfven and cusp singularities are absent from t
he analysis which means that resonant coupling between global modes of
the loop and localised oscillations is avoided. Instead, the focus is
on the resonances due to the finite extent of the loop in the longitu
dinal direction: at the radii where Alfven waves travelling back and f
orth along the length of the loop are in phase with the footpoint moti
ons, the oscillations grow unbounded in ideal MHD. Inclusion of electr
ical resistivity and viscosity as dissipation mechanisms prevents sing
ular growth and we can look at the steady state in which the energy in
jected at the photospheric part of the loop is balanced by the energy
dissipated at the dissipative layer around the resonance. In this sens
e, we show that the direct excitation of Alfven waves by torsionally p
olarised footpoint motions leads to a very efficient heating mechanism
for coronal loops, even without resonant coupling to global modes.