The paper studies the behavior of a spatial Euler-Bernoulli beam loaded by a terminal thrusting force and a couple. The classical Clebsch-Kirchhoff equilibrium equations are written by using appropriate angular coordinates describing the finite rotations of the local frames attached to each cross-sections of the beam with respect to a fixed system. When we have geometric boundary conditions at one end and dynamic boundary conditions (a force and a couple) at the other the set of equilibrium equations form and initial value probem which can easily be solved with standard Runge-Kutta method.
Béda, P. (2003). On Deformation of an Euler-Bernolli Beam Under Terminal Force and Couple. CMES-Computer Modeling in Engineering & Sciences, 4(2), 231–238. https://doi.org/10.3970/cmes.2003.004.231
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