Previous work examined the effect of the attached stiffness matrix terms on stability of an elastic beam undergoing prescribed large overall motion.The aim of the present work is to extend the nonlinear formulations to an elastic beam with free large overall motion.Based on initial stress method,the nonlinear coupling equations of elastic beams are obtained with free large overall motion and the attached stiffness matrix is derived by solving sub-static formulation.The angular velocity and the tip deformation of the elastic pendulum are calculated.The analytical results show that the simulation results of the present model are tabled and coincide with the one-order approximate model.It is shown that the simulation results accord with energy conservation principle.
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