This paper discusses different types of implicit time integration algorithms for the dynamics of spatial beams. The algorithms are based on a form of co-rota- tional technique which is external to the element. Both end-point and mid-point formulations are presented. The latter can be considered as an 'approximately energy conserving algorithm'. A new method is described for in- troducing numerical damping. Finally some numerical examples are presented in order to illustrate the differen- ces in performance of the different integration schemes.
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