On the nonlinear deformation geometry of Euler-Bernoulli beams

Nonlinear expressions are developed to relate the orientation of the deformed beam cross section, torsion, local components of bending curvature, angular velocity, and virtual rotation to deformation variables. The deformed beam kinematic quantities are proven to be equivalent to those derived from various rotation sequences by identifying appropriate changes of variable based on fundamental uniqueness properties of the deformed beam geometry. The torsion variable used is shown to be mathematically analogous to an axial deflection variable commonly used in the literature. Rigorous applicability of Hamilton's principle to systems described by a class of quasi-coordinates that includes these variables is formally established.