A derivation of the equations which govern the deformation of an arbitrarily curved and twisted space beam is presented. These equations differ from those of the classical theory in that (1) extensional effects are included; (2) the strain-displacement relations are derived; and (3) the expressions for the stress resultants are developed from the strain displacement relations. It is shown that the torsional stress resultant obtained by the classical approach is basically incorrect except when the cross-section is circular. The governing equations are given in the form of first-order differential equations. A numerical algorithm is given for obtaining the natural vibration characteristics and example problems are presented.
