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M. Schulz and F. C. Filippou, “Non-Linear Spatial Timoshenko Beam Element with Curvature Interpolation,” International Journal for Numerical Methods in Engineering, Vol. 50, No. 4, 2001, pp. 761-785. doi:10.1002/1097-0207(20010210)50:4<761::AID-NME50>3.0.CO;2-2

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