This paper presents a formulation for the efficient solution of general-purpose multibody/multiphysics problems. The core equations and details on structural dynamics and finite rotations handling are presented. The solution phases are illustrated. Highlights of the implementation are presented, and special features are discussed

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a b s t r a c tElastic, anisotropic, non-homogeneous, prismatic beams are solved through a semi-analytical formulation. The resulting variational formulation is solved with a finite element discretization over the cross-section, leading to a set of Hamiltonian ordinary differential equations along the beam. Such a formulation is characterized by a group of generalized eigenvectors associated to null eigenvalues, which are shown to combine rigid body motions and the classical De Saint-Venant's beam solutions. The related generalized deformation parameters are identified through the amplitude of the deformable generalized eigenvectors. Results obtained from the analysis of both isotropic and composite beams are presented.

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