In this paper, the nonlinear vibrations and energy exchange of single-walled carbon nanotubes (SWNTs) are analysed. The Sanders-Koiter shell theory is used to model the nonlinear dynamics of the system in the case of finite amplitude of vibration. The SWNT deformation is described in terms of longitudinal, circumferential and radial displacement fields. Simply supported, clamped and free boundary conditions are applied. The resonant interaction between radial breathing (axisymmetric) modes (RBMs) is analysed. An energy method, based on the Lagrange equations, is considered in order to reduce the nonlinear partial differential equations of motion to a set of nonlinear ordinary differential equations, which is then solved applying the implicit Runge-Kutta numerical method. The present model is validated in linear field comparing the RBM natural frequencies numerically predicted with data reported in the literature from experiments and molecular dynamics simulations. The nonlinear energy exchange between the two halves along the SWNT axis in the time is studied for different amplitudes of initial excitation applied to the two lowest frequency resonant RBMs. The influence of the SWNT aspect ratio on the numerical value of the nonlinear energy beating period under different boundary conditions is analysed