In this work we deal with nonlinear dynamics of planar beams. We are working on a beam model of brothers Cosserat. To solve the governing equations we present a time integration scheme that preserves total mechanical energy. Primary variables of our problems are velocities, which we approximate with polynomials. We extend polynomial interpolation to interpolate various degrees of derivatives on finite element boundary with a goal to achieve the continuity of strains. At the end we compare our results to some well known test problems from literature.
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