Solving the boundary value problem for finite Kirchhoff rods

The Kirchhoff model describes the statics and dynamics of thin rods within the approximations of the linear elasticity theory. In this paper we develop a method, based on a shooting technique, to find equilibrium configurations of finite rods subjected to boundary conditions and given load parameters. The method consists in making a series of small changes on a trial solution satisfying the Kirchhoff equations but not necessarily the boundary conditions. By linearizing the differential equations around the trial solution we are able to push its end point to the desired position, step by step. The method is also useful to obtain configurations of rods with fixed end points but different mechanical parameters, such as tension, components of the moment or inhomogeneities.