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For a rigid joint its corresponding orientations of the beam-ends, orientations of the beam-ends connected to that joint, maintain their relative difference in the transient phase. For a straight joint, the two corresponding orientations of the beam-ends coincide with each other throughout the process. Therefore, by assigning orientations as in Fig. 3a, we can assign the pre-stress of an initially straight joint. The assignment of an initially angled joint is shown in Fig. 3b.

Fig. 2 (a) Definitions of included angles, θa,z and θb,z ; (b) Definitions of included angles, θa,y and θb,y ; and (c) Definitions of the beam axial direction, .