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For the purposes of investigating the free vibration response of the spatial curved beams, a set of deferential equations of motion are derived in matrix formats, considering the variable curvature and torsion. The theory includes all the effects of rotary inertia, shear and axial deformations. Frobenius' scheme and the dynamic stiffness method are then applied to solve these equations. A further numerical analysis shows that only a limited number of terms in the resultant provide a relatively accurate solution.