Based　on　a　six　degree-of-freedom　model,　the　dynamics　of　a　rotating　and　elastic　uniform　Timoshenko　beam　at　a　prescribed　setting　angle　is　investigated.　A　mathematical　model　with　complete　formulation　has　been　derived　by　considering　the　beam　cross　section　Euler　angle　in　a　3D　space.　The　nonlinear　partial　differential　equations　that　govern　the　displacements　and　rotation　angles　are　obtained　by　referring　to　exact　geometric　relations.　The　proposed　analytical　model　may　be　reduced　to　the　common　simplified　models　by　discarding　some　relevant　terms　in　the　formulation.　The　power　series　method　is　used　to　analyze　contributions　of　the　centrifugal　and　gyroscopic　forces.　Using　analytical　and　numerical　means,　the　complex　modal　analysis　is　applied,　to　examine　the　phase　difference　in　all　directions　due　to　gyroscopic　coupling.　From　the　analytical　and　numerical　results,　significant　dynamics　characters　of　the　rotating　beam　structures　are　discussed.