In this paper, the basic finite element formulation of a newly developed family of variable thickness, curved, C(0) continuity Mindlin-Reissner model curved beam elements which include shear deformation and rotatory inertia effects is presented. The accuracy, convergence and efficiency of these newly developed curved beam elements are explored through a series of analyses of arch structures and the results are compared with those obtained by other analytical and numerical methods. The comparisons show that the method yields very good results with a relatively small number of elements.