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Principal parametric resonance in transverse vibration is investigated for axially accelerating viscoelastic beams constrained by rotating sleeves with torsion springs. The method of multiple scales is applied to calculate the steady-state response. Expression of the amplitude of the steady-state response is derived from the solvability condition of eliminating secular terms. The stability of straight equilibrium and nontrivial steady-state response are analyzed by use of the Lyapunov linearized stability theory. Numerical examples are presented to highlight the effects of speed pulsation, viscoelasticity, and nonlinearity and the stiffness of the torsion spring. [ABSTRACT FROM AUTHOR]