ANSYS element type BEAM186 is a timoshenko beam. I looked in the help but I didn't find out the matrix of this beam. Anyway, here are some references:
S. Timoshenko. Strength of Material, Part I, Elementary Theory and Problems. 3rd Edition. D. Van Nostrand Co., Inc.. New York, NY. 1955.
S. Timoshenko. Strength of Material, Part II, Elementary Theory and Problems. 3rd Edition. D. Van Nostrand Co., Inc.. New York, NY. 1956.
S. Timoshenko and J. N. Goodier. Theory of Elasticity. 3rd Edition. McGraw-Hill Book Co. Inc.. New York, NY. 1970
S. Timoshenko and S. Woinowsky-Knieger. Theory of Plates and Shells. McGraw-Hill Book Co. Inc.. New York, NY. 1959.