The present paper is concerned with dynamic shape control of Timoshenko beams by self-stress actuation. In many practical applications, it is sufficient to control a sub-section of the beam by self-stress actuation applied only within the sub-section. Given the transient external disturbances, we seek for a self-stress actuation, which results in a span-wise constant motion of the sub-section. We show that we achieve this behavior, if the resultant and the couple of the self-stress actuation correspond to the statically admissible transverse shear force and bending moment. Finally, we discuss the application of discretely acting piezoelectric actuators.